Kinect与二维激光雷达结合的机器人障碍检测.PDF

第 47 卷 第 3 期 电 子 科 技 大 学 学 报 Vol.47 No.3 2018年5月 Journal of University of Electronic Science and Technology of China May 2018 Kinect与二维激光雷达结合的机器人障碍检测 肖宇峰，黄 鹤，郑 杰，刘 冉 (西南科技大学信息工程学院 四川 绵阳 621010) 【摘要】在Kinect相机和二维激光雷达结合的基础上，提出了一种适用于移动机器人、低成本的障碍物三维感知方法。该 方法首先通过Kinect相机和二维激光雷达联合标定建立深度图像点与激光雷达测距点的对应关系，然后，融合二者的检测数据 得到环境障碍物位置。具体步骤为：1) Kinect相机与二维激光雷达分别从环境中获取深度图像和二维激光数据；2) 将深度图 像转换成虚拟二维激光数据；3) 根据联合标定得到的对应关系融合虚拟激光数据与二维激光雷达数据，得到障碍物的位置。 实物测试证明该方法正确有效，可用于移动机器人对环境障碍物的判断。 关 键 词 深度图像; Kinect相机; 激光雷达; 移动机器人; 障碍物检测 中图分类号 TP242 文献标志码 A doi:10.3969/j.issn.1001-0548.2018.03.003 Obstacle Detection for Robot Based on Kinect and 2D Lidar XIAO Yu-feng, HUANG He, ZHENG Jie, and LIU Ran (Information Engineering School, Southwest University of Science and Technology Mianyang Sichuan 621010) Abstract By assembling Kinect camera and 2D lidar, this paper proposes a low-cost obstacle detection method for mobile robot. The correspondence between depth image points and laser radar ranging points is constructed based on joint calibration of the Kinect camera and lidar. The location of environmental obstacles is computed from the detection datum of these two sensors. There are three steps for the computations: 1) Kinect camera and 2D lidar obtain the depth image and 2D laser points respectively; 2) the depth image is transferred into virtual laser points; 3) according to the correspondence, the obstacles location is calculated from the integration of virtual laser points and 2D laser points. The experiments show this method is proper and effective, and the computations results could be used to determi