Grid-based contour line segment feature extraction algorithm

A feature extraction and grid technology, applied in the field of mobile robots, can solve the problems of easy error, easy misjudgment, misjudgment at the end of the line segment, etc., to achieve the effect of simple method, lower performance requirements, and lower impact

Active Publication Date: 2019-10-15
广州启明星机器人有限公司 +1
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  • Application Information

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Problems solved by technology

[0003] At present, the line segment feature extraction methods mainly include PDBS (Point-Distance-Base Segmentation), SEF (Successive Edge Following), LT (Line Tracking), IEPF (Iterative End PointFit), SM (Split-and-Merge), etc. However, These extraction methods have high requirements on the sampling speed, data validity, and continuous type of the sensor, are easily affected by noise, and depend on an appropriate threshold. The complexity and variability of the environment make threshold selection difficult.
Among them: PDBS algorithm and SEF algorithm depend on the continuity of laser scanning data. If there is data loss or noise, it is easy to misjudgmen

Method used

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  • Grid-based contour line segment feature extraction algorithm
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  • Grid-based contour line segment feature extraction algorithm

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Embodiment 1

[0068] Such as Figure 1 to Figure 4 Shown is the embodiment of the raster-based contour segment feature extraction algorithm of the present invention, comprising the following steps:

[0069] S10. Construct a grid map including several obstacle grids, and extract the center point coordinates of the obstacle grids to form a data point set M={P 1 ,P 2 ,...,P N};

[0070] S20. Based on the Euclidean distance clustering method, the point set M is divided into several first clustering point sets M by the Euclidean distance measure between data points i ={P 1 ,P 2 ,...,P K};

[0071] S30. For each first cluster point set M based on path search and branch point judgment i The data points are sorted to obtain the sorted second clustering point set M ii ,M ii The data points in satisfy the order of the topological structure;

[0072] S40. Each second clustering point set M ii The data points within are divided into several data segments S j ={P 1 ,P 2 ,...,P J}, the da...

Embodiment 2

[0119] Such as Figure 5 , Figure 6 Shown is an embodiment of the grid-based feature extraction algorithm for contour line segments of the present invention, which aims to verify the reliability and effectiveness of the algorithm for extracting line segments of the present invention. Different experimental environments are simulated and built, and the algorithm of the present invention is used for testing. Such as Figure 5 , Figure 6 The real picture and grid map of single rectangular space and multi-rectangular space are shown respectively. The left side is the real picture of the test environment, and the right side is the grid map and line segment features generated by the mobile robot; in the grid map, white represents the grid The status is unknown, blue means the grid status is an obstacle, green means the grid status is cleaned, and yellow means the grid status is blank. The test results show that in an environment with complex, dense and irregular distribution o...

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Abstract

The invention relates to the technical field of mobile robots. More specifically, the present invention relates to a grid-based contour line segment feature extraction algorithm. The method comprisesthe steps: clustering data points, sorting the data points in each cluster, segmenting the data points in each cluster, performing line segment fitting on the data points in each data segment, takingthe first three items as the method for searching the line segment support area provided by the invention, and fitting line segments in the support area by using a least square method in combination with the method. According to the algorithm, when the line segment supporting area is searched, a large memory and long calculation time are not needed, and when the line segment is fitted, the fittingmethod is simple. According to the method, the performance requirement on the rotary laser scanner can be reduced, and the influence of noisy points on the extraction effect is reduced. Moreover, parameters such as thresholds do not need to be set, the performance requirement on the rotary laser scanner is reduced, the influence of noisy points on the extraction effect is reduced, and the extracted line segment is high in resolution, robustness, efficiency and real-time performance.

Description

technical field [0001] The present invention relates to the technical field of mobile robots, and more specifically, to a grid-based contour segment feature extraction algorithm. Background technique [0002] The problem of simultaneous localization and mapping (SLAM: simultaneous localization and mapping) has always been an important direction of mobile robot research, and grid maps are a common method for map construction in SLAM problems. Compared with other environmental features such as edges, corners, regions, and ridges, line segments are mathematically simple middle-level descriptors, which can not only describe many environmental objects, but also have low extraction complexity. Therefore, line segment feature extraction on raster maps is a good research direction in SLAM problems. [0003] At present, the line segment feature extraction methods mainly include PDBS (Point-Distance-Base Segmentation), SEF (Successive Edge Following), LT (Line Tracking), IEPF (Iterat...

Claims

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Application Information

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IPC IPC(8): G06T7/13G06K9/62
CPCG06T7/13G06F18/23G06F18/22
Inventor 曹一波刘好新
Owner 广州启明星机器人有限公司
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