摘要
采用V视差方法对视差图进行预处理,以获取地形的有效重构区域,并避免重构不可通行区域;通过融合惯性测量单元与里程计的数据来更新高程栅格图,并结合中值滤波和邻域栅格滤波来平滑高程栅格图,实现了3维地形高程栅格图的快速构建.结果表明,所用方法具有较好的实时性和准确性,仅需对有效重构区进行地形重构,重构效率较高.
Automatic vehicle must perceive the off road 3D environment when it is moving on the off road.The terrain can be rebuilt by stereo vision,but it may get poor efficiency and accuracy if it is rebuilt directly.This paper uses V-disparity to preprocess the disparity image to get effective reconstruction regions and remove the non accessible area from disparity image.The inertial measurement unit(IMU)and speedometer are fused to update the elevation grid map,which is smoothed by using medium filter and areas grid filter.Thus,a 3 Dterrain elevation grid map can be rebuilt rapidly.The method could increase significantly the efficiency and accuracy of reconstruction since it only rebuilds the effective reconstruction region.Test results show that this method has good real-time performance and high accuracy.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2018年第1期1-6,共6页
Journal of Shanghai Jiaotong University
基金
国家自然科学基金重大研究计划项目(91420101)
国家磁约束核聚变能研究专项(2012GB102002)资助
关键词
无人驾驶
越野地形
高程栅格图
V视差法
栅格滤波
automatic drive
off road terrain
elevation grid map
V-disparity
grid filter
