| 1. | Then the two 2d lrf based obstacle detection system was carefully designed and consequently the algorithm based on multi - sensor data fusion was presented
接下来作者设计了采用两个2d激光测距雷达的alv障碍检测系统，并提出了基于多传感器数据融合的障碍检测方法。 |
| 2. | In the hardware solution , a dual - port high speed communication card was designed to resolve the " data " losing " problem in the communication between the lrf and pc
在数据输入模块中还介绍了作者为解决两个激光测距雷达和pc机之间的高速数据通信问题所设计的高速数据通信卡。 |
| 3. | Lms ( laser measurement system ) is calibrated by the vision system in this research , with an objection to fuse the data received by the lms and those from the ccd cameras , which is the base for the later slam work
激光测距雷达的精度较高,方向性好,在移动机器人研究中得到了广泛应用。本课题提出了一种基于双目摄像机立体视觉系统对激光传感器进行标定的算法。 |
| 4. | All of the above analysis show that although 2d lrf is not capable of scan in 3 - dimension , when considering the flat road , its high sampling rate can do great good to the detection of even small obstacles
量化分析的结果表明，虽然作者采用的是2d激光测距雷达，没有3d激光测距雷达那样的面阵扫描功能，但是在平整路面的条件下，充分利用其高采样率的优点，完全可以实现小障碍的检测。 |
| 5. | On the first subject of this dissertation , a concise review of the relationship between range perception sensors and obstacle detection methods was presented . comparing results show that laser range finder ( lrf ) is a preferred sensor for obstacle detection
作者回顾了移动机器人的障碍检测研究中所采用的各种传感器和实现方法，分析比较了每种方法的优缺点，指出采用激光测距雷达是比较好的选择。 |
| 6. | A detailed geometric analysis of obstacle detection system for alv was presented by considering the safety requirements of alv . the ranging error caused by various environmental factors and inevitable vibration of alv was discussed as well
然后将障碍检测子系统和alv整体结合在一起，从系统的角度对障碍检测的要求进行了分析，并讨论了各种环境因素和alv车体运动对lms激光测距雷达测距造成的误差影响。 |
| 7. | A new approach for initial localization of the mobile robots , namely complete line segments ( cls ) based localization was proposed . the definitions of cls as well as its properties and decision rules were given . the experimental results show that this method has much higher computational efficiency and better localization accuracy
作者先针对目前机器人定位研究中的难点? ?初始定位，结合激光测距雷达的数据特点，提出了基于完整线段( completelinesegments ， cls )的初始定位方法，包括cls的定义、性质和判定方法，并在机器人试验平台上进行了实验。 |
| 8. | The algorithm features full utilization of different installation positions and different angular resolutions of the two lrfs by assigning different tasks to them . the top lrf was used to set up the initial trace of new obstacles recognized from the result of d - s evidence theory based multi - period data fusion and the bottom one was used to maintain tracking of obstacles , providing relatively accurate positions of the obstacles
该算法的特点在于充分利用了两个激光测距雷达的不同安装位置、不同分辨率对障碍检测造成的有利条件，将多目标跟踪的理论和技术融入障碍检测的软件框架中，并结合d - s证据理论融合多测量周期的识别结果，由顶雷达建立障碍的初始航迹，而底雷达进行航迹的跟踪和维持。 |
