基于三维点云的阶梯目标检测与参数估计-控制理论与应用.pdf

30 6 Vol. 30 No. 6 2013 6 Control Theory Applications Jun. 2013 DOI: 10.7641/CTA.2013.20941 † , , (, 116024) : . , . , . , . , , , . . : ; ; ; : TP242 : A Stair detection and parameter estimation using 3D point cloud † ZHONG Chen, WANG Wei , ZHUANG Yan (Research Center of Information and Control, Dalian University of Technology, Dalian Liaoning 116024, China) Abstract: Stair detection and 3D modeling are of great significance for autonomous navigation and motion planning of mobile robots. Considering the structure diversity of stairs and the distribution uncertainty of point cloud in practical application, we proposed an adaptive stair detection and parameter estimation method based on stair topology model and fuzzy set theory. By employing the topology of stair profile and a histogram algorithm, we improve the accuracy and robustness of the stair edge location estimation. Adopting the strategy of in-level extraction and cross-level linking, we construct a set of candidate edge lines. On the basis of this result, the cascade probability of candidate edge lines is estimated by using fuzzy transformation and adaptive fuzzy inference. A simulated annealing algorithm is applied to the global optimum search for the candidate edge-line combination to validate the estimation of 3D stair modeling parameters. Experimental results and data analysis show the validity and feasibility of the proposed approaches. Key words: 3D point cloud; stair detection; fuzzy inference; simulated annealing 1 (Introduction)