基于特征线段匹配的救援机器人建图方法  

Method of Mapping Based on Feature Line Matching for Rescue Robot

作　　者：许国玉[1] 曹虎辰 刘少刚[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《图学学报》2013年第4期83-87,共5页Journal of Graphics

摘　　要：针对救援机器人的环境识别及其建图(SLAM)问题,提出了一种基于特征线段匹配的方法。通过激光雷达获取环境信息,采用特征线段提取匹配的方法提高了系统运行速度,在救援机器人移动过程中,系统能够及时、准确地进行全局地图更新。在救援环境中,利用救援机器人进行环境识别及建图,实验结果表明:采用基于特征线段匹配方法实现建图,能够得到较完整的环境地图,其方法具有很好的实用性。In order to solve the environment recognition and mapping problems of rescue robot, the matching method based on feature line is presented. This method makes use of the laser radar to get the environmental information and adopts the feature extraction of matching line, so that speed of the system is improved. When rescue robot is moving, the system can update global map timely and accurately. In the rescue environment, rescue robot is used to do the environment recognition and mapping. The experimental results show that mapping by using the matching method based on feature line can get more complete environment map and the method is of very good practicality.

关 键 词：救援机器人 SLAM Split-and-Merge 特征线段 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]