机器人视觉

class ObstacleDetector:
    def detect(self, camera_frame, lidar_data):
        """多传感器融合障碍物检测"""
        
        # 视觉检测
        visual_objects = self.visual_detector.detect(camera_frame)
        
        # 激光雷达检测
        lidar_points = self.lidar_processor.process(lidar_data)
        
        # 传感器融合
        obstacles = self.sensor_fusion(
            visual_objects, lidar_points
        )
        
        return obstacles
    
    def sensor_fusion(self, visual, lidar):
        """检测融合"""
        # 时空对齐
        aligned = self.align(visual, lidar)
        
        # 融合判断
        fused = []
        for obj in visual:
            if obj.confidence > 0.7:
                fused.append(obj)
            elif self.find_lidar_match(obj, lidar):
                fused.append(obj)
        
        return fused