自动引导行走车环境理解系统的研究

Study on Environment Understanding System of Automatic Guided Vehicle

以立体视差测距原理为基础，用两个摄像机同时对同一景物进行拍摄，根据景物在左、右图像中的视差，计算目标距控制点的三维空间的实际距离，可以得到一张关于行走车工作环境的地图，以便进行路径计划。本文给出了一种农用自动引导行走车的环境理解系统的构成方法，经实验验证，该方法可行，适合我国农业发展的趋势。

Based on the principle of stereoparallax range finding, two images of a scene are taken by the left and the right pickup cameras at the same time. According to the stereoparallaxes of corresponding points in the two images, distance data of three dimensions between target point and the pickup camera can be calculated and a map of the sight for making path plan can be obtained. This paper provides an approach for machine vision of automatic guided vehicle. This method which is verified in laboratory is practicable and suitable for agricultural development.