【摘要】 介绍了一种基于三维激光雷达和深度图像的障碍物检测方法。首先,根据Velodyne HDL-32E激光雷达自身工作特性,将点云数据以矩阵方式表达,并表示为深度图像;然后,根据点云中各点的距离信息在深度图像横向上进行聚类;最后,在纵向上建立线性模型,对聚类点进行分类,划分出地面点集和障碍物点集。仿真实验结果表明:本方法能够抑制障碍物遮挡造成的误判,并能够很好地适应地形变化。更多还原

【Abstract】 An obstacle detection method based on 3Dlaser scanner and range image is proposed for intelligent vehicle.First,the range image of one scan is established based on the Welodyne HDL-32 E laser scanner data.Then,according to the range image analysis,the point cloud in one row of the image is classified into several groups.Finally,the point clouds in different groups are detected by a linear model in column.Simulation reveals that using the proposed method,the rate of false detection caused by the obstacle lock is reduced,and this method well adapts to the terrain change.更多还原