[1]满增光,叶文华,楼佩煌,等.基于自适应阈值的距离图像线段特征提取[J].深圳大学学报理工版,2011,28(No.6(471-564)):483-488.
 MAN Zeng-guang,YE Wen-hua,LOU Pei-huang,et al.Line feature extraction based on adaptive threshold in range images[J].Journal of Shenzhen University Science and Engineering,2011,28(No.6(471-564)):483-488.
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基于自适应阈值的距离图像线段特征提取()
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《深圳大学学报理工版》[ISSN:1000-2618/CN:44-1401/N]

卷:
第28卷
期数:
2011年No.6(471-564)
页码:
483-488
栏目:
电子与信息科学
出版日期:
2011-11-20

文章信息/Info

Title:
Line feature extraction based on adaptive threshold in range images
文章编号:
1000-2618(2011)06-0483-06
作者:
满增光叶文华楼佩煌钱晓明
南京航空航天大学机电学院,南京 210016
Author(s):
MAN Zeng-guangYE Wen-huaLOU Pei-huangand QIAN Xiao-ming
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, P.R.China
关键词:
移动机器人定位特征提取2D 距离图像自适应阈值激光雷达
Keywords:
mobile robotslocalizationfeature extraction2D range imagesadaptive thresholdLIDAR
分类号:
TP 242
文献标志码:
A
摘要:
提出一种从2D激光雷达距离图像中提取线段特征的方法,以满足移动机器人定位和地图创建的需要.该方法包括分割和合并两个阶段.采用IEPF(iterative end point fit)分割算法对输入点集进行递归分割,利用LT(line tracking)分割算法对已分割点集的端点进行重新分配.根据两个相邻点集所包含的点数将合并过程分为两种情况考虑,分别采用不同的自适应阈值合并算法对两点集进行合并.对比实验结果表明,该方法能解决线段提取中过分割和过合并问题,对线段端点表示较为精确.
Abstract:
A method that extracts segments in 2D range images from LIDAR(light detection and ranging) for mobile robotic localization and mapping was presented.The method included two stages,splitting and merging.In the first stage,a set of points was split recursively with IEPF,and then the end points of all the sets were reconfigured by using the principle of LT segmentation method.In the second stage,two situations are corresponding to the number of points included in two adjacent sets of points,and two adaptive threshold merging methods were used accordingly.The merging stage was also a recursive process.Experimental results show that the method presented in this paper well resolved over-splitting and over-merging problems in exacting segments.The end points of segments are denoted more accurately.

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备注/Memo

备注/Memo:
收稿日期:2010-12-31;修回日期:2011-04-05
基金项目:江苏省科技支撑计划资助项目(BE2010189)
作者简介:满增光(1982-),男(汉族),吉林省吉林市人,南京航空航天大学博士研究生.E-mail:manzg2010@163.com
通讯作者:叶文华(1965-),男(汉族),南京航空航天大学教授、博士生导师.E-mail:whye@nuaa.edu.cn
更新日期/Last Update: 2011-11-22