基于多传感器信息的前方障碍物检测  

Approach of obstacle detection based on laser sensor and single camera

作　　者：赵一兵[1] 王荣本[1] 李琳辉[1] 郑可勤[1] 张如高[1] 

机构地区：[1]吉林大学交通学院,长春130025

出　　处：《计算机工程与应用》2007年第26期174-177,226,共5页Computer Engineering and Applications

基　　金：国家自然科学基金(the National Natural Science Foundation of Chinaunder GrantNo50675086)

摘　　要：月球环境感知是月球车自主导航的关键,月表石块将成为月球车行驶的主要障碍物之一,而依靠单一传感器获取障碍物信息都有局限性。充分利用单目视觉与激光雷达的优势资源,建立传感器信息融合系统。首先,基于模式识别理论的Fisher准则函数二值化CCD图像,并采用阈值面积消除法滤掉小面积区域,再根据8连通判别算法对石块进行标记后,对二值图像分别进行水平和垂直投影变换,画出石块的矩形区域。然后,利用激光雷达的面扫描功能实现融合系统的标定,再基于图像信息确定线扫描的初始位置并进行线扫描,获得障碍目标的三维数据并对其进行中值滤波和聚类分析,进而求取石块的距离、宽度及大致形状信息。The lunar environment perception technology is the key problem for lunar rover＇s automatic navigation,it is limited based on single sensor.For example,abundant information could be acquired by using of laser radar,the disadvantage is slow scan rate and higher energy consumption.In this article favorable factors of single CCD and laser radar are made full use.Sets up the information fusion system and calibrate the sensors＇ relative location.Firstly suppose forward stone is the obstacle.For the CCD image Fisher rule function is used to segment the stone,after filtering the stone of binary image is signed（with 1,2,…）by using 8 neighborhood algorithm.Then horizontal and vertical projection is finished to determine the borderline of the stone.Finally,ac- cording to the relationship of 320＊240 CCD image and 160＂120 laser image,the initial location of line laser scanning is com- puted.Now switch on the laser radar to acquire a single line laser data and after the mid value filter,hierarchical cluster is used to get the range,width and shape information of the stone.

关 键 词：月球车 环境感知 Fisher准则函数 激光雷达 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]