中文摘要：

针对未知环境知识表达问题，模拟人类思维处理空间知识，提出一种基于灰朦胧集动态演化的线段特征提取方法．该方法在具有几何约束的环境中，通过灰朦胧集动态演化形成不同认知阶段表达，逐步消除信息中的不确定性，采用白组织映射和基于灰关联度的主方向提取实现线段特征的信息显化．通过创建室内走廊环境地图检验了所提出方法模拟人类智能对未知环境信息进行表达和推理的有效性．

英文摘要：

Based on the dynamic evolution of the grey hazy set, a line feature extraction algorithm is proposed for the knowledge expression of uncertain information by simulating the gradually cognitive process of human. The algorithm eliminates the uncertainty of the information in unknown environment with the geometric constraint gradually by producing expression of different cognitive stage through dynamic evolution of the grey hazy set. As the manifestation of environmental information, the line-segment feature is detected by self-organizing mapping with main direction exacting based on the grey correlation degree. The example in the corridor environment is provided to verify the effectiveness of the proposed algorithm in simulating human＇s intelligence of environmental information expression and reasoning.