上海交通大学学报

上海交通大学学报（自然版） ›› 2018, Vol. 52 ›› Issue (1): 1-6.doi: 10.16183/j.cnki.jsjtu.2018.01.001

• 学报（中文） •    下一篇

基于V视差的地形高程栅格图快速构建方法

袁伟a,b，杨明a,b，邓琉元a,b，王春香c，王冰a,b   

  1. 上海交通大学 a. 自动化系; b. 上海市北斗导航与位置服务重点实验室； c. 机器人研究所， 上海 200240
  • 出版日期:2018-01-01 发布日期:2018-01-01
  • 基金资助:
    国家自然科学基金重大研究计划项目（91420101）,国家磁约束核聚变能研究专项（2012GB102002）

A Fast Method to Build Elevation Terrain Grid Map Using V-Disparity

YUAN Weia,b,YANG Minga,b,DENG Liuyuana,b,WANG Chunxiangc,WANG Binga,b   

  1. a. Department of Automation; b. Shanghai Key Laboratory of Navigation and Location Services; c. Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai 200240, China
  • Online:2018-01-01 Published:2018-01-01

摘要： 采用V视差方法对视差图进行预处理，以获取地形的有效重构区域，并避免重构不可通行区域；通过融合惯性测量单元与里程计的数据来更新高程栅格图，并结合中值滤波和邻域栅格滤波来平滑高程栅格图，实现了3维地形高程栅格图的快速构建.结果表明，所用方法具有较好的实时性和准确性，仅需对有效重构区进行地形重构，重构效率较高.

关键词: 无人驾驶, 越野地形, 高程栅格图, V视差法, 栅格滤波

Abstract: Automatic vehicle must perceive the off road 3D environment when it is moving on the off road. The terrain can be rebuilt by stereo vision, but it may get poor efficiency and accuracy if it is rebuilt directly. This paper uses V-disparity to preprocess the disparity image to get effective reconstruction regions and remove the non accessible area from disparity image. The inertial measurement unit (IMU) and speedometer are fused to update the elevation grid map, which is smoothed by using medium filter and areas grid filter. Thus, a 3D terrain elevation grid map can be rebuilt rapidly. The method could increase significantly the efficiency and accuracy of reconstruction since it only rebuilds the effective reconstruction region. Test results show that this method has good real-time performance and high accuracy.

Key words: automatic drive, off road terrain, elevation grid map, V-disparity, grid filter

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