基于点线特征的通风管道建模与管内定位方法  

Modeling and localization method for ventilation ducts based on point and line features

作　　者：季宇航 宋爱国[2] Ji Yuhang;Song Aiguo(College of Automation,Nanjing University of Information Science and Technology,Nanjing 210044,China;School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China)

机构地区：[1]南京信息工程大学自动化学院,南京210044 [2]东南大学仪器科学与工程学院,南京210096

出　　处：《仪器仪表学报》2024年第2期272-279,共8页Chinese Journal of Scientific Instrument

基　　金：工信部基础科研项目(JCKY2022110C040)资助。

摘　　要：为解决在通风管道环境下场景构型单一、传统视觉特征点稀疏的问题,利用前后两个单目相机和左右两个线阵激光雷达作为主要传感设备,提出一种基于点线特征的管道建模与管内定位方法。首先,利用LaneNet网络和改进的随机抽样一致算法提取四条管壁边线特征,再利用图像中的几何和空间约束筛选局部直线分割算法的检测结果,得到管道连接处的两条竖直线特征。接着利用线阵激光雷达计算管道宽度和机器人偏航角,恢复了管道连接处线特征的深度信息并求解得到管道高度。最后建立管道地图坐标系并推算机器人的二维坐标位置和管道长度。实验结果表明,定位的相对误差在9.8 cm以内,管道建模的相对误差在2.9 cm以内,能够满足机器人在管道内巡检作业时的建模与定位需求。To address the issues of limited scene configuration and sparse traditional visual feature points in a ventilation duct environment,a method for modeling and localization of pipes based on point and line features is proposed by using two monocular cameras and two-line scan lidars as the primary sensing devices.Firstly,the LaneNet network and an improved random sample consensus algorithm are utilized to extract four wall-edge line features.Then,geometric and spatial constraints are employed to filter the detection results of the line segment detector algorithm,obtaining two vertical line features at the pipe joints.Next,the pipe width and robot yaw angle are calculated by using the line scan lidars.The depth information of the line features at the pipe joints is recovered and solved to obtain the height of the pipe.By combining the camera projection equations,the world coordinates of the line segment endpoints are obtained,and the pipe height is estimated.Finally,a pipe map coordinate system is established,and the two-dimensional robot position and pipe length are estimated.The experimental results show that the relative positioning error is within 9.8 cm,and the relative modeling error is within 2.9 cm,which could meet the requirements for pipe modeling and localization during robot inspection operations in the ducts.

关 键 词：点线特征 相机投影 RANSAC 视觉定位 尺寸估计 

分 类 号：TH89[机械工程—仪器科学与技术] TN98[机械工程—精密仪器及机械]