越野环境下自主车辆导航地图自动创建方法研究*

针对越野环境下的地图创建问题，提出了一种自动创建自主车导航地图的方法。首先将车载摄像机获得的图像投影到车体坐标系，然后结合车辆行驶轨迹信息采用基于标记的分水岭算法判定可通行区域，最后融合局部俯视图信息生成全局一致地图，并在实时导航需求下对地图进行优化得到最终的导航地图。自主车实车实验结果表明，该方法生成的地图满足自主车实时导航需求，提高了路径规划效率。

Auto-mapping approach of autonomous land vehicle in off-road environment

In order to build the navigation map in the off-road environment, a novel auto-mapping method was proposed. Firstly, the vision system mapped the image to the vehicle coordinate system, then combined with vehicle trajectory information, the passable region was extracted by the marker-controlled watershed algorithm. Finally, the global consistency map fused with local top views was generated and optimized to construct the final navigation map under the requirement of real-time navigation. Experiments proved that the method proposed meets the requirement of ALV real-time navigation and improve the efficiency of path planning.