AGV视觉导航地图快速构建方法  

Rapid Construction Method for AGV Visual Navigation Map

作　　者：白梦飞 王钧 杨振伟 符朝兴[1] BAI Mengfei;WANG Jun;YANG Zhenwei;FU Chaoxing(College of Mechanical and Electrical Engineering,Qingdao University,Qingdao 266071,China)

机构地区：[1]青岛大学机电工程学院,山东青岛266071

出　　处：《青岛大学学报(工程技术版)》2025年第1期49-56,共8页Journal of Qingdao University(Engineering & Technology Edition)

基　　金：山东省自然科学基金资助项目(ZR2020QE183)。

摘　　要：针对倾斜角度获取的图像存在畸变和透视效果,使用传统的地图构建方式无法正确构建路径规划所需的栅格地图问题,提出了一种AGV视觉导航地图快速构建方法。选择地面上可视物体作为标记物,根据标记物在不同位置和图像中对应的像素之间的坐标映射关系,运用逆透视变换方法将透视图像转换为正投影图像,利用多摄像头接力转换,构建出用于AGV导航的二维栅格地图。实验结果表明,标记点使用490 cm×580 cm间距时,逆透视变换点对误差主体分布在1~4 cm之间,平均误差为2.56 cm,测距误差与点对距离之比平均为0.83%,满足地图构建的精度要求。图像尺寸为1920×1080时,地图构建总耗时2697.67 ms,可以快速实现构建栅格地图。本研究对于提高视觉地图转换速度及精度具有一定的研究意义。In order to solve the problems of distortion and perspective effects in images obtained from tilt angles,as well as the inability to correctly construct grid maps required for path planning using traditional map construction methods,a rapid construction method for AGV visual navigation maps was proposed.Visible objects on the ground was selected as markers,and the inverse perspective transformation method was used to convert the perspective image into an orthogonal projection image,based on the coordinate mapping relationship between the markers at different positions and the corresponding pixels in the image.It uses multi-camera relay transformation to construct a two-dimensional occupancy grid map for AGV navigation.The experimental results show that,when using a spacing of 490 cm×580 cm for marker points,the main error distribution of the inverse perspective transformation point-to-point is between 1~4 cm,with an average error of 2.56 cm.The average ratio of distance measurement error to point-to-point distance is 0.83%,which meets the accuracy requirements for map construction.When the image size is 1920×1080,the total map construction time is 2697.67 ms,which can achieve rapid construction of occupancy grid maps.This study has certain research significance for improving the speed and accuracy of visual map conversion.

关 键 词：坐标映射 逆透视变换 AGV导航 栅格地图 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]