【摘要】 对于工作在典型非结构化场景中的移动机器人系统,具有良好的室外自然场景感知与理解能力是其能够自主运行的前提条件.移动机器人使用视觉传感器来进行室外自然场景的理解一直是该领域的研究热点.本文首先介绍了基于视觉的移动机器人自然场景理解的研究现状,对其相关子领域的研究思路与前沿技术进行了着重论述与分析,并从实时性和环境自适应性等方面对相关技术的实用性问题加以讨论.最后对该领域的研究重点和技术发展趋势进行了探讨.更多还原

【Abstract】 Natural scene understanding is an indispensable capability for vision-based outdoor mobile robots working in the challenging unstructured environment.The intention of this paper is to investigate the status and development of this technology, point out and analyze some cutting-edge technologies in the relevant sub-domains.Practical issues are discussed throughout the paper in terms of real-time and self-adaptation aspects.The research emphases and prospective technical development trends are also proposed at the end of this paper.更多还原