摘要
针对室内导航环境的特点以及匹配精度和匹配算法的实时性问题,本文提出了一种基于区域分割的障碍检测方法。通过区域分割,把图像对应点的匹配问题简化为区域边界点的匹配,提高了匹配的精度。分割后的区域作为一个独立的对象进行处理,障碍物三维信息计算转化为视差的判断,提高了匹配的速度。该算法能够实现在室内环境下的实时障碍检测,不需要利用环境的先验知识,具有较强的自适应性。实验结果表明了该方法的有效性。
Aiming at the features of indoor navigation environment,the paper presents an obstacle detection algorithm based on region segmentation.The kind of region can be handled as a independent object.The algorithm can realize real time obstacle detection in indoor environment without using the priori knowledge of environment,and it has strong suitability.The experimental results show that the algorithm is effective.
出处
《北京电子科技学院学报》
2009年第4期25-31,共7页
Journal of Beijing Electronic Science And Technology Institute
关键词
自主式移动机器人
逆投影变换
区域分割
障碍检测
autonomous mobile robot
inverse perspective mapping
region segmentation
obstacle detection
