计算机与数字工程2019，Vol.47Issue(12)：3004-3009,6.DOI:10. 3969/j. issn. 1672-9722. 2019. 12. 013
基于点云骨线的井下导航轨迹生成
Generation of Downhole Navigation Trajectory Based on Point Cloud Skeleton Line
余恒 1孙志刚 1肖力1
作者信息
- 1. 华中科技大学自动化学院 武汉 430074
- 折叠
摘要
Abstract
Downhole self-guided navigation is a key part of the intelligence of coal mining. Due to the complex downhole envi?ronment,the ordinary navigation trajectory generation method is not suitable for the generation of downhole navigation trajectory. This paper proposes a method for generating downhole navigation trajectory based on the point cloud Skeleton line and validates it through experiments. This method is aimed at the complex features of the downhole environment. Firstly,plane extraction is per?formed on the downhole point cloud scene. Then,the extracted Skeleton line is extracted from the extracted plane based on the medi?an theory. The experimental results show that the method can provide the navigation trajectory for the system in a poor environment.关键词
智能开采/平面提取/中值理论/点云骨线/导航轨迹Key words
intelligent mining/plane extraction/median theory/point cloud skeleton line/navigation track分类
信息技术与安全科学引用本文复制引用
余恒,孙志刚,肖力..基于点云骨线的井下导航轨迹生成[J].计算机与数字工程,2019,47(12):3004-3009,6.
