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障碍物检测问题一直是移动机器人的研究热点之一,也是机器人实现安全可靠导航的前提。文章利用激光测距雷达和机器视觉对障碍物进行联合检测,首先对摄像机标定,然后进行摄像机和激光测距雷达之间的联合标定,最后通过激光点数据将检测图像划分为几个小区域并进行图像处理。实验结果表明该方法能够有效检测出障碍物的大小信息,将检测图像划分为小区域也提高了图像处理的运算速度。
The problem of obstacle detection has been one of the research hot spots of mobile robot all the time, and it is also the precondition for the robot to realize safe and reliable navigation. The article uses laser range radar and machine vision to detect the obstacle jointly. Firstly, the camera is calibrated, and then the joint calibration between the camera and the laser ranging radar is performed. Finally, the detection image is divided into several small regions by laser point data Image processing. The experimental results show that this method can effectively detect the size of obstacles and divide the detection image into small regions and improve the speed of image processing.