南阳师范学院学报2024，Vol.23Issue(5)：42-48,7.
融合多传感器的障碍物定位及应用
Fusion of multiple sensors for obstacle localization and its application
摘要
Abstract
When the robot uses 2D lidar or binocular camera to locate obstacles,there will be problems such as missing obstacle information or inaccurate obstacle positioning,which affects the normal operation of the robot.In order to obtain accurate 3D obstacle information,this paper proposes an algorithm that fuses 2D lidar and bin-ocular vision to complete the obstacle positioning.In this paper,the depth value of 2D lidar point cloud is taken as the benchmark,and the depth value of camera point cloud is corrected by fitting the error equation of binocu-lar camera point cloud depth value,and accurate 3D camera point cloud is obtained,so as to obtain accurate 3D obstacle information.A large number of experiments prove that the fusion algorithm of 2D lidar and binocular vi-sion can obtain relatively accurate 3D obstacle information.关键词
2D激光雷达/双目相机/机器人/融合算法Key words
2D lidar/binocular camera/robots/fusion algorithm分类
信息技术与安全科学引用本文复制引用
邵伟伟,吴卫兵,薛磊..融合多传感器的障碍物定位及应用[J].南阳师范学院学报,2024,23(5):42-48,7.基金项目
安徽省高等学校省级质量工程项目(2022cyts042) （2022cyts042）
安徽省高校科学研究项目(2023AH040231) （2023AH040231）
铜陵学院自然科学项目(2021tlxy17) （2021tlxy17）
