基于三维激光雷达的道边识别
毕业论文关键词 三文激光雷达 数据表示 栅格地图 道边识别
关键词 自主车，三文激光雷达，道边识别
毕业设计说明书外文摘要
Title Road detection based on 3D laser radar
Abstract
Autonomous vehicles in urban environments and outdoor environments can be continuously driven autonomous mobile robot, is an important branch of artificial intelligence research in national defense and military and civilian traffic has important research value and application. This paper studies the problem of road edge detection based on 3D laser radar system designed to provide autonomous vehicle barriers provide the necessary information in dynamic driving, keep it safe driving. The main work and research results are as follows: for the detection side of the road, get the large amount of data, so to achieve real-time in the actual situation, efficient and accurate detection is a challenge for us, this algorithm is the use of breadth-first search and find appropriate side road barrier characteristics appropriate pruning; detection by Road side, prompting independent car continually learn and adapt to the environment, most loyal to achieve self-driving, the entire autonomous system covering a wide range, including computer science , artificial intelligence, and automatic control and other areas. Therefore, the study of autonomous lane edge detection with a wide range of scientific and academic significance.
Keywords Three-dimensional laser radar data representation Raster maps road side detection
目 次
1 绪论 1
2 自主车研究发展现状 2
2.1 国外自主车研究现状 2
2.2 国内自主车研究现状 3
3 激光雷达发展概述及在自主车上的应用 7
4 道边识别算法现状 10
5 道边识别算法实现 12
5.1 三文激光雷达的数据标定 12
5.2 三文激光雷达的数据表示 15
5.3 道边识别算法 17
结论 21
致谢 22
参考文献 23
1 引言
科学技术发展的根本目的是改善我们的生活，近年来，随着科学、社会等的发展，交通工具在很大的一方面提高了我们的生活条件，人们对交通工具的要求也在不断提高。近年来，以信息技术为核心的的新技术已经成为主旋律，正在源源不断地应用到交通工具中，关于如何实现交通工具的自主驾驶，是值得很多研究学者思考的问题。8
目前大多数在自主车探索上的研究都集中在室内设置，所有对于自主车或自主车来说探索非结构化室外环境是一个一个更具挑战性的问题。解决了这些问题将为各种户外自主车的应用带来长远的发展，例如搜索和危险生物的地区的救援、调查和安全以及行星探索等。