Integrated perception system for mobile robot and its improved registration

With the integrated perception system of camera and laser ranger, the problems based on feature point matching are researched. Combined with 3D laser ranger and camera working features, referring to the problem of laser ranger mixpixels and edging points, associated scanning sequence filter (ASSF) is designed. The influence of registration feature point extraction from mixpixels is largely decreased, extraction precision is increased, and the registration results of 3D laser ranger and camera are more accurate. Besides, laser ranger coordinate origin position calibration method based on structure feature is proposed, which reduces the measuring error of laser ranger. The research results show that the integrated perception system can accurately perceive mobile robot running environment.