研究目的
To detect the direction of a specific color person and a signboard using an omnidirectional camera and a 3D-LiDAR for person searching applications.
研究成果
The proposed method effectively detects the direction of specific color persons and signboards using omnidirectional camera and 3D-LiDAR. It works in both indoor and outdoor settings, though performance can vary with environmental conditions. Future work could improve robustness to lighting and occlusions.
研究不足
The method may be affected by lighting conditions, occlusions, and the specific color and shape of targets. Outdoor environments with sunlight can cause issues with color detection. The system requires calibration and may not perform well in cluttered scenes.
1：Experimental Design and Method Selection:
The study uses a combination of an omnidirectional camera and a 3D-LiDAR for detection. The omnidirectional camera captures images to detect color-based features, while the 3D-LiDAR measures distances. Methods include color thresholding, image processing, and sensor fusion.
2：Sample Selection and Data Sources:
Experiments were conducted in indoor and outdoor environments with persons wearing specific colors (e.g., orange or blue vests) and signboards.
3：List of Experimental Equipment and Materials:
Omnidirectional camera, 3D-LiDAR, mobile robot.
4：Experimental Procedures and Operational Workflow:
The robot captures images with the omnidirectional camera, processes them to detect colors and shapes, uses the 3D-LiDAR for distance measurement, and fuses data to determine direction and position.
5：Data Analysis Methods:
Image processing techniques such as color extraction, thresholding, and geometric calculations; statistical analysis of detection accuracy.
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