Slope angle estimation method for slope region based on multiline laser radar

Abstract

The invention discloses a slope angle estimation method for slope region based on a multiline laser radar, and the method comprises the steps: obtaining original laser radar point cloud data DL of a given slope region; carrying out the coordinate transformation and filtering of the DL through combining with the relation of coordinate transformation from a multiline laser radar coordinate system OLXLYLZL to a robot coordinate system ORXRYRZR, and generating new laser radar point cloud data DS; carrying out the plane fitting through a PROSAC algorithm based on DS, and obtaining a slope surface equation; selecting three data points from the DS, and calculating a ground equation through the data points, wherein the distances between the data points and a plane XRORYR do not exceed a given threshold value dZ; and calculating a slope angle estimation result according to the slope surface equation and the ground equation. The method obtains the distance information of the slope region through the multiline laser radar, achieves the estimation of the slope angle based on a slope surface normal vector, improves the estimation quality of the slope angle, and provides technical support for the application of robot environment understanding.

Description

technical field [0001] The invention relates to the field of robot environment understanding, in particular to a method for estimating slope angles based on multi-line laser radar for slope areas. Background technique [0002] With the continuous development of mobile robot and sensor technology, its application fields are also expanding. Slopes are ubiquitous for outdoor environments that robots face. The quality of slope detection will directly affect the performance of robot task execution. Researchers at home and abroad have done some research on slope angle estimation. In terms of information collection in slope areas, stereo cameras or depth cameras are often used for perception, but the distance information obtained by stereo cameras or depth cameras is often not accurate enough, which reduces the quality of slope angle estimation. In terms of methods, the angle of the slope is mostly calculated by finding the longitudinal section of the slope. This method is relat...

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Problems solved by technology

[0003] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem that the estimation accuracy of the slope angle in the prior art is difficult to meet the demand, the present invention proposes a method for estimating the slope angle based on multi-line laser radar for the slope area, Improved quality of slope angle estimates

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