基于声纳和摄像头的动态环境地图创建方法

针对动态环境下声纳传感器无法正确检测动态障碍物从而降低移动机器人的地图创建的精度的问题,提出了一种声纳和视觉传感器结合的动态环境地图创建方法.为保持地图信息的完整性,该方法分别建立了动、静态栅格地图,利用前一时刻的静态地图、当前声纳观测信息和摄像头检测的动态障碍物信息的比较来更新地图,并给出了地图更新模型.因视觉信息能成功地解决地图中某些动态障碍物被当成静态障碍物的错误,因而能建立正确的地图.实验验证了该方法正确,可行.

Mapping dynamic environments based on sonar and camera

An approach for mobile robots to map dynamic environments using sonars and vision sensors is suggested in this pa- per,aiming at the problem of the low mapping accuracy caused by the fact that the sonar can not detect dynamic objects correctly .In order to maintain more complete mapping information,the approach builds static and dynamic grid maps re- spectively.The two types of occupancy grid maps are updated through the previous static maps,the sonar observations and the detected dynamic objects detected b...