激光雷达目标三维姿态估计  

Three dimensional orientation estimation for ladar target

作　　者：郭裕兰[1] 万建伟[1] 鲁敏[1] 谭志国[1] 

机构地区：[1]国防科技大学电子科学与工程学院,湖南长沙410073

出　　处：《光学精密工程》2012年第4期843-850,共8页Optics and Precision Engineering

基　　金：国家自然科学基金资助项目(No.60972114);国家博士后科学基金资助项目(No.20100481511);国家留学基金委CSC奖学金资助项目(No.2011611067)

摘　　要：针对现有激光雷达目标姿态估计算法对遮挡较为敏感的问题,提出了一种新的三维姿态估计算法。分析了现有算法的内在本质和地面装甲目标固有的表面结构特性,提出了投影点云密度熵(PDE)特征,研究了PDE特征与目标姿态的内在关系,给出了对目标点云迭代地进行旋转投影并寻找PDE最小值以实现三维姿态估计的方法。采用25类地面装甲目标的激光雷达点云数据进行仿真实验,分析了自遮挡、遮挡以及噪声下的估计性能,讨论了参数选择对估算结果的影响。实验结果表明,本文方法在自遮挡下的估计误差小于3°,在遮挡率达到80%时的估计误差小于10°。实验显示,本文方法对遮挡和噪声具有很强的稳健性,且收敛迅速,能很好地实现激光雷达目标三维姿态估计。Since the existing target orientation estimation methods for laser radars are not robust to the occlusion,a novel 3D orientation estimation method was proposed.The principles of the existing methods and the intrinsic characters of the surface structures for ground targets were analyzed carefully,then the feature of Projection Density Entropy（PDE） was introduced,and the relationship between PDE and target orientation was analyzed.Finally,a 3D orientation estimation method was formulated by iteratively rotating and projecting the target point cloud onto the coordinate planes together with PDE calculation.Comparative experiments were performed on the dataset containing point clouds of 25 ground targets,the performance in self-occlusion,occlusion and the noise were investigated,and the parameter tuning was discussed.The results show that the estimation error of this method is below 3° in self-occlusion,and also no more than 10 ° even in 80% occlusion.It is clear that the proposed method is robust to occlusion and converges quickly,thus is capable of estimating the 3D orientation of ladar targets in complex scenes.

关 键 词：三维姿态估计 激光雷达 目标识别 遮挡 投影点云 

分 类 号：TN958.98[电子电信—信号与信息处理]