基于视差平面分割的移动机器人障碍物地图构建方法

被引：2

作者：

宋鑫坤 ^{[1
]}

陈万米 ^{[1
,2
]}

徐昱琳 ^{[1
,2
]}

张雷 ^{[1
]}

机构：

[1] 上海大学机电工程与自动化学院

[2] 上海市电站自动化技术重点实验室

来源：

机器人 | 2010年 / 32卷 / 02期

关键词：

视差图像; 平面分割; 障碍物地图; GPOD;

D O I：

10.13973/j.cnki.robot.2010.02.005

中图分类号：

TP242 [机器人];

学科分类号：

1111 ;

摘要：

作为自主移动机器人地表障碍物探测(GPOD)技术的一部分,提出了一种利用双目摄像机的视差图像获取信息来构建机器人前方障碍物栅格地图的方法.该方法融合了3维立体视觉技术以及2维图像处理技术,前者依据视差图的直方图信息对视差图像进行自适应平面分割,把每个平面看作是3维场景中的实物切片进而提取障碍物3维信息,后者通过计算各平面上的障碍物信息曲线来提取障碍物信息,把立体视觉数据从视差图像空间变换到2维的障碍物地图空间.给出了该方法构建障碍物地图的整体过程,试验结果证明了该算法的有效性和精确性.

引用

页码：171 / 178

页数：8

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