基于激光投射的室内视觉导航地图创建方法

针对基于图像分割的室内视觉导航地图创建方法存在无法准确获取导航地图等问题,提出一种利用激光投射的创建方法。在室内天花板上安装激光发射装置,通过激光光斑在图像中实际位置与预测位置的差计算投射区域的高度,利用获得的高度信息创建导航地图。搭建了验证导航地图创建算法的实验平台,实验结果表明,本文方法能够获得地面高度分布,可以创建准确的室内导航地图。

A map-building method for indoor visual navigation based on laser projection

Map-building is an important technique for visual navigation.The map-building methods for indoor bird-view visual navigation adopt image segmentation based techniques,and this leads to the failing to detect obstacles when the obstacles have similar visual features to floor.To tackle the problems above,we propose a new map-building method for indoor visual navigation based on laser projection.A laser emitting device is installed on the ceiling,and the difference between the real position and the predicted position of laser point in the image is used to calculate the height of the projected region,and then the height distribution of the indoor environment is used to build the navigation map.Finally,the experiment to testify the map-building method is implemented,and the experimental results show that the height distribution of indoor region can be recovered and the accurate navigation map can be built.