The embodiment of the invention discloses an obstacle sensing method and device, equipment and a storage medium, and relates to the technical field of equipment control. The method comprises the steps of obtaining radar data based on a radar; acquiring image data based on the camera; identifying semantic information of an obstacle in the image data; determining aggregation points according to radar point distribution positions in the radar data; generating an aggregation point connection line under the condition that the two aggregation points meet a preset connection condition; wherein the preset connection condition comprises a spatial position condition between two aggregation points and a semantic matching condition between the two aggregation points and the semantic information; and determining a sensing result of the obstacle according to the aggregation point connecting line. According to the technical scheme, the aggregation point of the radar point aggregation is determined, and the linear sub-graph is continuously extended according to the aggregation point and the semantic information of the obstacle, so that the recognition accuracy of linear obstacles such as electric wires is improved, and the unmanned aerial vehicle can perceive the obstacles more accurately.

    本发明实施例公开了一种障碍物感知方法、装置、设备和存储介质,本方案涉及设备控制技术领域。该方法包括:基于雷达获取雷达数据;基于相机获取的图像数据;识别所述图像数据中的障碍物的语义信息;根据所述雷达数据中的雷达点分布位置,确定聚合点;在两个聚合点满足预设连接条件的情况下,生成聚合点连线;其中,所述预设连接条件包括两个聚合点之间的空间位置条件以及两个聚合点与所述语义信息之间的语义匹配条件;根据所述聚合点连线确定障碍物的感知结果。本技术方案,通过确定雷达点聚集的聚合点,并根据聚合点以及障碍物语义信息,不断延伸线性子图,提高对电线等线性障碍物的识别准确度,使无人机对障碍物的感知更加准确。


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    Title :

    Obstacle sensing method, device and equipment and storage medium


    Additional title:

    一种障碍物感知方法、装置、设备和存储介质


    Contributors:
    LIU CHAO (author) / KUANG YONGSHAO (author) / CAI GUOZHEN (author) / WU JIAWEN (author)

    Publication date :

    2024-08-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64U / G06V / G01S RADIO DIRECTION-FINDING , Funkpeilung



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