中国激光, 2017, 44 (10): 1010004, 网络出版: 2017-10-18   

车载三维激光雷达外参数的分步自动标定算法 下载: 1472次

Step-By-Step Automatic Calibration Algorithm for Exterior Parameters of 3D Lidar Mounted on Vehicle
作者单位
吉林大学汽车仿真与控制国家重点实验室, 吉林 长春 130022
引用该论文

陈贵宾, 高振海, 何磊. 车载三维激光雷达外参数的分步自动标定算法[J]. 中国激光, 2017, 44(10): 1010004.

Chen Guibin, Gao Zhenhai, He Lei. Step-By-Step Automatic Calibration Algorithm for Exterior Parameters of 3D Lidar Mounted on Vehicle[J]. Chinese Journal of Lasers, 2017, 44(10): 1010004.

参考文献

[1] 杨飞, 朱株, 龚小谨, 等. 基于三维激光雷达的动态障碍实时检测与跟踪[J]. 浙江大学学报(工学版), 2012, 46(9): 1565-1571.

    Yang Fei, Zhu Zhu, Gong Xiaojin, et al. Real-time dynamic obstacle detection and tracking using 3D lidar[J]. Journal of Zhejiang University (Engineering Science), 2012, 46(9): 1565-1571.

[2] 王新竹, 李骏, 李红建, 等. 基于三维激光雷达和深度图像的自动驾驶汽车障碍物检测方法[J]. 吉林大学学报(工学版), 2016, 46(2): 360-365.

    Wang Xinzhu, Li Jun, Li Hongjian, et al. Obstacle detection based on 3D laser scanner and range image for intelligent vehicle[J]. Journal of Jilin University (Engineering and Technology Edition), 2016, 46(2): 360-365.

[3] Qian C, Liu H, Tang J, et al. An integrated GNSS/INS/LiDAR-SLAM positioning method for highly accurate forest stem mapping[J]. Remote Sensing, 2017, 9(1): 1-16.

[4] Thuy M, León F P. Lane detection and tracking based on lidar data[J]. Metrology and Measurement Systems, 2010, 17(3): 311-321.

[5] 谭筠. 结构化环境下基于信息融合的道路场景感知技术研究[D]. 长沙: 国防科学技术大学, 2014.

    TanJun. Research on road-scene perception technologies based on information fusion in structural environments[D]. Changsha: National University of Defense Technology, 2014.

[6] 肖强. 地面无人车辆越野环境多要素合成可通行区域检测[D]. 北京: 北京理工大学, 2015.

    XiaoQiang. Multi-elements composed drivable area extraction for unmanned ground vehicles in field terrain[D]. Beijing: Beijing Institute of Technology, 2015.

[7] 龚天安, 王云才, 孔令琴, 等. 面向汽车防撞的混沌激光雷达[J]. 中国激光, 2009, 36(9): 2426-2430.

    Gong Tianan, Wang Yuncai, Kong Lingqin, et al. Chaotic lidar for automotive collision warning system[J]. Chinese J Lasers, 2009, 36(9): 2426-2430.

[8] 寇添, 王海晏, 王芳, 等. 基于机载激光雷达成像的动目标轨迹检测模型[J]. 激光与光电子学进展, 2015, 52(10): 101002.

    Kou Tian, Wang Haiyan, Wang Fang, et al. Model of moving target trajectory detected based on airborne laser radar imaging[J]. Laser & Optoelectronics Progress, 2015, 52(10): 101002.

[9] 叶刚. 城市环境基于三维激光雷达的自动驾驶车辆多目标检测及跟踪算法研究[D]. 北京: 北京理工大学, 2016.

    YeGang. Multi-target detection and tracking algorithm for autonomous driving car based on a 3D lidar in urban traffic environment[D]. Beijing: Beijing Institute of Technology, 2016.

[10] 焦宏伟, 秦石乔, 胡春生, 等. 一种脉冲激光雷达与摄像机标定方法的研究[J]. 中国激光, 2011, 38(1): 0108006.

    Jiao Hongwei, Qin Shiqiao, Hu Chunsheng, et al. Research on the coordinates calibration of pulse ladar and camera[J]. Chinese J Lasers, 2011, 38(1): 0108006.

[11] 陈远, 赵志敏, 陈震. 激光雷达和CCD外部标定方法的改进及其应用研究[J]. 应用激光, 2008, 28(3): 219-222.

    Chen Yuan, Zhao Zhimin, Chen Zhen. The improvement of extrinsic calibration of laser rangefinder with CCD and its applications[J]. Applied Laser, 2008, 28(3): 219-222.

[12] 朱株. 基于三维数据面向无人车导航的非结构化场景理解[D]. 杭州: 浙江大学, 2014.

    ZhuZhu. 3D data based understanding of unstructured scenes for vehicle navigation[D]. Hangzhou: Zhejiang University, 2014.

[13] 李伟, 孙元超, 李宗春, 等. 一种改进的最小二乘平面拟合算法[J]. 测绘科学, 2017, 42(1): 15-19, 100.

    Li Wei, Sun Yuanchao, Li Zongchun, et al. An improved least-square plane fitting algorithm[J]. Science of Surveying and Mapping, 2017, 42(1): 15-19, 100.

[14] 曾齐红, 毛建华, 李先华, 等. 激光雷达点云平面拟合过滤算法[J]. 武汉大学学报(信息科学版), 2008, 33(1): 25-28.

    Zeng Qihong, Mao Jianhua, Li Xianhua, et al. Planar-fitting filtering algorithm for lidar points cloud[J]. Geomatics and Information Science of Wuhan University, 2008, 33(1): 25-28.

[15] 王皓, 欧阳海滨, 高立群. 一种改进的全局粒子群优化算法[J]. 控制与决策, 2016, 31(7): 1161-1168.

    Wang Hao, Ouyang Haibin, Gao Liqun. An improved global particle swarm optimization[J]. Control and Decision, 2016, 31(7): 1161-1168.

[16] 赵文冲, 蔡江辉, 赵旭俊, 等. 一种影响空间下的快速K-means聚类算法[J]. 小型微型计算机系统, 2016, 37(9): 2060-2064.

    Zhao Wenchong, Cai Jianghui, Zhao Xujun, et al. Fast K-means clustering algorithm based on influence space[J]. Journal of Chinese Computer Systems, 2016, 37(9): 2060-2064.

[17] 王金亮, 陈联君. 激光雷达点云数据的滤波算法述评[J]. 遥感技术与应用, 2010, 25(5): 632-638.

    Wang Jinliang, Chen Lianjun. Review on filtering algorithm for lidar points cloud data[J]. Remote Sensing Technology and Application, 2010, 25(5): 632-638.

陈贵宾, 高振海, 何磊. 车载三维激光雷达外参数的分步自动标定算法[J]. 中国激光, 2017, 44(10): 1010004. Chen Guibin, Gao Zhenhai, He Lei. Step-By-Step Automatic Calibration Algorithm for Exterior Parameters of 3D Lidar Mounted on Vehicle[J]. Chinese Journal of Lasers, 2017, 44(10): 1010004.

本文已被 9 篇论文引用
被引统计数据来源于中国光学期刊网
引用该论文: TXT   |   EndNote

相关论文

加载中...

关于本站 Cookie 的使用提示

中国光学期刊网使用基于 cookie 的技术来更好地为您提供各项服务,点击此处了解我们的隐私策略。 如您需继续使用本网站,请您授权我们使用本地 cookie 来保存部分信息。
全站搜索
您最值得信赖的光电行业旗舰网络服务平台!