自主移动机器人路径规划中的点云噪声处理  

Point cloud noise processing in path planning of autonomous mobile robot

作　　者：王新杰[1] 张莹[1,2] 张东波[1,2] 王玉[1] 杨知桥[1] WANG Xinjie;ZHANG Ying;ZHANG Dongbo;WANG Yu;YANG Zhiqiao(College of Automation and Electronic Information,Xiangtan University,Xiangtan 411105,China;National Engineering Labor-atory of Robot Vision Perception and Control Technology,Changsha 410082,China)

机构地区：[1]湘潭大学自动化与电子信息学院,湖南湘潭411105 [2]湖南大学机器人视觉感知与控制技术国家工程实验室,湖南长沙410082

出　　处：《智能系统学报》2021年第4期699-706,共8页CAAI Transactions on Intelligent Systems

基　　金：国家自然科学基金项目(61175075);国家自然科学基金区域创新发展联合基金项目(U19A2083);湖南省战略性新兴产业科技攻关与重大成果转化项目(2019GK4007).

摘　　要：机器人在自主导航过程中,图像处理算法通过对路径中障碍物的三维点云平面夹角进行分析,实时计算障碍物的高度,判断是否可以通行。而RGB-D相机输出的原始点云数据存在大量噪声,严重影响分割的准确性,需要进行滤波处理。本文在Table Scene数据集中分析比较了统计滤波中不同参数的去噪效果,得到了最佳参数K=20,α=2。移动机器人通过ORB-SLAM2算法在户外环境下构建点云地图,然后分别进行直通滤波、体素滤波、统计滤波和平面分割,计算斜坡夹角,实施运动规划。实验结果表明,在Table Scene数据集中获得的最优统计滤波参数能适用于户外环境,机器人能根据运算结果自动进行路径规划,完成指定任务。In the process of robots’autonomous navigation,the image processing algorithm analyzes the 3D point cloud plane angles of obstacles in the path and calculates their height in real time,thus determining whether the robots can pass or not.However,a large amount of noise is present in the original point cloud data output by the RGB-D camera,thereby seriously affecting the accuracy of segmentation;such noise thus needs to be filtered.This paper first obtains the best parameters(K=20 andα=2)by analyzing and comparing the denoising effects of different parameters in statistical filtering in the Table Scene dataset.The mobile robot constructs a point cloud map in an outdoor environment through the ORB-SLAM2 algorithm and then performs passthrough filtering,voxel filtering,statistical filtering,and plane segmentation,calculating the slope angle and implementing motion planning.Experimental results show that the optimal statistical filter parameters obtained in the Table Scene dataset can be applied to outdoor environments and that robots can automatically plan their paths according to the calculation results and complete their specified tasks.

关 键 词：点云地图 直通滤波 体素滤波 统计滤波 点云分割 移动机器人 运动规划 RGB-D感知 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]