本文關(guān)鍵詞： 無人車 三維激光雷達(dá) 點(diǎn)云配準(zhǔn) 手眼模型 外參數(shù)標(biāo)定　出處：《光電工程》2017年08期 　論文類型：期刊論文

【摘要】：無人車三維激光雷達(dá)與GPS/INS組合導(dǎo)航系統(tǒng)融合使用,需要對兩者之間的相對位姿進(jìn)行標(biāo)定。針對車輛運(yùn)動(dòng)過程點(diǎn)云畸變的現(xiàn)象,提出了一種單幀點(diǎn)云中激光掃描點(diǎn)坐標(biāo)修正方法。針對標(biāo)定問題,建立了標(biāo)定模型,提出了一種基于ICP算法和手眼標(biāo)定模型及最小二乘法進(jìn)行外參數(shù)標(biāo)定的方法。通過蒙特卡羅仿真實(shí)驗(yàn),對該方法的有效性和精度進(jìn)行了仿真和驗(yàn)證。在實(shí)驗(yàn)室JJUV-6無人車平臺(tái)上進(jìn)行標(biāo)定試驗(yàn),得到兩者之間的三維位姿關(guān)系。對比標(biāo)定前后三維點(diǎn)云重建效果,點(diǎn)云重疊度接近于配準(zhǔn)效果。基于應(yīng)用的目的,基本滿足二維地圖構(gòu)建和三維環(huán)境重建的需求。
[Abstract]:It is necessary to calibrate the relative position and attitude between the three dimensional lidar and GPS/INS integrated navigation system of unmanned vehicle. In this paper, a method for correcting the coordinates of laser scanning points in a single frame point cloud is proposed. A method of external parameter calibration based on ICP algorithm, hand-eye calibration model and least square method is proposed. The validity and accuracy of the method are simulated and verified. The calibration experiments are carried out on the JJUV-6 unmanned vehicle platform in laboratory, and the three dimensional position and pose relationship between the two methods is obtained. The effect of 3D point cloud reconstruction before and after calibration is compared. The overlap degree of point cloud is close to the registration effect. For the purpose of application, it can basically meet the needs of 2D map construction and 3D environment reconstruction.
【作者單位】： 軍事交通學(xué)院;
【基金】：國家自然科學(xué)基金重大項(xiàng)目(91220301) 國家重大研發(fā)計(jì)劃(2016ffi b0100903)
【分類號(hào)】：TN958.98

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本文編號(hào)：1550564