%0 Journal Article
%T Auto-mapping approach of autonomous land vehicle in off-road environment<br>越野环境下自主车辆导航地图自动创建方法研究*
%A ZHANG Xiao-bo
%A DAI Bin
%A LIU Da-xue
%A CHEN Qing-yang
%A <br>张小波
%A 戴斌
%A 刘大学
%A 陈清阳
%J 计算机应用研究
%D 2011
%I 
%X In order to build the navigation map in the off-road environment, a novel auto-mapping method was proposed. Firstly, the vision system mapped the image to the vehicle coordinate system, then combined with vehicle trajectory information, the passable region was extracted by the marker-controlled watershed algorithm. Finally, the global consistency map fused with local top views was generated and optimized to construct the final navigation map under the requirement of real-time navigation. Experiments proved that the method proposed meets the requirement of ALV real-time navigation and improve the efficiency of path planning.
%K Autonomous Land Vehicle (ALV)
%K mapping
%K watershed transform
%K map optimization<br>自主车
%K 地图创建
%K 分水岭变换
%K 地图优化
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=A9D9BE08CDC44144BE8B5685705D3AED&aid=63382539B86E605146FE2906F686A2F9&yid=9377ED8094509821&vid=D3E34374A0D77D7F&iid=38B194292C032A66&sid=CEA1F7DC6B978724&eid=54D3D9B69F1CCE77&journal_id=1001-3695&journal_name=计算机应用研究&referenced_num=0&reference_num=14