激光与光电子学进展, 2017, 54 (6): 062802, 网络出版: 2017-06-26
激光测距传感器在自主导航小车中的位置标定 下载: 1375次
Pose Calibration of Laser Range Finder in Automated Guided Vehicle
传感器 激光测距传感器 自主导航小车 位置标定 坐标变换 sensors laser range finder automated guided vehicle pose calibration coordinate transformation
摘要
为解决二维(2D)激光测距传感器在自主导航小车中的位置标定问题,提出了一种新的标定方法,首先根据小车直行时的轨迹方程和传感器的姿态信息,求解出传感器在小车中的姿态;然后根据小车原地旋转时传感器、小车控制点的轨迹以及相位关系,计算出传感器在小车中的位置。实验结果表明,该标定方法简便、精确、可靠,标定精度满足小车导航的要求。
Abstract
In order to solve the problem of position calibration of two-dimensional laser range finder sensor in automated guided vehicles, a new calibration method is proposed. The attitude of sensors in the vehicle is obtained by solving the trajectory equation and using the sensor attitude information when the vehicle is controlled to move straight. When the vehicle is controlled to spin in one spot, according to the sensor, the trajectories of the vehicle control points and their phase relationship, one can get the position of the sensor in the vehicle. The experimental results show that this calibration method is simple, accurate and reliable, and the calibration accuracy can meet the requirements of vehicle navigation.
罗志锋, 张轲, 王志刚, 郑健, 陈易新. 激光测距传感器在自主导航小车中的位置标定[J]. 激光与光电子学进展, 2017, 54(6): 062802. Luo Zhifeng, Zhang Ke, Wang Zhigang, Zheng Jian, Chen Yixin. Pose Calibration of Laser Range Finder in Automated Guided Vehicle[J]. Laser & Optoelectronics Progress, 2017, 54(6): 062802.