福建电脑2025，Vol.41Issue(11)：8-14,7.DOI:10.16707/j.cnki.fjpc.2025.11.002
多传感器点云数据融合算法环境感知研究
Research on Environmental Perception Using Multi-Sensor Point Cloud Data Fusion Algorithm
王涵 1孟锁 1刘益剑1
作者信息
- 1. 南京师范大学电气与自动化工程学院 南京 210023
- 折叠
摘要
Abstract
To improve the perception accuracy of indoor mobile robots towards static and dynamic obstacles,this paper proposes a multi-sensor point cloud data fusion algorithm.Firstly,the depth camera data is converted into a point cloud,and an ultrasonic data point cloud transformation algorithm is proposed to extend one-dimensional acoustic data into two-dimensional point clouds;Subsequently,laser radar,camera,and ultrasonic point cloud are integrated to form a unified environmental representation.Experiments have shown that compared to a single LiDAR,this algorithm reduces the relative error of detecting hollow and transparent static obstacles by 94.64%and 95.04%,respectively,and reduces the error of detecting dynamic obstacles by 84.32%,significantly improving the accuracy of environmental perception.关键词
多传感器融合/点云融合/透明障碍物检测/动态障碍物感知Key words
Multi-Sensor Fusion/Point Cloud Fusion/Transparent Obstacle Detection/Dynamic Obstacle Perception分类
计算机与自动化引用本文复制引用
王涵,孟锁,刘益剑..多传感器点云数据融合算法环境感知研究[J].福建电脑,2025,41(11):8-14,7.
