| 智能车辆非结构化路面障碍检测 |
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| 引用本文： | 张博,陈慧岩,席军强.智能车辆非结构化路面障碍检测[J].汽车工程,2009,31(6). |
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| 作者姓名： | 张博 陈慧岩 席军强 |
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| 作者单位： | 北京理工大学机械与车辆工程学院,北京,100081 |
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| 基金项目： | 国家自然科学基金，面向21世纪教育振兴行动计划（985计划） |
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| 摘 要： | 为在非结构化路面条件下进行有效障碍检测,提出一套利用雷达和图像进行一般障碍特征提取的算法和一种利用多层技术专门适用于负障碍检测的轮廓提取方法.然后讨论通过双传感器融合进行障碍物识别的方法和框架.最后通过实车试验验证整套检测算法的准确性和可靠性.
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| 关 键 词： | 障碍 特征提取 负障碍 多层技术 |
Obstacle Detection on Unstructured Terrain for Unmanned Ground Vehicles |
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| Zhang Bo,Chen Huiyan,Xi Junqiang.Obstacle Detection on Unstructured Terrain for Unmanned Ground Vehicles[J].Automotive Engineering,2009,31(6). |
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| Authors: | Zhang Bo Chen Huiyan Xi Junqiang |
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| Institution: | Zhang Bo,Chen Huiyan & Xi Junqiang School of Mechanical , Vehicular Engineering,Beijing Institute of Technology,Beijing 100081 |
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| Abstract: | For effective obstacle detection under unstructured terrain conditions,a general obstacle feature extraction algorithm using radar and image,and a profile extraction method specifically for negative obstacle detection based on multi-layer technology are proposed.Then the method and framework of obstacle recognition by means of dual sensor fusion are discussed.Finally real vehicle tests verify the accuracy and reliability of whole set of detection algorithm. |
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| Keywords: | obstacle feature extraction negative obstacle multi-layer technology |
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