移动机器人基于三维激光测距的室内场景认知  

Mobile Robot Indoor Scene Cognition Using 3D Laser Scanning

作　　者：庄严[1] 卢希彬[1] 李云辉[1] 王伟[1] 

机构地区：[1]大连理工大学信息与控制研究中心,大连116024

出　　处：《自动化学报》2011年第10期1232-1240,共9页Acta Automatica Sinica

基　　金：国家自然科学基金(61075094;61035005);中央高校基本科研业务费专项资金(DUT11ZD201)资助~~

摘　　要：研究了移动机器人在室内三维环境中的场景认知问题.室内场景框架具有结构化特性,而室内多样化的物体则难以进行模型化表述.本文利用区域扩张算法进行平面特征的提取,并根据平面属性及其相互间的空间关系,完成室内场景框架的辨识.为了借鉴图像处理领域的物体识别方法,本文提出一种基于Bearing Angle模型的激光测距数据表述方法,从而将三维点云数据转换为二维Bearing Angle图.同一类物体中的个体形态具有多样性,同时观测视角也导致激光测距数据的显著差异.针对这些问题,采用一种基于Gentleboost算法的有监督学习方法,并利用物体碎片及其相对于物体中心的位置作为特征,从而完成室内场景中的物体认知.利用室内场景框架辨识结果在Bearing Angle图中进行天棚、地面、墙壁、房门等区域的标记,并利用所产生的语义信息去除错误的认知结果,从而有助于提高识别率.利用实际机器人平台所获得的实验结果验证了所提方法的有效性.This paper mainly studies the indoor scene cognition problem for mobile robots.The structure of an indoor scene is assumed to be structured,while indoor objects are in a variety of forms,which are di？cult to be represented by specific descriptive models.In our work,planes are extracted from 3D laser data using regional expansion algorithm,and the properties as well as the relationship of these planes are used for the indoor structure identification.In order to adopt digital image processing algorithm to implement object detection,a bearing angle model is used to represent laser point clouds,so that 3D laser scanning data can be converted to 2D bearing angle image.It is diffcult to detect a large number of different classes of objects in cluttered indoor scenes,especially when the mobile robot acquires the 3D laser scanning data in different locations and angles of view.An approach based on gentleboost algorithm is proposed for multi-class object detection,which takes the fragments and the location with respect to the object center as the generic features for object detection.As the result of indoor structure identification,the specific region for ceiling,floor,wall and door can be labeled in the bearing angle image.With the help of known semantic information,the false object detection results can be eliminated effectively.Experiment results implemented on a real mobile robot show the validity of the proposed method.

关 键 词：三维激光测距 BEARING Angle图 Gentleboost 室内场景认知 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]