Terrain modeling method and system fusing geometric characteristics and mechanical characteristics

Abstract

The invention provides a terrain modeling method and system integrating the geometric characteristics and the mechanical characteristics, and relates to the technical field of environment modeling. The method comprises the following steps of obtaining a color image and a depth image of a detection area, carrying out terrain semantic segmentation on the color image, and fusing a semantic segmentation result and the depth information contained in the depth image at the same moment to generate a semantic point cloud; mapping the semantic point cloud into a grid map under a map coordinate system to generate the corresponding grids, and updating the elevation values and the semantic information in the semantic point cloud to the corresponding grids; and performing ground mechanical property calculation according to the semantic information, updating a calculation result to the corresponding grid, and generating a terrain model. According to the method, the mechanical property parameters are added into topographic factors, and the topographic characterization is innovatively carried out from two dimensions of geometric properties and mechanical properties. The ground pressure-bearing characteristic and the shear characteristic of a non-contact area are deduced in advance in a visual perception mode, and the perception range is expanded.

Description

technical field

[0001] The invention relates to the technical field of environment modeling, in particular to a terrain modeling method and system that integrates geometric and mechanical properties. Background technique

[0002] With the development and progress of science and technology, human beings have begun to conduct scientific exploration and research on other planets. However, with the increasing requirements of planetary exploration missions and the increasingly complex detection environment, simple terrain geometric information has been difficult to meet the needs of planetary vehicles to adapt to the environment. For example, the surface of Mars is rough and soft sand is everywhere, and the planetary vehicle has repeatedly caused subsidence or skidding accidents due to the non-geometric characteristics of the ground, hindering the smooth progress of exploration activities. It can be seen that the mechanical properties of the ground have become an important facto...

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