摘要
本文介绍了地下矿山自行设备，如铲运机、卡车（时速15km／h）的障碍物探测系统。提出的系统使用结构光测距仪,根据障碍物图象直接处理，而不采用场景三维成像系统，系统开发了图像时间演变方法以探测障碍物，并考虑了诸如地面和巷道壁不规则、车辆路线变化及可见度低等现象。
This Paper describes an obstacle detection device for autonomous vehicles, such as LHDs and trucks,navigating in mine drifts at sPeeds of about 15 km/h.The system proposed in this paper uses a structured-light range finder and is based upon the direct extraction from images of features related to the obstacle rather than upon a 3D reconstruction of the scene' s geometry. The system exploits the temporal evolution of image profiles in order to detect the presence of obstacles and takes into account phenomena such as ground and wall irregularities,Perturbations of the vehicle's trajectory and impaired visibility conditions.
