【作者】 王美玲； 熊之韬； 杨毅；

【Author】 WANG Mei-ling, XIONG Zhi-tao,YANG Yi (School of Information Science and Technology, Beijing Institute of Technology,Beijing 100081,China)

【机构】 北京理工大学信息科学技术学院；

【摘要】 介绍了一种基于分段直线拟合和栅格划分去噪相结合的快速室内地图构建方法。当自主车获取的二维激光数据无法为导航提供依据时,自主车停止运动,并对环境进行三维扫描。利用LMS的线状点云作为初始输入,用曲率对点云分段,最后用MLS直线拟合对曲线的点云数据进行平滑处理。数据采集完成后,利用云台的俯仰角度数据,将所有输入的线状数据还原到三维场景产生环境三维模型,使用栅格划分方法对模型进行划分,删除点数量不足的栅格,最终生成基于环境特征的局部地图供自主车导航使用。该方法建模速度快,能够满足自主车导航中对环境感知的需求。更多还原

【Abstract】 Based on the segment line smoothing and the grid division, a fast indoor map building method is introduced. When the 2D laser ranging data cannot provide enough information for the ALV navigation, the ALV stops and gives the environment a 3D scan. Based on the curvature, the point cloud data is divided into many segments, and then the MLS line fitting is used to smooth the segments. After the data acquisition, the point cloud is introduced into the 3D scene based on the pitch angle of the Pan/tilt station and an environment model is obtained. The grid division method is then used to divide the space. The grids that contain not enough points will be deleted, and a local map based on the environment feature is obtained and used for the ALV navigation. The method reconstructs the real world model with a fast speed, and can meet the need of the environment sensing for robot navigation.更多还原