Outdoor scene comprehension of mobile robot based on multi-sensor information fusion
移动机器人基于多传感器信息融合的室外场景理解

We propose for the mobile robot an algorithm for real-time outdoor scene comprehension based on multisensor information fusion. An elevation map is built from 3D laser points for describing the terrain features, while the ground surface characters are acquired from visual information by using the conditional random field model. By projecting the grids of the elevation map onto the image, the fusion of terrain features and ground surface characters are achieved by using the statistical method. Then, the grids which fuse multi-sensor information are evaluated for the traversability of the outdoor environments, thus achieving the outdoor scene comprehension of the mobile robot. Experimental results and data analysis show the validity and practicability of the proposed approaches.