A Water Surface Detection Method Based on Laser Scanning

Abstract

The invention discloses a water surface detection method based on laser scanning, and relates to the field of robots. Laser scanner with small horizontal inclination α 3D laser scanning is performed on the front. Within the detection distance of the laser scanner, the reflectivity of the water surface is lower than 28%, while the reflectivity of the ground is significantly greater than 28% and there is no specular reflection. At the same time, if there is a waterside upright within the detection distance of the laser scanner, the laser beam will be deflected by the mirror reflection of the water surface and irradiated to the surface of the waterside upright, and diffusely reflected on the waterside upright surface to make part of the energy If the laser scanner is used, the 3D laser scanning will simultaneously obtain the real image of the waterside uprights with the same shape but different distances and the virtual image after mirroring the water surface, so that the waterside uprights can be judged, and then the water surface edge can be judged . The invention is simple and fast, and can be used to accurately distinguish the water surface from the surrounding environment under any outdoor lighting conditions, so as to realize the 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. A few studies (L.Matthies, ...

AI Technical Summary

Problems solved by technology

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 image 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

A few studies (L.Matthies, P.Bellutta and M.McHenry. Detecting water hazards for autonomous offroad navigation. In Proceedings of SPIE Conference 5083: Unmanned Ground Vehicle Technology V, 2003: 231.) use near-infrared imaging or thermal imaging technology for water detection, but it is strongly constrained by conditions such as environment and time. The speed is difficult to meet the requirements of real-time navigation of mobile robots

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