本文選題：距離選通 + 激光成像��； 參考：《哈爾濱工業(yè)大學(xué)》2015年碩士論文

【摘要】：激光雷達(dá)經(jīng)過多年的發(fā)展,形成了結(jié)合機(jī)械學(xué)、光電子學(xué)、數(shù)理統(tǒng)計(jì)、圖像處理等學(xué)科具有各自獨(dú)特性能的多種成像體制。高精度的三維目標(biāo)像在工業(yè)設(shè)計(jì)與加工、逆向工程、探測勘探、目標(biāo)建模及虛擬現(xiàn)實(shí)等應(yīng)用中,都具有很廣闊的前景。本文的研究方向?yàn)榫嚯x選通門控切片激光三維成像,通過理論分析及實(shí)驗(yàn)驗(yàn)證對這種體制的成像精度問題進(jìn)行探討。首先,通過較為詳細(xì)的調(diào)研,對國內(nèi)外距離選通技術(shù)的發(fā)展情況進(jìn)行了綜述。分析了不同研究機(jī)構(gòu)的代表性成像系統(tǒng)的性能參數(shù)以及它們在實(shí)際應(yīng)用當(dāng)中的優(yōu)勢,引出了本文研究內(nèi)容的必要性。其次,通過分析距離選通技術(shù)原理,對切片像的強(qiáng)度分布特性進(jìn)行了matlab數(shù)值仿真。對比了二值化算法和質(zhì)心算法對激光成像精度的影響,從理論上對成像距離精度的影響因素進(jìn)行了分析。然后,以之前的理論分析為依據(jù),設(shè)計(jì)并搭建了成像實(shí)驗(yàn)系統(tǒng)。完整系統(tǒng)主要由激光發(fā)射系統(tǒng)、同步控制系統(tǒng)、回波探測系統(tǒng)構(gòu)成。對各分系統(tǒng)進(jìn)行了必要的測試,掌握了設(shè)備的工作特性:光束發(fā)散角為4°,重頻1-100Hz可調(diào);系統(tǒng)固有延遲約13ns,可對1.95m以上的近距離目標(biāo)成像;選通門寬3ns-DC可調(diào);延遲步進(jìn)達(dá)到ps量級,可以進(jìn)行精細(xì)切片。最后對完整系統(tǒng)進(jìn)行了調(diào)試使之工作在最佳狀態(tài)。接下來,完成了厘米級精度的成像實(shí)驗(yàn)。對于9.5m及22m的目標(biāo),門寬為7ns時(shí)距離精度均可達(dá)到0.025m。通過不同條件下的多組實(shí)驗(yàn),較為系統(tǒng)地分析了不同門寬下的成像距離精度,證實(shí)了較小的選通門寬對于保證成像精度具有一定的優(yōu)勢。最后,探討了質(zhì)心算法的適用性問題,提出了一種基于曲線擬合標(biāo)定切片像強(qiáng)度質(zhì)心的方法,并進(jìn)行了實(shí)驗(yàn)驗(yàn)證。并通過實(shí)驗(yàn)對比驗(yàn)證了本文提出的這種方法在切片數(shù)量較少且切片分布不均勻的情況下,對于保證距離選通門控切片成像體制的適用性,提高距離像精度具有較大優(yōu)勢,通過分析指出了這種方法在門控切片成像體制下具有一定的普適性。
[Abstract]:After many years of development, lidar has formed a variety of imaging systems combining mechanical, optoelectronics, mathematical statistics, image processing and other disciplines with their own unique performance. High precision 3D target image has a broad prospect in industrial design and processing, reverse engineering, exploration, target modeling and virtual reality. The research direction of this paper is range gated slice laser 3D imaging. The imaging accuracy of this system is discussed by theoretical analysis and experimental verification. Firstly, the development of distance gating technology at home and abroad is reviewed through detailed investigation. The performance parameters of representative imaging systems of different research institutions and their advantages in practical applications are analyzed. Secondly, by analyzing the principle of distance gating, the intensity distribution of slice image is simulated by matlab. The effects of binarization algorithm and centroid algorithm on laser imaging accuracy are compared and the influence factors of imaging range accuracy are analyzed theoretically. Then, based on the previous theoretical analysis, an imaging experimental system is designed and built. The complete system consists of laser emission system, synchronous control system and echo detection system. The necessary tests of each subsystem are carried out, and the working characteristics of the equipment are mastered: the beam divergence angle is 4 擄, the repetition frequency 1-100Hz is adjustable, the inherent delay of the system is about 13ns, the imaging of the close target above 1.95m is possible, the gate width 3ns-DC is adjustable; Delay step up to PS order of magnitude, can be fine slicing. Finally, the whole system is debugged to make it work in the best condition. Next, the imaging experiment of centimeter accuracy is completed. For the target of 9.5m and 22m, the distance accuracy can reach 0.025m when the gate width is 7ns. The imaging distance accuracy under different gate widths is analyzed systematically through multi-group experiments under different conditions, and it is proved that smaller gate width has certain advantages in ensuring imaging accuracy. Finally, the applicability of the centroid algorithm is discussed, and a method of calibrating the centroid of slice image intensity based on curve fitting is proposed and verified by experiments. The experimental results show that the proposed method has the advantages of ensuring the applicability of the range gated slice imaging system and improving the range image accuracy when the number of slices is small and the section distribution is not uniform. Through analysis, it is pointed out that this method has certain universality under gated slice imaging system.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TN958.98

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本文編號：1970284