[1]周恒旭,何志敏,周 燕.面向机械臂避障的非结构场景感知研究[J].机械与电子,2020,(09):74-80.
 ZHOU Hengxu,HE Zhimin,ZHOU Yan.Research on Unstructured Scene Sensing for Obstacle Avoidance of Manipulators[J].Machinery & Electronics,2020,(09):74-80.
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面向机械臂避障的非结构场景感知研究()
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机械与电子[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2020年09期
页码:
74-80
栏目:
智能工程
出版日期:
2020-09-21

文章信息/Info

Title:
Research on Unstructured Scene Sensing for Obstacle Avoidance of Manipulators
文章编号:
1001-2257(2020)09-0074-07
作者:
周恒旭12何志敏1周 燕1
1.佛山科学技术学院电子信息工程学院,广东 佛山 528225;
 2.佛山科学技术学院自动化学院,广东 佛山 528225
Author(s):
ZHOU Hengxu12 HE Zhimin1 ZHOU Yan1
1. School of Electronic and Information Engineering, Foshan University, Foshan 528225, China;
2. Automation College, Foshan University, Foshan 528225, China
关键词:
三维激光雷达点云地面分割滤波器聚类障碍物提取
Keywords:
3D LiDar point cloud ground segmentation filter clustering obstacle extraction
分类号:
T P242
文献标志码:
A
摘要:
为了解决机械臂避障中场景感知的应用问题,对使用非深度学习的方法对三维激光点云数据进行分割、滤波和聚类等操作进行研究,提出一种基于有序点云间的切比雪夫距离以确定DBSCAN算法的邻域半径参数和一种基于横截面积的地面分割方法,实现了对场景中物体的提取。通过设计一个典型的非结构场景,对提出的2种方法进行仿真验证,并且取得预期的效果。
Abstract:
In order to address the application problem of scene perception in manipulators obstacle avoidance, a non-deep learning approach is used to segment, filter and cluster 3D laser point cloud data. We propose a DBSCAN algorithm based on the Chebyshev distance between ordered point clouds to determine the neighborhood radius parameters, and a cross-sectional area-based ground segmentation method, which extracts objects from the scene. By designing a typical unstructured scenario, the two proposed methods are simulated and validated and the expected results are achieved.

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备注/Memo

备注/Memo:
收 稿 日 期 : 2020-06- 11
基 金 项 目 :国 家 自 然 科 学 基 金 资 助 项 目 ( 61802061 , 61972091 );广 东 省 自 然 科 学 基 金 面 上 项 目 ( 2019 A1515011166 )
作 者 简 介 :周 恒 旭   ( 1993 - ),男 ,广 东 湛 江 人 ,硕 士 研 究 生 ,研 究 方 向 为 机 器 人 智 能 控 制 等 ;何 志 敏
( 1987 - ),男 ,广 东 佛 山 人 ,博 士 ,副教 授 ,研 究 方 向 为 机 器 学 习 、量 子 机 器 学 习 ,通 信 作 者 ;周   燕   ( 1979 - ),女 ,江 西 抚 州 人 ,硕 士 ,教 授 ,研 究 方 向 为 深 度 学 习 。
更新日期/Last Update: 2020-09-21