一种基于栅格地图的拓扑地图构建方法
By extracting and trimming the topology line segment graph, and combining the watershed algorithm and dynamic programming algorithm, a topology map of the outdoor off-road environment is generated. This solves the problem that existing methods cannot adapt to outdoor environments with irregular obstacles, and achieves more accurate path skeleton and intersection recognition.
CN121612266BActive Publication Date: 2026-07-17ZHONGBING INTELLIGENT INNOVATION RES INST CO LTD
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Patent Information
- Application Number
- CN202511756718.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-27
- Publication Date
- 2026-07-17
- Estimated Expiration
- 2045-11-27
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Figure CN121612266B_ABST
Abstract
本发明涉及一种基于栅格地图的拓扑地图构建方法，属于拓扑地图构建技术领域，解决了现有技术中拓扑地图构建方法严重依赖室内结构化环境而无法适用于障碍物分布不规则、空间开放的室外越野环境的问题。包括获取待构建区域的栅格地图和历史车辆轨迹；基于所述栅格地图，提取得到拓扑线段图，将所述拓扑线段图进行修剪和简化，得到初始拓扑地图；基于初始拓扑地图、历史车辆轨迹，采用动态规划算法，得到主路拓扑路径，进而基于初始拓扑地图和主路拓扑路径，得到主路拓扑路径的各最优岔路拓扑路径；基于所述主路拓扑路径及其各最优岔路拓扑路径，得到待构建区域的拓扑地图。
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