[1]于春和.越野环境的三维地图重建[J].南京理工大学学报(自然科学版),2007,(02):180-183.
 YU Chun-he,LIU Ji-lin.3-D Map Reconstruction in Cross-country Environment[J].Journal of Nanjing University of Science and Technology,2007,(02):180-183.
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越野环境的三维地图重建
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2007年02期
页码:
180-183
栏目:
出版日期:
2007-04-30

文章信息/Info

Title:
3-D Map Reconstruction in Cross-country Environment
作者:
于春和1 2 刘济林2
1. 沈阳航空工业学院电子工程系, 辽宁沈阳110136; 2. 浙江大学信息科学与工程学院, 浙江杭州310027
Author(s):
YU Chun-he12LIU Ji-lin2
1.Department of Electronic Engineering,Shenyang Institute of Aeronautical Engineering,Shenyang 110136,China;2.College of Information Science and Engineering,Zhejiang University,Hangzhou 310027,China
关键词:
移动机器人 四线激光雷达 越野环境 地图重建
Keywords:
mob ile robots four-layer laser radars ( LD_ML) cross-country env ironment map reconstruct ion
分类号:
TP242
摘要:
针对移动机器人越野环境下地图重建的问题,提出了一种三维网格地图的更新算法。该算法利用四线激光雷达(LD_ML)获取环境局部位置信息,结合机器人同一时刻DGPS/INS联合定位系统的位姿,依据障碍的坡度与高度阈值进行障碍区域检测。分别对障碍与非障碍区域采用最大值和均值法进行更新,完成环境地图的重建。试验结果表明:该算法在越野环境中具有良好的重建效果,可将机器人沿途经过的路面及周围环境构建出来。
Abstract:
In order to build a prec ise 3-D map o f outdoor env ironmen,t a nove lmap reconstruction a-l gorithm is proposed based on amob ile robo.t The robot uses a four-layer laser radar ( LD-ML) to obtain space informat ion and uses a DGPS / INS ( D ifference GPS / Inertia lNav igat ion System ) posit ion system to obta in its pose and position informat ion. W ith the aim o f building a comp lete 3-D gridmap, the range data of env ironment are changed into aw orld coordinate system w ith the simultaneous pos-i t ion data o f the robo.t Since the outdoor environment is a lw ays complicated, the 3-D gridmap is built by updating z-coordinate value using obstacle detection results. And the obstacle detection is ach ieved by LD-ML according to the gradient and he ight information of detect ion reg ions. The results of 3-D grip map reconstruct ion show the 3-D map reconstruction a lgorithm is re liab le and stable.

参考文献/References:

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[ 7] 于春和, 刘济林. 越野环境下基于四线激光雷达的障碍检测. 南京理工大学学报( 自然科学版), 2006, 30( 5): 618- 621.

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备注/Memo

备注/Memo:
作者简介: 于春和( 1976- ), 男, 讲师, 博士, 主要研究方向: 雷达导航、移动机器人和智能交通, E-mail:chunhe _yu @ tom. com。
更新日期/Last Update: 2007-04-30