广东工业大学学报2016，Vol.33Issue(5)：9-14,21,7.DOI:10.3969/j.issn.1007-7162.2016.05.003
自主移动机器人走廊识别算法研究与改进
Algorithm Research on Recognition and Improvement for Corridor of Autonomous Mobile Robot
摘要
Abstract
For the problem of corridor recognition for autonomous mobile robot in the process of navigation in the indoor environment, an improved corridor recognition algorithm is proposed.The algorithm uses in-formation of depth image provided by kinect sensor, and the depth difference between consecutive points and least squares are used to fit a straight line to detect the existence of corridor outlet.Experimental re-sults show that the algorithm can efficiently recognize corridor types while having a robust, and is still a-ble to maintain a high recognition rate of corridor types in a complex indoor environment.关键词
走廊识别/深度图/差值/最小二乘法/KinectKey words
corridor recognition/depth image/difference/least squares/Kinect分类
信息技术与安全科学引用本文复制引用
曾碧,林展鹏,邓杰航..自主移动机器人走廊识别算法研究与改进[J].广东工业大学学报,2016,33(5):9-14,21,7.基金项目
国家自然科学基金资助项目（61202267）；广东省产学研合作专项资助项目 （）
