Laser scanning based water surface detection method

Abstract

The invention discloses a laser scanning based water surface detection method and relates to the field of robots. A laser scanner conducts 3D laser scanning on the front at a relatively small level inclination angle alpha, the reflectivity of the water surface is lower than 28%, the reflectivity of the ground is remarkably greater than 28% and no specular reflection phenomenon exists within the detection range of the laser scanner. Meanwhile, if a water-side upright object exists within the detection range of the laser scanner, then a laser beam is reflected because of the specular reflection of the water surface, irradiates the surface of the water-side upright object and generates diffuse reflection on the surface of the water-side upright object to allow partial energy to be received by the laser scanner, then the 3D laser scanner can obtain a real image of the water-side upright object, and a virtual image of the water-side upright object subjected to the specular reflection of the water surface, wherein the real image of the water-side upright object and the virtual image of the water-side upright object are identical in shapes and different in distances. Therefore, the water-side upright object can be judged so as to judge the edge of the water surface. The laser scanning based water surface detection method is simple and fast, and can be used to accurately distinguish the water surface and the surrounding environment under any light conditions outdoors to achieve detection of the water surface.

Description

technical field [0001] The invention relates to the field of robots, in particular to a water surface detection method based on laser scanning. Background technique [0002] For mobile robots, the detection of water body hazards such as rivers, lakes, and ponds is a key issue for outdoor navigation, especially in the wild. The existing water surface detection method is mainly based on visual color features to distinguish the water surface from the surrounding environment, but there are two fatal flaws in this method. First of all, the reflection of the water surface on the surrounding environment and the sky makes it difficult to extract a single feature of the water surface in the images obtained by vision due to the mixing of the water body and the environment; secondly, the visual detection method fails at night and other low-light environments, and cannot adapt to the outdoor environment of mobile robots. Practical needs for autonomous work. Few studies (L. Matthies, ...

AI Technical Summary

Problems solved by technology

[0003]Detecting water hazards for autonomous offroad navigation. In Proceedings of SPIE Conference 5083: Unmanned Ground Vehicle Technology V, 2003: 231.) using near-infrared imaging or thermal imaging technology Water body detection, but it is strongly constrained by environmental and time conditions, and the detection speed is difficult to meet the requirements of real-time navigation of mobile robots

Images