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室内非结构化环境三维栅格语义地图的构建

, PP. 564-572

Keywords: 双目视觉,信息融合算法,体素,三维地图,快速识读码(QRcode)

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Abstract:

针对室内复杂的非结构化环境和机器人动态变化的服务任务,提出基于快速识读码(QRcode)技术的室内环境空间认知手段。在双目视觉获得深度信息的前提下,基于DSmT证据理论构建信息不确定数学模型,形成描述体素占有/空闲概率的三维栅格地图。在构建三维地图的同时,利用粘贴在大物品上的基于QRcode技术的人工物标,为环境中的大物品添加语义标签,并基于大物品的尺寸更新对应的体素占空值,形成含大物品功能属性和归属关系描述的三维栅格语义地图。通过实验与其它信息融合算法进行对比,并对人工物标的识读准确性进行分析,证明该方法的有效性和可行性。

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