仿人眼功能的三维激光扫描算法  

3D laser scanning algorithm with humanoid-eye function

作　　者：陈伟海[1] 宋蔚阳[1] 荣利霞[1] 刘敬猛[1] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191

出　　处：《北京航空航天大学学报》2009年第5期563-566,571,共5页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家863计划资助项目(2006AA04Z218)(2008AA04Z210);国家自然科学基金资助项目(60775059)

摘　　要：针对目前国内外应用于移动机器人的三维激光扫描系统存在的扫描效率问题,提出了一种仿人眼功能的三维激光扫描算法.从仿生学角度出发,该算法模仿人类眼睛的扫描功能,对陌生环境进行分步扫描:根据当前的扫描信息,在线规划出下一步的扫描规律,以减少无用信息的获取;采用分步插补定位的方法来弥补分步扫描带来的时间消耗,从而提高了扫描系统的效率.为了满足扫描算法的在线处理对实时性的要求,采用了一种DSP(Digital Signal Processing)+FPGA(Field-Programmable Gate Array)的硬件平台架构:即DSP作主控制器负责三维信息的获取,FPGA作协处理器负责扫描算法的实现.实验结果表明仿人眼功能的扫描算法可以有效的提高三维扫描系统的扫描效率.Aiming at the scanning efficiency of three dimensional （3D） laser scanning system for mobile robot all over the world, a humanoid-eye 3D laser scanning algorithm was proposed. Imitating the scanning function of human eyes from bionics, this algorithm divides the scanning process into two steps： according to the scanning information currently, the scanning scheme of the next step will be planned to reduce the gain of useless information; Through adopting the stepping interpolation location to fetch up the time consuming from stepping scan, the efficiency of the scan can be improved. To satisfy the real-time requirement for the online computing, a hardware architecture consisting of digital signal processing （DSP） and field-programmable gate array （FPGA） was proposed. Therefore, as the main controller, DSP can obtain 3D laser data; as the coprocessor, FPGA can complete the scanning algorithm. The experiment result shows the humanoid-eye scanning algorithm can improve the efficiency of the 3D scanning system greatly.

关 键 词：移动机器人 三维激光 拟人眼 分步插补定位 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置]