采用温控镂空发热网的热像仪和3D激光雷达配准.pdfVIP

第43 卷第12 期 红外与激光工程 2014 年12 月 Vol.43 No.12 Infrared and Laser Engineering Dec.2014 采用温控镂空发热网的热像仪与3D 激光雷达配准 宗 民袁杨 毅袁朱 昊袁付梦印袁汪顺亭 (北京 工大学 复杂系统智能控制与决策国家重点实验室袁北京 100081) 摘 要 在热像仪与3D 激光雷达组合感知系统上袁对基于特征点的配准问题进行了研究遥 结合热像 仪与3D 激光雷达的工作特性袁设计制作了温控镂空发热网配准靶袁可同时为热像仪与3D 激光雷达 提供特征点遥 红外图像特征点使用Harris 角点探测器进行采集曰 为减小混合像素和激光点稀疏的影 响袁对配准靶平面进行了拟合并对点云进行了配准平面符合度检查袁确定了深度图边缘曰使用计算角 点附近深度边缘均值的方法提取深度特征点坐标袁并对坐标进行了修正曰最后使用NMSM-EM 优化 方法对配准结果进行了优化遥基于以上研究成果袁使组合感知系统能够在微光条件下完成对移动机器 人行驶环境的感知遥 关键词 自动控制技术曰 组合感知系统曰 热像仪曰 激光雷达曰 配准 中图分类号 TP24 文献标志码 A 文章编号 1007-2276 (2014) 12-4198-06 Calibration of IR camera and 3D lidar using thermostat heating hollow net Zong Min, Yang Yi, Zhu Hao, Fu Mengyin, Wang Shunting (State Key Laboratory of Complex System Intelligent Control and Decision, Beij ing Institute of Technology , Beijing 100081, China) Abstract: With the integrated perception system of IR camera and 3D lidar, the calibration based on feature point matching was studied and the thermostat heating hollow net was designed to provide feature points . Infrared image feature points were extracted by Harris corner detector. To decrease the influence from mixed pixels , plane fitting of heating net and plane conformity check of laser points on net were used to locate the edges in depth image . Edges 忆 average value at corner was calculated to extract depth feature point. At last, NMSM -EM method was adopted to optimize the result. Th