Field environment barrier detection method fusing distance and image information

Abstract

The invention belongs to the technical field of barrier detection, particularly relates to a field environment barrier detection method fusing distance and image information and aims to provide a method for detecting the common barriers under the field driving condition of an unmanned vehicle so as to plan a driving route for the vehicle and enhance the independent field driving capability of theunmanned vehicle. The method comprises the following steps of: establishing a mathematical model; detecting a laser radar distance data barrier; and fusing the image processing of a video camera and a result. By the method, the common barriers such as grasslands, roads, trees, bushes and the like under the field driving condition of the unmanned vehicle can be detected and recognized and color modeling is performed on a driving region, so that an abnormal part of the driving region is further detected. The environment around the vehicle can be partitioned into a non-driving region, the driving region, an unknown region and the like, so that the planning of the driving route of the vehicle is facilitated and the independent field driving capability of the unmanned vehicle is enhanced.

Description

technical field [0001] The invention belongs to the technical field of obstacle detection, and in particular relates to a method for detecting obstacles in a field environment by fusing distance and image information. Background technique [0002] Obstacle detection of unmanned vehicles on the road is an important part of the research field of environmental perception technology. In the application of obstacle detection, commonly used sensors include lidar, camera, millimeter wave radar, ultrasonic sensor, etc. LiDAR measures distance by measuring the time difference between when light is emitted and when it is reflected from an object's surface. It can directly obtain the distance data and provide convenient and intuitive environment description information for the vehicle. There are many specific applications of lidar, such as object positioning and tracking, environmental modeling and obstacle avoidance, localization and map construction (SLAM), classification of terrai...

AI Technical Summary

Problems solved by technology

However, when the colors of obstacles and bushes are very close, the effect of fusion detection will decrease, and the drivable area is not divided according to the determined undrivable area, lacking a more specific understanding of the environment

To sum up, the existing technology does not have an obstacle detection method that can detect common obstacles for unmanned vehicles under field driving conditions, so as to facilitate vehicle planning driving paths and improve the autonomous ability of unmanned vehicles in the field.

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