控制理论与应用2013，Vol.30Issue(7)：821-827,7.DOI:10.7641/CTA.2013.21291
基于视觉显著性的移动机器人动态环境建模
Dynamic environment modeling of mobile robots based on visual saliency
摘要
Abstract
This paper presents a method of mobile robots dynamic environment modeling based on visual saliency.This method uses the proposed model of visual saliency to achieve the saliency detection of dynamic objects in the environment by using multi-random-sample-consensus (multi-RANSAC) algorithm and position relations of matching speededup-robust-feature (SURF) points in consecutive two images.It adopts the projection methods and fast mean shift algorithm to construct a dynamic environment grid model,the grid occupation area and the influence region of dynamic objects are updated by using position of the saliency objects.The results of dynamic environment saliency map construction experiments and dynamic environment grid model construction experiments illustrate the effectiveness of this method.关键词
视觉显著性/动态环境建模/移动机器人Key words
visual saliency/ dynamic environment modeling/ mobile robots分类
信息技术与安全科学引用本文复制引用
郭丙华,李中华..基于视觉显著性的移动机器人动态环境建模[J].控制理论与应用,2013,30(7):821-827,7.基金项目
国家自然科学基金资助项目(61201087). （61201087）
