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Method for perceiving star catalogue topography by laser stripe information

A technology of laser stripes and information perception, applied in the direction of using optical devices, measuring devices, instruments, etc., can solve the problem of small amount of information

Active Publication Date: 2011-07-06
BEIJING INST OF CONTROL ENG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

According to foreign relevant data, the laser streak meter is used for star surface environment perception based on structured light because of its strong initiative and high reliability, but the amount of information obtained is relatively small, and more ways to obtain and rationally use this information are listed in foreign materials and documents Much does not involve

Method used

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  • Method for perceiving star catalogue topography by laser stripe information
  • Method for perceiving star catalogue topography by laser stripe information
  • Method for perceiving star catalogue topography by laser stripe information

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0057] 1) Define the target audience

[0058] This method abstracts the star catalog detection robot into the form of a wheeled detection vehicle, and installs a laser stripe instrument capable of emitting a set of straight-line lasers at a specific position in front of the detection vehicle. It is abstracted that the main hazard source of unstructured terrain walking is the raised height obstacle, which is recorded as A.

[0059] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0060] 2) Place a laser streak meter in front of the probe vehicle 12 to emit laser light;

[0061] The laser streak meter described in the present invention is made up of a plurality of lasers 10 that can emit a line of lasers. The laser lines emitted by each laser 10 are all on a light-emitting plane 1-9, and the common points of these light-emitting planes 1-9 The line of intersection is called the outgoing ra...

Embodiment 2

[0120] Steps 1) to 3) are the same as in Example 1.

[0121] 4) Obtain and save laser stripe information

[0122] In this embodiment, the laser stripe instrument is used to assist the binocular vision to obtain the laser stripe information. The specific operation steps are as follows:

[0123] a) Make the laser stripes lie within the common field of view of the two cameras;

[0124] b) Turning on and off the two images taken by the laser streak meter to perform difference and binarization to obtain two binary images containing only laser stripes;

[0125] c) wherein a point on the left image is on the epipolar line of the right image, and at the same time this point is on the laser line of the right image, then the intersection of the epipolar line and the laser line of the right image is the same name point of the laser point on the left image.

[0126] Using different installation positions and angles, ensure that several laser stripes are located in the common field of view...

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Abstract

The invention belongs to the field of visual environment perception for a robot, and particularly discloses a method for perceiving star catalogue topography by laser stripe information. In the method, the topography is designed into three regions so as to evaluate perception results in advance; the defect of complex algorithm in lattice-fitting scene description is eliminated; and the provided results and design weights for the subsequent algorithm are applicable to various path planning algorithms. Compared with the traditional binocular stereo vision technology, the invention has the advantages that the speed is higher; an image pair (1024*1024) is matched with the traditional gray scale; a search window is set into the size of 5*5 and adopts an SAD (sum of absolute differences) matching mode; and the matching recovery runs once on an industrial personal computer (IPC) with a main frequency (p42.4) within about 2 minutes. By utilizing the method, points obtained through calculation are reduced, but the reliability is enhanced and the operation time is less than 1 second.

Description

technical field [0001] The invention belongs to the field of visual environment perception of robots, and in particular relates to a method for perceiving star surface topography. Background technique [0002] The use of structured light to perceive star surface terrain has achieved certain applications in foreign planetary exploration vehicles. However, due to its relatively high power consumption, binocular stereo vision was used to replace its application in planetary surface perception during the later US Mars exploration. . According to foreign relevant data, the laser streak meter is used for star surface environment perception based on structured light because of its strong initiative and high reliability, but the amount of information obtained is relatively small, and more ways to obtain and rationally use this information are listed in foreign materials and documents. Much does not involve Contents of the invention [0003] The object of the present invention is...

Claims

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Application Information

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IPC IPC(8): G01B11/25G01C7/02
Inventor 张晋王磊陈建新张志杨洁余志鸿曹荣向
Owner BEIJING INST OF CONTROL ENG
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