Auto-mapping approach of autonomous land vehicle in off-road environment
越野环境下自主车辆导航地图自动创建方法研究*

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.