| 基于三维相机的未知环境地形通行性识别方法 |
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| 引用本文： | 王文格,段文彬,朱江. 基于三维相机的未知环境地形通行性识别方法[J]. 传感器与微系统, 2011, 30(3): 35-39 |
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| 作者姓名： | 王文格 段文彬 朱江 |
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| 作者单位： | 湖南大学,机械与运载工程学院,湖南,长沙,410082 |
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| 基金项目： | 湖南省自然科学基金资助项目 |
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| 摘 要： | 三维相机用于移动机器人环境感知,可以实时、可靠、较高精度地获取未知环境三维信息,提出了灰度信息和三维信息相结合提取突起障碍物的方法,通过提取障碍物的特征,识别未知地形的可通行区域.实验表明:该方法即使在障碍物与周围环境灰度值几乎一致的情况下,也有较好的识别效果.
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| 关 键 词： | 移动机器人 三维相机 环境感知 可通行性 |
Identification method of traversability under uncertain environment based on the 3D camera |
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| WANG Wen-ge,DUAN Wen-bin,ZHU Jiang. Identification method of traversability under uncertain environment based on the 3D camera[J]. Transducer and Microsystem Technology, 2011, 30(3): 35-39 |
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| Authors: | WANG Wen-ge DUAN Wen-bin ZHU Jiang |
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| Affiliation: | WANG Wen-ge,DUAN Wen-bin,ZHU Jiang(School of Mechanical & Vehicle Engineering,Hunan University,Changsha 410082,China) |
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| Abstract: | The 3D camera for environmental perception system is used in mobile robot.It improves the precision of real-time 3D terrain information.The combination of grayscale images information and 3D information to extract protruding obstacles is proposed.The traversabilition is identified by extracting the characteristics of obstacles.Experiments show that the method is efficient and feasible even the obstacles and the surrounding environment are almost of the same gray value. |
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| Keywords: | mobile robot 3D camera environmental perception traversability |
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