自主移动机器人走廊识别算法研究与改进

针对移动机器人在室内环境下自主导航过程中的走廊识别问题，提出一种改进的走廊识别算法.该算法采用由Kinect传感器提供的深度图信息，利用连续点间的深度差值和最小二乘法拟合直线检测走廊出口存在性，最后结合贝叶斯分类器完成对走廊类别的判定.实验表明，该方法能够高效地识别走廊类型，同时具有较好的鲁棒性，并且在复杂的室内环境下依然能够保持较高的走廊类型识别率.

Algorithm Research on Recognition and Improvement for Corridor of Autonomous Mobile Robot

For the problem of corridor recognition for autonomous mobile robot in the process of navigation in the indoor environment, an improved corridor recognition algorithm is proposed. The algorithm uses information of depth image provided by kinect sensor, and the depth difference between consecutive points and least squares are used to fit a straight line to detect the existence of corridor outlet. Experimental results show that the algorithm can efficiently recognize corridor types while having a robust, and is still able to maintain a high recognition rate of corridor types in a complex indoor environment.