摘要
针对室外移动机器人道路分割的问题,本文提出了一种基于激光雷达的道路边界检测算法。算法依据道路区域与非路区域存在一定高度的边界,利用边界是直线形状的特征,运用扩展卡尔曼滤波算法对边界深度数据的进行提取,完成道路边界的检测。试验结果表明,该边界检测算法可靠性强,稳定性高,能够准确完成道路边界检测任务。
Point to road segment problem of mobile robot work in outside environment, the paper proposed a new road segment algorithm according to the curbs between road region and non-road regions based on the LD_ML laser radar. The algorithm included two steps： original curbs detection in range data of LD_ML and Extend Kalman filtering to obtain the whole curbs from the range data. The results tested the road curb detection algorithm had the high stability and reliability, which can be a new method for mobile robot to detect road curbs in complex environment.
出处
《电子器件》
CAS
2008年第3期756-758,762,共4页
Chinese Journal of Electron Devices
