基于地面视差分布的栅格地图建立方法

针对使用立体视觉建立环境地图方法存在信息不完整的问题，提出一种基于地面视差分布的栅格地图建立方法。利用地面视差分布在视差图中进行障碍物和地面点的检测，通过统一但参数值不同的投影模型将障碍物像素和地面点像素投影到栅格地图中，同时考虑立体视觉的量化和匹配误差、地面视差和栅格占据概率的空间分布。通过在非结构化环境中的实验表明，该方法可以实时地建立信息完整且准确的栅格地图。

Grid Map Building Method Based on Ground Disparity Distribution

Aiming at the map building problem of mobile robots using stereo vision, a grid map building approach based on ground disparity distribution is proposed. The ground disparity distribution is used to determine each pixel in disparity images corresponding to obstacle or ground plane, both obstacle-pixels and ground-pixels are projected onto the grid map with a unified projection model but different parameter values. The projection model considers the quantization and match error of stereo vision, the ground disparity and the spatial distribution of occupancy probability. Experiments with a mobile robot in unstructured environments show that the proposed approach can build integral information and precise grid map in real time.