不确定性建模驱动的LiDAR-视觉自适应融合动态障碍物检测

doi:10.3969/j.issn.0255-8297.2026.03.002

应用科学学报 ›› 2026, Vol. 44 ›› Issue (3): 358-376.doi: 10.3969/j.issn.0255-8297.2026.03.002

• 智能信息处理 • 上一篇

不确定性建模驱动的LiDAR-视觉自适应融合动态障碍物检测

朱磊^1,2,3, 钟若飞^1,2, 袁忻泽^1,2, 范红超³, 孙振兴^1,2

1. 首都师范大学三维信息获取与应用教育部重点实验室, 北京 100048;
2. 首都师范大学资源环境与旅游学院, 北京 100048;
3. 挪威科技大学土木与环境工程系, 挪威特隆赫姆7491

收稿日期:2026-02-02 发布日期:2026-06-23
通信作者: 钟若飞，教授，博士生导师，研究方向为移动测量。E-mail:zrfsss@163.com E-mail:zrfsss@163.com
基金资助:
国家自然科学基金(No.U22A20568);北京市高创计划(No.202504841072)

Uncertainty Modeling-Driven LiDAR-Vision Adaptive Fusion for Dynamic Obstacle Detection

ZHU Lei^1,2,3, ZHONG Ruofei^1,2, YUAN Xinze^1,2, FAN Hongchao³, SUN Zhenxing^1,2

1. Key Laboratory of 3D Information Acquisition and Application, Ministry of Education, Capital Normal University, Beijing 100048, China;
2. College of Resource Environment and Tourism, Capital Normal University, Beijing 100048, China;
3. Department of Civil and Environmental Engineering, Norwegian University of Science and Technology, Trondheim 7491, Norway

Received:2026-02-02 Published:2026-06-23

摘要/Abstract

摘要： 准确可靠的动态障碍物感知是封闭有限环境中自主测绘无人机安全导航的关键前提，但现有LiDAR-视觉融合方法在光照不良、反射干扰或运动模糊等退化条件下，往往难以应对传感器可靠性发生的显著变化。针对上述问题，本文提出了一种不确定性建模驱动的LiDAR-视觉融合动态障碍物检测框架，通过显式建模传感器观测不确定性，实现传感器贡献的自适应调整。该框架基于概率模型对LiDAR点云与RGB图像进行实时不确定性量化，并引入自适应传感器可靠性评分机制，引导融合决策与后续目标追踪过程。在自主构建的多条件数据集上进行了实验，结果表明：相比现有方法，本文方法在低光照、玻璃反射及运动模糊等具有挑战性的场景下F1值提升约15%～20%，同时在嵌入式平台上保持约25 Hz的实时处理性能。实验验证了该方法在复杂退化环境下的鲁棒性与工程可行性。

关键词: 动态障碍物检测, 不确定性量化, LiDAR-视觉融合, 室内自主测绘无人机

Abstract: Accurate and reliable dynamic obstacle perception is a crucial prerequisite for the safe navigation of autonomous mapping UAVs in confined and spatially constrained environments. However, existing LiDAR-vision fusion methods often struggle to cope with significant variations in sensor reliability under degraded conditions, such as poor illumination, reflection interference, or motion blur. To address these challenges, this paper proposed an uncertainty-modeling-driven LiDAR-vision fusion framework for dynamic obstacle detection, which adaptively adjusted sensor contributions by explicitly modeling sensor observation uncertainty. Based on probabilistic models, the framework performed real-time uncertainty quantification for both LiDAR point clouds and RGB images and introduced an adaptive sensor reliability score(ASRS) mechanism to guide fusion decisions and subsequent object tracking. Experiments were conducted on a self-constructed multi-condition dataset, and the results show that the proposed method improves the F1-score by approximately 15%-20% compared with existing methods in challenging scenarios involving low illumination, glass reflections, and motion blur. Furthermore, it maintains real-time processing performance at approximately 25 Hz on embedded platforms, validating the method's robustness and engineering feasibility in complex degraded environments.

Key words: dynamic obstacle detection, uncertainty quantification, LiDAR-vision fusion, indoor autonomous mapping UAV

中图分类号:

TP249

朱磊, 钟若飞, 袁忻泽, 范红超, 孙振兴. 不确定性建模驱动的LiDAR-视觉自适应融合动态障碍物检测[J]. 应用科学学报, 2026, 44(3): 358-376.

ZHU Lei, ZHONG Ruofei, YUAN Xinze, FAN Hongchao, SUN Zhenxing. Uncertainty Modeling-Driven LiDAR-Vision Adaptive Fusion for Dynamic Obstacle Detection[J]. Journal of Applied Sciences, 2026, 44(3): 358-376.

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不确定性建模驱动的LiDAR-视觉自适应融合动态障碍物检测

Uncertainty Modeling-Driven LiDAR-Vision Adaptive Fusion for Dynamic Obstacle Detection

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