摘要
针对救援机器人的环境识别及其建图(SLAM)问题,提出了一种基于特征线段匹配的方法。通过激光雷达获取环境信息,采用特征线段提取匹配的方法提高了系统运行速度,在救援机器人移动过程中,系统能够及时、准确地进行全局地图更新。在救援环境中,利用救援机器人进行环境识别及建图,实验结果表明:采用基于特征线段匹配方法实现建图,能够得到较完整的环境地图,其方法具有很好的实用性。
In order to solve the environment recognition and mapping problems of rescue robot, the matching method based on feature line is presented. This method makes use of the laser radar to get the environmental information and adopts the feature extraction of matching line, so that speed of the system is improved. When rescue robot is moving, the system can update global map timely and accurately. In the rescue environment, rescue robot is used to do the environment recognition and mapping. The experimental results show that mapping by using the matching method based on feature line can get more complete environment map and the method is of very good practicality.
出处
《图学学报》
CSCD
北大核心
2013年第4期83-87,共5页
Journal of Graphics
作者简介
作者简介：许国玉（1960-），女，山东招远人，教授，硕士，主要研究方向为虚拟制造及仿真、工程图学。E—mail：xuguoyu@hrbeu．edu.cn
通讯作者：曹虎辰（1986-），男，山东招远人，硕士研究生，研究方向为虚拟制造及仿真、救援机器人研究。E—mail：chctiger@qq．com
