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可穿越区域检测和跟踪为一种稀缺的3D激光扫描仪,用于非公路环境,使用远程图像
1School of Computing, Gachon University, Seongnam-si 1332, Gyeonggi-do, Republic of Korea.
Sensors (Basel, Switzerland)
|July 14, 2023
概括
本研究引入了一种新方法,用于在崎的越野地形中检测和跟踪无人地面车辆 (UGV) 的安全驾驶路径. 该方法使用3D激光扫描和贝叶斯融合,在具有挑战性的环境中提供可靠的导航.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 计算机视觉 计算机视觉
- 自主系统 自主系统
背景情况:
- 无人驾驶地面车辆 (UGV) 在越野环境中的导航是复杂的,因为地形不可预测.
- 精确检测和跟踪可穿越区域对于安全和高效的UGV运行至关重要.
- 现有的方法可能会与越野条件的动态和非结构化性质作斗争.
研究的目的:
- 开发和验证一种可靠的方法来检测和跟踪在越野条件下运行的UGV可穿行区域.
- 为了提高UGV导航安全性和效率在具有挑战性的户外环境.
- 为了利用3D激光扫描器数据进行实时可穿越区域识别.
主要方法:
- 一种基于距离图像的方法,用于处理3D激光扫描仪点云数据以检测可穿越区域.
- 实施贝叶斯融合算法,在连续的传感器框架中跟踪识别的可穿越区域.
- 利用UGV在崎的地形上运行的真实数据来验证方法.
主要成果:
- 拟议的基于距离图像的方法有效处理3D点云数据.
- 贝叶斯融合算法有效地跟踪随时间的可穿越区域.
- 在复杂的越野场景中确定UGV安全驾驶路径的有效性.
结论:
- 开发的方法显著提高了UGV在具有挑战性的越野地形上导航的能力.
- 该方法为增强UGV自主性和运行安全提供了可靠的解决方案.
- 这种技术显示出在非结构化环境中推进机器人导航的前景.
关键词:
在3D中,它是3D.贝叶斯的融合是贝叶斯的融合.李达尔 (LiDAR) 是一个在线游戏.自动驾驶自动驾驶的自动驾驶.检测 检测 检测 检测 检测激光扫描仪 激光扫描仪这是一款越野车型.图像范围 图像范围 图像范围追踪 追踪 追踪 追踪可以穿越的可穿越性.可以穿越的区域.无人驾驶地面车辆 (UGV)更多相关视频
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