基于直线特征提取匹配搜救机器人的同步定位与地图构建

doi:10.7964/jdxbgxb201304031

吉林大学学报(工学版) ›› 2013, Vol. 43 ›› Issue (04): 1035-1044.doi: 10.7964/jdxbgxb201304031

基于直线特征提取匹配搜救机器人的同步定位与地图构建

刘少刚¹, 郭云龙¹, 贾鹤鸣²

1. 哈尔滨工程大学机电工程学院,哈尔滨 150001;
2. 东北林业大学机电工程学院,哈尔滨 150040

收稿日期:2012-05-07 出版日期:2013-07-01 发布日期:2013-07-01
通讯作者: 郭云龙(1988-),男,博士研究生.研究方向:救援机器人设计理论及路径控制. E-mail:guoyunlongbs@hrbeu.edu.cn E-mail:guoyunlongbs@hrbeu.edu.cn
作者简介:刘少刚(1962-),男,教授,博士生导师.研究方向:消防救援机器人技术,计算机控制系统. E-mail:liushaogang@hrbeu.edu.cn
基金资助:
国家自然科学基金项目(60775060).

Rescue robot simultaneous localization and mapping based on extraction and matching of line features

LIU Shao-gang¹, GUO Yun-long¹, JIA He-ming²

1. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China;
2. College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040, China

Received:2012-05-07 Online:2013-07-01 Published:2013-07-01

摘要/Abstract

摘要：

针对搜救机器人在灾后特征环境下同步定位与地图构建问题,提出了改进动态阈值分裂合并算法,与固定阈值算法相比提高了直线拟合的准确性。推导出匹配条件参数,通过比较始末点距离解决了误匹配,提高了匹配精度。在此基础上,进行全局定位计算。利用最小二乘法进行滤波处理,提高了定位精度。通过仿真与模拟现场实验表明,本文方法能使提取的直线更准确地反映实际地形环境,完成二维栅格地图的实时创建任务。

关键词: 自动控制技术, 灾后搜救, 机器人, 同步定位与地图构建, 特征提取, 特征线段匹配

Abstract:

To solve the problem of simultaneous localization and mapping by rescue robot in line feature post-disaster environment, an improved dynamic threshold algorithm is proposed based on the split-and-merge principle. Compared with the fixed threshold method, the proposed method improves the accuracy of straight line fitting. The parameters of matching conditions and state matrix are deduced. Mismatching problem can be solved by calculating and comparing the distance between initial point and end point, thus improving the accuracy of line feature matching. On this basis, global location calculation is carried out and least square filter is employed to improve accuracy of location. The simulation and experiment demonstrate that the proposed method has high accuracy to reflect the actual terrain environment and the ability of real-time mapping.

Key words: automatic control technology, search and rescue after disaster, robot, simultaneous localization and mapping, feature extraction, feature line matching

中图分类号:

TP24

刘少刚, 郭云龙, 贾鹤鸣. 基于直线特征提取匹配搜救机器人的同步定位与地图构建[J]. 吉林大学学报(工学版), 2013, 43(04): 1035-1044.

LIU Shao-gang, GUO Yun-long, JIA He-ming. Rescue robot simultaneous localization and mapping based on extraction and matching of line features[J]. 吉林大学学报(工学版), 2013, 43(04): 1035-1044.

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基于直线特征提取匹配搜救机器人的同步定位与地图构建

Rescue robot simultaneous localization and mapping based on extraction and matching of line features

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