發(fā)布時(shí)間：2019-01-03 09:50

【摘要】：有效而又可靠的可通行性區(qū)域識別對移動機(jī)器人的導(dǎo)航具有重要的意義。而目前關(guān)于這方面的研究成果主要集中于傳感器可以直接探測到的有限的空間中,對于開闊的環(huán)境,這仍是一個(gè)挑戰(zhàn)。鑒于傳統(tǒng)單一傳感器具有各自的局限性,如立體視覺的算法復(fù)雜與“短視”,激光雷達(dá)的昂貴,而組合傳感器對傳感器之間的數(shù)據(jù)同步提出了很高的要求。本文提出基于Kinect傳感器的自監(jiān)督可通行區(qū)域識別方法,對Kinect能有效探測到的近距離區(qū)域,根據(jù)一定規(guī)則識別地面和障礙物并標(biāo)記,并將這兩類識別標(biāo)簽投影到對應(yīng)的RGB圖像空間,然后在圖像空間提取視覺和識別標(biāo)簽的組合特征,訓(xùn)練分類器,并使用該分類器對遠(yuǎn)距離圖像空間進(jìn)行分類識別,最終得到整個(gè)圖像空間的可通行性。本文研究內(nèi)容主要包括兩部分:第一部分為近距離Kinect傳感器障礙物識別,這一部分介紹了Kinect的軟硬件及深度信息獲取原理,在完成標(biāo)定和RGB配準(zhǔn)之后,采用二維圖像結(jié)合空間3維坐標(biāo)的方法,識別地面和障礙物。第二部分為基于障礙物識別的遠(yuǎn)距離可通行區(qū)域識別,這一部分將第一部分中近距離區(qū)域識別類別標(biāo)簽投影到對應(yīng)的圖像空間,之后使用滑動窗口將圖像窗口分塊,并基于圖像塊提取顏色、紋理、幾何相結(jié)合的組合視覺特征,將提取的組合特征與對應(yīng)圖像塊的類別標(biāo)簽相結(jié)合形成訓(xùn)練數(shù)據(jù),去訓(xùn)練本文的分類器--Fuzzy ARTMAP,最后利用得到的分類器去分類遠(yuǎn)距離圖像空間,得到遠(yuǎn)距離圖像的識別結(jié)果。本文最后通過在室內(nèi)室外兩個(gè)場景進(jìn)行實(shí)驗(yàn),驗(yàn)證了Kinect近距離檢測算法的有效性以及基于圖像空間遠(yuǎn)距離可通行區(qū)域檢測的有效性。
[Abstract]:Effective and reliable identification of traversable region is of great significance to the navigation of mobile robots. However, the current research results mainly focus on the limited space that sensors can detect directly, which is still a challenge for open environment. Since the traditional single sensor has its own limitations, such as the complexity of stereo vision algorithm and "shortsightedness", the high cost of lidar, and the combination of sensors put forward a very high requirement for data synchronization between sensors. In this paper, a self-supervised passable area recognition method based on Kinect sensor is proposed. The ground and obstacle can be identified and marked according to certain rules for the close-range area which can be detected effectively by Kinect. The two kinds of recognition tags are projected to the corresponding RGB image space, then the combined features of the visual and recognition tags are extracted in the image space, and the classifier is trained, and the classifier is used to classify and recognize the remote image space. Finally, the traversability of the whole image space is obtained. This paper mainly includes two parts: the first part is the close distance Kinect sensor obstacle recognition, this part introduces the Kinect software and hardware and the depth information acquisition principle, after completing the calibration and the RGB registration, Two-dimensional images combined with three-dimensional space coordinates are used to identify the ground and obstacles. The second part is based on obstacle recognition. In this part, the close area recognition category label is projected to the corresponding image space, and then the image window is divided into blocks using sliding window. Based on the combined visual features of color, texture and geometry extracted from image blocks, the combined features are combined with the category labels of corresponding image blocks to form training data to train the classifier of this paper, Fuzzy ARTMAP,. Finally, the remote image space is classified by using the classifier, and the recognition results are obtained. Finally, the effectiveness of the Kinect close-range detection algorithm and the detection of remote passable area based on image space are verified by two experiments in indoor and outdoor environments.
【學(xué)位授予單位】：杭州電子科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP391.41;TP242

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本文編號：2399214