摘要
为了提高科考人员探测未知环境时的安全系数,实现无接触测量,同时解决二维平面成像无法获取物体距离信息和尺寸信息的问题,设计并实现了一套基于单点脉冲激光测距仪的三维扫描成像系统。首先,利用方差过滤和高斯拟合提高单点激光测距的精度。其次,修正云台角度偏差后通过云台的转动有序扫描并获取物体表面的点云数据。最后,利用具有噪声的基于密度的聚类算法对获取的点云噪声进行滤波,得到轮廓分明、角度清晰、距离准确的三维点云图像。在室内对普通纸盒的成像实验结果表明,该系统测量距离、物体面积以及角度拟合的误差均小于5%;在室外对200 m内的大型建筑进行成像,结果表明,该系统能有效探测未知环境和感知障碍物。
In order to improve the safety factor of scientific expedition personnel when detecting unknown environment,realize non-contact measurement,and to solve the problem that two-dimensional planar imaging cannot obtain the distance information and size information of the object,a set of three-dimensional scanning imaging system based on single-point pulsed laser rangefinder is designed and realized.First,variance filtering and Gaussian fitting are used to improve the accuracy of single-point laser ranging.Second,after correcting the angle deviation of the pan-tilt,the point cloud data on the surface of the object can be obtained through the rotation of the pan-tilt.Finally,density-based spatial clustering of applications with noise(DBSCAN)algorithm is used to filter the acquired point cloud noise to obtain a three-dimensional point cloud image with clear outline,clear angle,and accurate distance.Indoor imaging experiments on ordinary paper boxes show that the system distance measurement error,object area size measurement error,and angle fitting error are all within 5%;and outdoor imaging experiments on large buildings within 200 m show that the system can effectively detect unknown environments and perceive obstacles.
作者
何巧莹
黄林海
He Qiaoying;Huang Linhai(Key Laboratory on Adaptive Optics,The Institute of Optics and Electronics,Chinese Academy of Sciences,Chengdu,Sichuan 610209,China;University of Chinese Academy of Sciences,Beijing 100049,China)
出处
《激光与光电子学进展》
CSCD
北大核心
2021年第6期347-354,共8页
Laser & Optoelectronics Progress
关键词
激光技术
激光测距仪
三维点云成像
点云过滤
云台
laser technique
laser range finder
three-dimensional point cloud imaging
point cloud filtering
pan-tilt
