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| 基于双目立体视觉的无人车越野路面三维重构研究 |
| Research on three-dimensional reconstruction of unmanned vehicle off-road pavement based on binocular stereo vision |
| 投稿时间：2023-04-26 修订日期：2023-04-26 |
| DOI： |
| 中文关键词: 无人车 双目立体视觉 数字高程图 |
| 英文关键词: unmanned vehicles Binocular stereo vision digital elevation map |
| 基金项目: |
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| 摘要点击次数: 60 |
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| 中文摘要: |
| 自主地面车辆是一种具有自动环境感知及自主控制行驶功能的无人驾驶车辆，在军事、航天、勘探等多个领域得到应用。行驶环境信息的感知是地面自主车辆正常运行所必须的功能。现有的环境感知方式包括视觉、毫米波雷达以及激光雷达等不同方式。本文采用双目立体视觉传感器获取周围环境信息，利用双目仿生学原理，通过获得一个场景的左、右图像对，恢复场景的三维信息，进而可以提取用于路面情况判断的场景三维立体信息。在此基础上， 对获得的场景立体信息快速分析，通过地面特征提取对车辆前方区域的通过性进行预断，为自主地面车辆顺利完成通行任务奠定基础。 |
| 英文摘要: |
| In this paper, binocular stereo vision technology is used to conduct three-dimensional perception of the driving environment of unmanned off-road vehicles, a binocular stereo vision hardware system for unmanned vehicles is constructed, the median filter is used to preprocess the collected images, and then the three-dimensional environment information acquisition is realized through the semi-global stereo matching algorithm, and finally the digital elevation map of the environment is constructed by three-dimensional reconstruction technology. The results of this study are of great significance for the environmental identification of unmanned off-road vehicles. |
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