关键词: 月球车, 环境感知, Fisher准则函数, 激光雷达

Abstract: The lunar environment perception technology is the key problem for lunar rover’s automatic navigation,it is limited based on single sensor.For example,abundant information could be acquired by using of laser radar,the disadvantage is slow scan rate and higher energy consumption.In this article favorable factors of single CCD and laser radar are made full use.Sets up the information fusion system and calibrate the sensors’ relative location.Firstly suppose forward stone is the obstacle.For the CCD image Fisher rule function is used to segment the stone,after filtering the stone of binary image is signed（with 1,2,…）by using 8 neighborhood algorithm.Then horizontal and vertical projection is finished to determine the borderline of the stone.Finally,according to the relationship of 320*240 CCD image and 160*120 laser image,the initial location of line laser scanning is computed.Now switch on the laser radar to acquire a single line laser data and after the mid value filter,hierarchical cluster is used to get the range,width and shape information of the stone.

Key words: lunar rover, environment perception, Fisher rule function, laser radar