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Terrain modeling method and system fusing geometric characteristics and mechanical characteristics

一种力学特性、几何特性的技术，应用在融合几何特性与力学特性的地形建模方法及系统领域，达到便于提取、保证准确度、保证准确性的效果

Active Publication Date: 2019-09-20
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of this, the present invention aims to provide a terrain modeling method and system that integrates geometric and mechanical properties, and solves the problem that the existing environmental modeling methods lack the consideration of information at the level of mechanical properties

Method used

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  • Terrain modeling method and system fusing geometric characteristics and mechanical characteristics
  • Terrain modeling method and system fusing geometric characteristics and mechanical characteristics
  • Terrain modeling method and system fusing geometric characteristics and mechanical characteristics

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Embodiment 1

[0092] figure 1 Shown is a schematic diagram of the principle of the terrain model constructed by the embodiment of the present invention. The model is a layered structure consisting of a terrain geometric property layer and a mechanical property layer. Among them, the geometric property layer is used to express the geometric properties of the terrain surface, which is represented by the three-dimensional coordinates of the ground surface; the mechanical property layer is used to express the mechanical properties of the terrain surface, including the stiffness property layer and the friction property layer, respectively determined by the equivalent stiffness modulus of the ground K s and equivalent friction modulus To characterize the pressure-bearing characteristics of the surface matrix in the normal direction and the shear characteristics of the tangential direction. Therefore, the terrain model constructed in the embodiment of the present invention incorporates terrain ...

Embodiment 2

[0146] This embodiment is similar to Embodiment 1, the difference is that the terrain mechanics factor is determined by the k in the Bekker pressure bearing characteristic model c , n and c in the Janosi shear behavior model, K said. Among them, k c , n are expressed as cohesion modulus, friction modulus and subsidence index respectively; c, K represents cohesion, internal friction angle and shear modulus of elasticity, respectively. Then the terrain model is expressed as a finite sequence of nine terrain factors on a certain terrain area D:

[0147]

[0148] Similarly, the corresponding mechanical property layers are correspondingly increased to six layers, and the number of geometric property layers remains unchanged.

Embodiment 3

[0150] This embodiment is similar to Embodiment 1, except that a binocular camera is used to obtain a depth image. The same environment is captured by two calibrated 2D cameras to obtain image data streams. According to the image frames obtained by the two cameras at the same time, pixel stereo matching is performed on the content, and the depth calculation of the surrounding environment is performed to obtain depth image.

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/05G06T7/10G06V10/764
CPCG06T17/05G06T7/10G06T2200/08G06T2207/10024G06T2207/10028G06T2207/20081G06N3/08G06V20/38G06V2201/12G06V10/82G06V10/764G06N3/047G06N3/045G06T7/11G06T2207/20084G06T2207/30244G06F18/251G06N7/01
Inventor 丁亮邓宗全周如意高海波丰文浩徐鹏李楠刘振
Owner HARBIN INST OF TECH
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