复杂野外环境下水障碍识别技术综述  

A Survey on Water Hazard Detection in the Wild Field

作　　者：邵海燕[1,2] 张振海[1] 李科杰[1] 石志国[3] 张东红[4] 王健[1] 许涛[1] 魏永红[1,5] 

机构地区：[1]北京理工大学机电学院,北京100081 [2]济南大学机械学院,济南250022 [3]北京科技大学计算机与通信工程学院,北京100083 [4]陆军军官学院五系,合肥230031 [5]天津科技大学计算机学院,天津300222

出　　处：《计算机测量与控制》2014年第1期1-4,12,共5页Computer Measurement &Control

基　　金：国防基础科研项目(C××20110003;A××20110005和A××20132010);国家自然科学基金面上项目(61273346和51176106);教育部博士点基金(20121101120009);北京理工大学"优青资助计划"项目(2012YG0203);基础研究基金项目(3020012211219;3020012251104;2013CX11001)

摘　　要：复杂野外环境下各种类型的水障碍,作为野外环境中最常见的障碍类型之一,对无人车自主导航造成了很高的安全威胁;近几年国内外对水障碍研究工作开展很多,但实现野外水障碍无人车自主导航的工作进展颇少;野外水障碍,如水洼和池塘经常存在,由于水障碍表面特殊反射等原因检测难度很大;影响水障碍识别的主要因素包括:环境光线、水面反射、水障碍面积和水障碍深度等;目前水障碍的检测手段主要有:立体视觉、激光雷达、彩色图像分割、多特征融合、偏振图像、短波红外和热红外图像等;文章主要从环境光线和水面反射这两个因素入手,对近几年一些研究机构在该领域的研究概况和现状进行分析和总结,希望为我国无人车在水障碍物检测的发展提供借鉴。Autonomous off--road navigation is a highly complicated task for a robot or unmanned ground vehicle （UGV） owing to the different kinds of obstacles it could encounter. In recent years, many researches to detect the water bodies have been done. But there still has been very little work on detecting bodies of water that could be navigation hazards. In--particular, water hazards such as puddles and ponds are very common in wild field environments and are hard to detect even with ranging devices due to the specular nature of reflection at the air water interface. There are some environmental variables to he paid attention, such as ambient light, scene elements reflected by the surface, width of water surface and water depth. Depending on the different sensors, the algorithm technology of water hazard detection for autonomous off--road navigation is summarized, which are based on stereo vision, laser radar, color image segmentation, multi--feature based scheme, short--wave infrared （SWIR） imagery, thermal infrared imagery, polarization imaging technique and so on. The above methods related to the water hazard detection are introduced from two factors：ambient light and scene elements reflected by the surface in this paper. And the achievements of some research institutes are introduced for providing some reference to the development of domestic technology in this field.

关 键 词：无人车 水障碍检测 彩色图像 多特征融合 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]