机器人2012，Vol.34Issue(3)：321-328,336,9.DOI:10.3724/SP.J.1218.2012.00321
基于激光扫描的移动机器人3D室外环境实时建模
Real-time 3D Outdoor Environment Modeling for Mobile Robot with a Laser Scanner
摘要
Abstract
The real-time terrain modeling problem of mobile robot with a laser scanner in outdoor unstructured 3D environments is studied. The underlying uncertainties from multiple sources during modeling are taken into account and modeled as zero-mean Gaussian noises, and subsequently the multi-level coordinate transformation matrixes are created to convert the measurements from laser scanner into probabilistic elevation estimations in the global coordinate systems, which will be associated with several terrain cells according to the confidence interval of the estimation. The elevation estimations assigned to each cell can be fused through a probabilistic approach to update the map locally. In addition, a local measurement window is denned to detect the occlusions, and the 3D localization of the mobile robot in outdoor environment is solved simultaneously. Experimental results demonstrate the real-time performance and effectiveness of the proposed method.关键词
移动机器人/环境建模/定位/高斯噪声/地形估计Key words
mobile robot/ environment modeling/ localization/ Gaussian noise/ terrain estimation分类
信息技术与安全科学引用本文复制引用
周波,戴先中,韩建达..基于激光扫描的移动机器人3D室外环境实时建模[J].机器人,2012,34(3):321-328,336,9.基金项目
国家自然科学基金资助项目(61005092) （61005092）
教育部博士点新教师基金资助项目(20100092120026). （20100092120026）
