The invention discloses a non-structural scene-oriented ground unmanned platform environment trafficability evaluation method and device, and belongs to the field of ground unmanned platform environment perception. Comprising the following steps: correcting a low-precision navigation road point by means of an environment trafficability evaluation result at a previous moment and a historical motion track, and fusing the low-precision navigation road point with a visual image and a laser point cloud to respectively obtain trafficable area distribution mark points based on the image and the point cloud; carrying out continuous processing on the passable area distribution mark points to obtain corresponding continuous passable areas; and performing quality evaluation and single-frame fusion on the continuous passable area to obtain a single-frame fused passable area for updating the environment trafficability model. According to the method provided by the invention, priori knowledge and historical data of environment trafficability evaluation are fully utilized, and multi-source heterogeneous information fusion is performed on the corrected navigation road points, visual images and laser point cloud data, so that trafficability evaluation can be quickly and accurately performed in a non-structural scene.

    本发明公开了面向非结构场景的地面无人平台环境通行性评估方法和装置,属于地面无人平台环境感知领域,包括:借助前一时刻的环境通行性评估结果以及历史运动轨迹对低精度导航路点进行修正并将其与视觉图像以及激光点云进行融合,分别获得基于图像与点云的可通行区域分布标记点;将上述可通行区域分布标记点进行连续化处理,获得对应的连续可通行区域;对连续可通行区域进行质量评估与单帧融合以获得单帧融合的可通行区域,用于更新环境通行性模型。本发明提出的方法充分利用了环境通行性评估的先验知识和历史数据,并将修正后的导航路点和视觉图像以及激光点云数据进行多源异构信息融,能够快速准确地在非结构场景中进行通行性评估。


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    Title :

    Non-structural scene-oriented ground unmanned platform environment trafficability evaluation method and device


    Additional title:

    面向非结构场景的地面无人平台环境通行性评估方法和装置


    Contributors:
    SEO BONG-WOOK (author) / MEI JILIN (author) / HU YU (author)

    Publication date :

    2024-04-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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