基于视差平面分割的移动机器人障碍物地图构建方法

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.

Disparity Image Plane Segmentation Based Obstacle Map Construction for Mobile Robot

As a pan of GPOD (ground plane obstacle detection) technology of autonomous mobile robot, a method for creating front obstacle grid map is presented which utilizes disparity image of binocular camera to obtain information.This method combines both the stereo vision and the traditional 2D image processing technique.The former implements au-tonomous plane segmentation based on the histogram of disparity image, and regards each plane as scene slice of 3D scenario to extract obstacle's 3D information.The later extracts obstacle information by calculating obstacle profile for each plane, and transforms stereo data from disparity image space to 2D obstacle map space.The obstacle map construction in this method is presented.The experiment results prove the validity and accuracy of this method.