Depth camera and single-line laser radar fused mobile robot obstacle avoidance method

Abstract

The invention relates to a depth camera and single-line laser radar fused mobile robot obstacle avoidance method. The method comprises the following steps of (1) performing joint calibration on a depth camera and a single-line laser radar, (2) preprocessing and cutting a depth image, (3) judging whether the preprocessed depth image needs to be subjected to data fusion with the laser radar or not, (4) carrying out grid map fusion by using a Bayesian estimation method, and (5) carrying out obstacle avoidance by using a local obstacle avoidance algorithm. The defect that a single depth camera can only obtain the area in the front view field and cannot obtain the environmental data of the back, the left side and the right side is overcome, the depth image data needing to be calculated is greatly reduced by preprocessing and cutting the depth image, and the data processing speed of obstacle avoidance is effectively accelerated.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to an obstacle avoidance method for a mobile robot combining a depth camera and a single-line laser radar. Background technique [0002] Mobile robots can replace humans in some service and dangerous work, and have been used in entertainment, medical treatment, rescue and other fields. Mobile robots often work in unknown dynamic environments and encounter various obstacles during the movement process; in the face of complex working environments, effective obstacle avoidance technology is the basis of mobile robot navigation, which can effectively identify and quickly Avoiding obstacles is the key to complete the target mission. [0003] In the actual environment, there are limitations to using a single sensor to detect obstacles. Factors such as the installation position and angle of the sensor will affect the obstacle avoidance ability. For special-shaped obstacles, such as hollo...

AI Technical Summary

Problems solved by technology

[0006] In order to solve the problem that it is difficult for mobile robots to effectively avoid surrounding pedestrians and overhead obstacles, this invention proposes a robot obstacle avoidance method that combines depth cameras and single-line laser radar , the sensor used in this method is cheaper than the 3D lidar, and it makes up for the defect that using a single depth camera only obtains the area within the front field of view and cannot obtain the environmental data of the back and left and right sides; the depth image acquired by the depth camera is passed through After cropping and preprocessing, judge whether there is point cloud data generated by the data information obtained by the depth camera in the cropped area. If it exists, the data obtained by the depth camera will be fused with the lidar data. If not, it will not be Fusion, thereby greatly reducing the depth image data that needs to be processed, and improving the calculation speed of obstacle avoidance

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