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.
YUAN Weia,b,YANG Minga,b,DENG Liuyuana,b,WANG Chunxiangc,WANG Binga,b
. A Fast Method to Build Elevation Terrain Grid Map Using V-Disparity[J]. Journal of Shanghai Jiaotong University, 2018
, 52(1)
: 1
-6
.
DOI: 10.16183/j.cnki.jsjtu.2018.01.001
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