基于单线激光雷达与视觉融合的负障碍检测算法

Negative Obstacle Detection Algorithm Based on Single Line Laser Radar and Vision Fusion

近年来,无人车成为热门研究方向,而负障碍物检测是地面无人车环境感知与理解的任务之一。为此,提出一种基于单线激光雷达和单目视觉的负障碍检测算法。为弥补单线激光雷达在覆盖能力方面的不足,对检测到的负障碍区域在摄像机画面中进行跟踪,结合跟踪结果对负障碍区域做进一步判别。实验结果表明,该算法在多种实验场景下拥有96%以上的负障碍检测准确率,可有效应用于微小型地面无人车辆。

In recent years,the unmanned vehicle has become a hot research direction,and negative obstacle detection is one of the tasks in environmental perception and understanding for unmanned ground vehicles. Therefore a negative obstacle detection algorithm based on single line laser radar and monocular vision is proposed. To compensate for the lack of coverage of single line laser radar,it is necessary to track the detected negative obstacle area in the camera screen,and then the negative obstacle area is further determined according to the tracking results. The experimental results showthat the algorithm has more than 96% negative obstacle detection accuracy in a variety of experimental scenarios. It can be applied to mini unmanned ground vehicles effectively.