关于旋转激光器的角度控制,通过在超大体上进行直线计算
Rudi Penne1, Ivan De Boi1, Steve Vanlanduit1
1InViLab, Faculty of Applied Engineering, University of Antwerp, 2000 Antwerp, Belgium.
Sensors (Basel, Switzerland)
|July 14, 2023
概括
我们介绍了一种新的方法来校准具有旋转对称性的激光扫描仪,通过将它们建模为线条配置. 这种几何方法需要比传统的数据驱动技术更少的测量,以实现精确的激光扫描仪校准.
科学领域:
- 机器人和自动化机器人与自动化
- 计算机视觉 计算机视觉
- 光学工程是指光学工程.
背景情况:
- 具有旋转对称性的激光扫描仪,如Lidar和度系统,需要精确的校准才能准确地获取数据.
- 传统的校准方法通常依赖于复杂的物理模型和大量的测量,这可能是耗时和数据密集的.
研究的目的:
- 通过使用几何性质,提出一个新的模式来建模和校准具有旋转对称性的激光扫描仪.
- 开发一条线数据驱动的程序,简化校准过程,减少测量要求.
主要方法:
- 将激光扫描仪建模为基于其几何性质的特定线条配置,而不是依靠内在的物理参数.
- 使用一个代数-几何方法,只需要几次测量进行校准.
- 代表一个双镜度激光扫描仪作为一个hyperboloids的网格,近似的3x3网格的线条,形成一个新的基于线路的查找表.
主要成果:
- 提出的方法成功地模拟和校准了使用减少数量的测量进行旋转对称的激光扫描仪.
- 一种新型的查找表,包括九行而不是点,使精确的亲缘组合,取代传统的插值.
- 在现实虚拟环境中的验证证实了该方法的有效性,并以强大的算法为附属贡献,用于将规则的转变表面与杂的线数据相匹配.
结论:
- 开发的代数-几何方法为校准旋转对称激光扫描仪提供了更高效和数据光替代方案.
- 基于线的建模范式提供了简化但准确的表示,增强了激光扫描技术的实际应用.
- 该方法的稳定性和减少的测量需求为使用激光扫描在各种领域的更广泛采用铺平了道路.
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