摘要
由于林荫道中阴影的影响,目前常用的基于被动式传感器技术的视觉导航方法(如采用图像的方法),难以取得比较理想的结果。对于这种环境,主动式传感器具有一定的优势,文中采用了激光雷达传感器。首先利用传感器对路边的树木等物体作为障碍物来进行检测,并据此信息来推算道路边界,详细介绍了具体的方案和算法。实验结果表明,所设计的方法具有很好的鲁棒性,可以满足实际导航的需要。
Due to interference of shadow for boulevard environment,the usual vision navigation approach based on passive sensor（image based method,for example） is hard to obtain the desirable result.The active sensor has certain advantage for such environment navigation,the laser range finder is used here.First,some objects beside road such as the trees are detected as obstacle,and road boundary is reckoned by such obstacle inforamtion,the algorithm and scheme is detailed in this paper.The experimental results show the designed approach is robust and can satisfy the requirement of navigation.
出处
《计算机工程与应用》
CSCD
北大核心
2006年第35期203-205,218,共4页
Computer Engineering and Applications
关键词
导航
道路边界检测
障碍检测
主动式侍感器
navigation
road boundary detection
ohstacle detection
active sensor
