基于三维相机的未知环境地形通行性识别方法

摘要

The 3D camera for environmental perception system is used in mobile robot. It improves the precision of mai-time 3D terrain information. The combination of grayscaie images information and 3D information to extract protruding obstacles is proposed. The traversabilition is identified by extracting the characteristics of obstacles. Experiments show that the method is efficient and feasible even the obstacles and the surrounding environment are almost of the same gray value.%三维相机用于移动机器人环境感知,可以实时、可靠、较高精度地获取未知环境三维信息,提出了灰度信息和三维信息相结合提取突起障碍物的方法,通过提取障碍物的特征,识别未知地形的可通行区域.实验表明:该方法即使在障碍物与周围环境灰度值几乎一致的情况下,也有较好的识别效果.