本文關(guān)鍵詞：用于機(jī)械臂末端感知的激光測(cè)距傳感器設(shè)計(jì)，由筆耕文化傳播整理發(fā)布。

摘要

基于CCD 的激光測(cè)距傳感器通過像元細(xì)分，可有效提高該類傳感器的測(cè)量精度。諸多的像元細(xì)分算法，每種都有其優(yōu)缺點(diǎn)及特定應(yīng)用。然而針對(duì)特定的測(cè)距傳感器，，如何綜合評(píng)價(jià)哪種算法更優(yōu)，尚缺乏有效手段。因此，提出了基于層次分析法的像元細(xì)分算法優(yōu)劣的綜合評(píng)價(jià)方法，該方法基于像元細(xì)分算法在傳感器測(cè)量范圍的近段、中段和遠(yuǎn)段的實(shí)際定位精度、方差和極差等指標(biāo)，利用層次分析法構(gòu)建綜合評(píng)價(jià)模型。利用該方法，實(shí)驗(yàn)分析了二分法、加權(quán)質(zhì)心法、加權(quán)多項(xiàng)式插值法和按比例求中心法等像元細(xì)分算法對(duì)特定測(cè)距傳感器的適用性。實(shí)驗(yàn)結(jié)果表明，該方法能夠有效獲取適用于特定測(cè)距傳感器的最優(yōu)像元細(xì)分算法。

關(guān)鍵詞

Abstract

The accuracy of laser range finder based on CCD can be effectively improved by pixel subdivision. There are mant pixel subdivision algorithms, and each has advantages and specific application. However, according to the specific range finder, there is no effective mean to evaluate which algorithm is better comprehensively. Hence, a comprehensive evaluation method is proposed, which is based on analytic hierarchy process (AHP) and is used to evaluate the pixel subdivision algorithms. This method is based on actual positioning precision, variance and range of the pixel subdivision algorithms in the proximal, the middle and the distal of measuring range of the laser range finder. And it constructs the comprehensive evaluation model by AHP. According to the method, the applicability of the dichotomy, weighted centroid, weighted polynomial interpolation and center from the proportion algorithm for the specific range finder is analyzed by experiment. The experimental results show that the method can be used to obtain the optimal pixel subdivision algorithm for specific range sensor effectively.

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補(bǔ)充資料

中圖分類號(hào)：TP212.14

DOI：10.3788/aos201535.0728002

所屬欄目：遙感與傳感器

基金項(xiàng)目：國(guó)家973計(jì)劃(2013CB733103)

收稿日期：2015-01-21

修改稿日期：2015-03-30

網(wǎng)絡(luò)出版日期：--

作者單位    點(diǎn)擊查看

陳家偉：哈爾濱工業(yè)大學(xué)機(jī)器人技術(shù)與系統(tǒng)國(guó)家重點(diǎn)實(shí)驗(yàn)室, 黑龍江 哈爾濱 150001
張?jiān)w：哈爾濱工業(yè)大學(xué)機(jī)器人技術(shù)與系統(tǒng)國(guó)家重點(diǎn)實(shí)驗(yàn)室, 黑龍江 哈爾濱 150001
張禹：哈爾濱工業(yè)大學(xué)機(jī)器人技術(shù)與系統(tǒng)國(guó)家重點(diǎn)實(shí)驗(yàn)室, 黑龍江 哈爾濱 150001
謝宗武：哈爾濱工業(yè)大學(xué)機(jī)器人技術(shù)與系統(tǒng)國(guó)家重點(diǎn)實(shí)驗(yàn)室, 黑龍江 哈爾濱 150001

聯(lián)系人作者：陳家偉(chenjiawei0427@163.com)

備注：陳家偉(1991—)，男，碩士研究生，主要從事機(jī)器人技術(shù)及傳感器研究。

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引用該論文

Chen Jiawei,Zhang Yuanfei,Zhang Yu,Xie Zongwu. A Comprehensive Evaluation Method Based on Analytic Hierarchy Process for CCD Pixel Subdivision Algorithms[J]. Acta Optica Sinica, 2015, 35(7): 0728002

陳家偉,張?jiān)w,張禹,謝宗武. 基于層次分析法的CCD像元細(xì)分算法綜合評(píng)價(jià)[J]. 光學(xué)學(xué)報(bào), 2015, 35(7): 0728002

  本文關(guān)鍵詞：用于機(jī)械臂末端感知的激光測(cè)距傳感器設(shè)計(jì)，由筆耕文化傳播整理發(fā)布。