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发表时间：2022-10-06

发表刊物：控制理论与应用

所属单位：电子信息与电气工程学部

卷号：28

期号：8

页面范围：1093-1098

ISSN号：1000-8152

摘要：We propose for the mobile robot an algorithm for real-time outdoor scene
   comprehension based on multisensor information fusion.An elevation map
   is built from 3D laser points for describing the terrain features,while
   the ground surface characters are acquired from visual information by
   using the conditional random field model.By projecting the grids of the
   elevation map onto the image,the fusion of terrain features and ground
   surface characters are achieved by using the statistical method.Then,the
   grids which fuse multi-sensor information are evaluated for the
   traversability of the outdoor environments,thus achieving the outdoor
   scene comprehension of the mobile robot.Experimental results and data
   analysis show the validity and practicability of the proposed
   approaches.

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