Obstacle Avoidance and Environmental Adaptability Analysis of Snake-like Robot Based on Deep Learning

Abstract

Aiming at the problems of high complexity and low accuracy of visual depth map feature recognition, a graph recognition algorithm based on principal component direction depth gradient histogram (pca-hodg) is designed in this study. In order to obtain high-quality depth map, it is necessary to calculate the parallax of the visual image. At the same time, in order to obtain the quantized regional shape histogram, it is necessary to carry out edge detection and gradient calculation on the depth map, then reduce the dimension of the depth map combined with the principal component, and use the sliding window detection method to reduce the dimension again to realize the feature extraction of the depth map. The results show that compared with other algorithms, the pca-hodg algorithm designed in this study improves the average classification accuracy and significantly reduces the average running time. This shows that the algorithm can reduce the running time by reducing the dimension, extract the depth map features more accurately, and has good robustness.