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移动机器人基于三维激光测距的室内场景认知

庄严 卢希彬 李云辉

庄严, 卢希彬, 李云辉, . 移动机器人基于三维激光测距的室内场景认知. 自动化学报, 2011, 37(10): 1232-1240. doi: 10.3724/SP.J.1004.2011.01232
引用本文: 庄严, 卢希彬, 李云辉, . 移动机器人基于三维激光测距的室内场景认知. 自动化学报, 2011, 37(10): 1232-1240. doi: 10.3724/SP.J.1004.2011.01232
ZHUANG Yan, LU Xi-Bin, LI Yun-Hui, WANG Wei. Mobile Robot Indoor Scene Cognition Using 3D Laser Scanning. ACTA AUTOMATICA SINICA, 2011, 37(10): 1232-1240. doi: 10.3724/SP.J.1004.2011.01232
Citation: ZHUANG Yan, LU Xi-Bin, LI Yun-Hui, WANG Wei. Mobile Robot Indoor Scene Cognition Using 3D Laser Scanning. ACTA AUTOMATICA SINICA, 2011, 37(10): 1232-1240. doi: 10.3724/SP.J.1004.2011.01232

移动机器人基于三维激光测距的室内场景认知

doi: 10.3724/SP.J.1004.2011.01232
详细信息
    通讯作者:

    庄严 大连理工大学自动化系副教授. 主要研究方向为机器人导航、探索、自主环境建模与环境认知. E-mail: zhuang@dlut.edu.cn

Mobile Robot Indoor Scene Cognition Using 3D Laser Scanning

  • 摘要: 研究了移动机器人在室内三维环境中的场景认知问题.室内场景框架具有结构化特性,而室 内多样化的物体则难以进行模型化表述. 本文利用区域扩张算法进行平面特征的提取,并根据平面属性及其相互间的空间关系,完成室 内场景框架的辨识.为了借鉴图像处理领域的物体识别方法, 本文提出一种基于Bearing Angle模型的激光测距数据表述方法,从而将三维点云数据转换为二维Bearing Angle图. 同一类物体中的个体形态具有多样性,同时观测视角也导致激光测距数据的显著差异.针对这些 问题,采用一种基于Gentleboost算法的有监督学习方法, 并利用物体碎片及其相对于物体中心的位置作为特征,从而完成室内场景中的物体认知. 利用室内场景框架辨识结果在Bearing Angle图中进行天棚、地面、墙壁、房门等区域的标记,并利用所产生的语义信息去除错误的认知结果,从而有助于提高识别率. 利用实际机器人平台所获得的实验结果验证了所提方法的有效性.
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出版历程
  • 收稿日期:  2010-11-02
  • 修回日期:  2011-03-02
  • 刊出日期:  2011-10-20

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