越野环境下自主车辆导航地图自动创建方法研究

摘要

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