移动机器人同时定位与构图中的自适应区域分割方法

Adaptive Region Segmentation Method in Mobile Robot Simultaneous Localization and Mapping

在移动机器人同时定位与构图中,区域分割是直线提取的第一个处理步骤,旨在降低直线提取时的迭代次数,提高运算效率。针对现有的分割方法没有考虑扫描间隔与扫描点距离对分割阈值影响的问题,提出了一种考虑扫描间隔与探测点距离对分割阈值影响的自适应计算方法。实验结果表明,该方法明显提高了区域分割的准确度和鲁棒性,降低了迭代次数和运算量。

In order to decrease the iterative number during line extraction processing ,increase the operation efficiency , region segmentation would be the first process .Aiming at the problem that not take the influences of scan angle and point distance in existing method ,a new region segmentation method based on scan angle and point distance is proposed .The re‐sult of experimentation shows that the accuracy and robustness have been improved significantly by new method ,and the op‐eration efficiency has been improved .