Filtering algorithm of line structured light for long-distance obstacle detection  

作　　者：邵海燕 张振海 李科杰 

机构地区：[1]School of Mechatronical Engineering,Beijing Institute of Technology [2]School of Mechanical Engineering,University of Jinan

出　　处：《Journal of Beijing Institute of Technology》2016年第4期521-525,共5页北京理工大学学报（英文版）

基　　金：Supported by the National Natural Science Foundation of China(61273346);the National Defense Key Fundamental Research Program of China(A20130010);the Program for the Fundamental Research of Beijing Institute of Technology(2016CX02010)

摘　　要：Since unmanned ground vehicles often encounter concave and convex obstacles in wild ground, a filtering algorithm using line structured light to detect these long distance obstacles is proposed. For the line structured light image, a ranked-order based adaptively extremum median （RAEM） filter algorithm on salt and pepper noise is presented. In the algorithm, firstly effective points and noise points in a filtering window are differentiated; then the gray values of noise points are replaced by the medium of gray values of the effective pixels, with the efficient points＇ gray values unchanged; in the end this algorithm is proved to be efficient by experiments. Experimental resuits demonstrate that the image blur, resulting into proposed algorithm can remove noise points effectively and minimize the protecting the edge information as much as possible.Since unmanned ground vehicles often encounter concave and convex obstacles in wild ground, a filtering algorithm using line structured light to detect these long distance obstacles is proposed. For the line structured light image, a ranked-order based adaptively extremum median （RAEM） filter algorithm on salt and pepper noise is presented. In the algorithm, firstly effective points and noise points in a filtering window are differentiated; then the gray values of noise points are replaced by the medium of gray values of the effective pixels, with the efficient points＇ gray values unchanged; in the end this algorithm is proved to be efficient by experiments. Experimental resuits demonstrate that the image blur, resulting into proposed algorithm can remove noise points effectively and minimize the protecting the edge information as much as possible.

关 键 词：unmanned ground vehicles line structured light concave and convex obstacles detec-tion ranked-order based adaptively extremum median （RAEM） filter filter algorithm 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] TN713[自动化与计算机技术—计算机科学与技术]