新型移动机器人激光测距雷达的研究  

Novel Design of Low Cost Mobile Robot Lazer Scanner

作　　者：郑圣子[1] 李湘旭[1] 孙志超[1] 

机构地区：[1]天津科技大学机械工程学院,天津3000222

出　　处：《计算机测量与控制》2011年第5期1094-1097,共4页Computer Measurement &Control

基　　金：国家自然基金(60675046)

摘　　要：研制了一种新型的基于激光结构光三维视觉技术的移动机器人模块化测距雷达样机,并提出了多平面靶标的转轴现场标定方案,为实现其对周围环境的扫描测量,首先标定线激光器与网络摄像头的相对位置,利用三角法测量激光交线到摄像头光心的距离。然后标定舵机转轴与摄像机的相对位置,并将旋转的激光交线坐标,统一到一个世界坐标系下,实现扫描测距。三维测量实验中,相对误差0.31%,系统测量误差小于4%。实验证明该样机测量精度高,成本低,具有广阔的应用前景。This paper provides a new prototype mobile robot laser scanner based on structure-light three dimensional vision technology,and presents a multi-target-plane rotation axis online calibration method,in order to measure the surronding environment,this paper first calibrates the relative position between line laser and camera,then meaures the distance between lazer insertion line and optical center of the camera,finally calibrates the relative position between rotational axis of the motor and camera,and put these rotational local cordinates into a unified world cordinate system.In three dimensional experiments,the measured relative error 0.31%,the system error belows 4%.The experimental results show that this prototype laser scanner has high measurement accuracy,low cost,and broad application prospect.

关 键 词：激光雷达 多平面靶标 坐标转换 结构光 三维视觉 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]