中国激光, 2017, 44 (10): 1004005, 网络出版: 2017-10-18   

双二维激光雷达相对位姿的标定方法 下载: 828次

Calibration Method of Relative Position and Pose Between Dual Two-Dimensional Laser Radar
作者单位
华南理工大学机械与汽车工程学院, 广东 广州 510640
摘要
针对室内空间的三维重建, 采用双二维激光雷达, 提出精确标定两雷达相对位姿的方法, 实现三维空间的可连续采集, 并获得准确的三维轮廓点云。利用静态标定靶标的扫描数据, 建立靶标参数求解数学模型, 得到双雷达坐标系相对位姿的补偿矩阵, 并转化为精确矩阵。建立仿真平台, 模拟标定实验,实现靶标参数的扭曲校正, 初步验证该标定方法可行, 并进行模拟采集实验, 获得的点云分离程度小于等于7 mm。搭建了硬件实物平台, 标定后进行室内轮廓采集实验, 最终得到了无畸变扭曲的三维轮廓点云。实验结果表明,双二维激光雷达相对位姿的标定精度可以满足室内场景三维重建的要求。
Abstract
Aiming at three-dimensional (3D) reconstruction of interior space, based on dual two-dimensional (2D) laser radar, the precise calibration method of relative position and pose between two radars were presented, the consecutive collection was achieved, and accuracy point cloud contour was obtained. By the establishment of mathematical model of target parameter from scanning data of static calibration, the position and pose compensation matrix between dual 2D laser radar was obtained, which was converted into precise matrix. We established simulation platform to simulate calibration experiment and realize distortion correction of target parameters. This method was proved to be applicable through analogue acquisition experiments, where the degree of separation of point cloud was less than or equal to 7 mm. Undistorted 3D point cloud contour was acquired through the establishment of hardware platform and indoor contour acquisition experiment after calibration. The experiment results show that the calibration accuracy of relative position and pose between dual 2D laser radar could meet the requirements of 3D reconstruction in interior scene.

陈健武, 全思博, 全燕鸣, 郭清达. 双二维激光雷达相对位姿的标定方法[J]. 中国激光, 2017, 44(10): 1004005. Chen Jianwu, Quan Sibo, Quan Yanming, Guo Qingda. Calibration Method of Relative Position and Pose Between Dual Two-Dimensional Laser Radar[J]. Chinese Journal of Lasers, 2017, 44(10): 1004005.

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