Auto-mapping approach of autonomous land vehicle in off-road environment
Qingyang Chen · Jisuanji yingyong yanjiu · 2011
In order to build the navigation map in the off-road environment,this paper proposed a novel auto-mapping method.Firstly,the vision system mapped the image to the vehicle coordinate system,then combined with vehicle trajectory information,extracted the passable region by the marker-controlled watershed algorithm.Finally,generated and optimized the global consistency map fused with local top views to construct the final navigation map under the requirement of real-time navigation.Experiments proved that the proposed method meets the requirement of ALV real-time navigation and improve the efficiency of path planning.