基于空间球的三维激光扫描仪标定算法  

A Calibration Algorithm for 3D Laser Scanner Based on Spatial Sphere

作　　者：汪霖[1] 曹建福[1] 韩崇昭[1] 

机构地区：[1]西安交通大学机械制造系统工程国家重点实验室,西安710049

出　　处：《西安交通大学学报》2013年第4期79-85,共7页Journal of Xi'an Jiaotong University

基　　金：国家"863计划"资助项目(2006AA01Z126)

摘　　要：针对三维激光扫描仪测量模型参数的估计问题,提出一种基于空间球的模型参数标定算法。该算法根据球状标定物上各激光扫描点与标定球球心的距离约束条件,建立三维激光扫描仪模型参数和标定球参数的非线性目标函数;综合采用入侵性杂草优化算法和Levenberg-Marquardt算法优化该目标函数,以实现激光扫描仪模型参数标定;通过增加标定球上的扫描点数,能够减弱激光扫描仪测量噪声对标定精度的影响,从而提高文中算法的模型参数标定精度。实验结果表明,该算法的标定精度高,模型参数估计的一致性好,且能有效抑制测量噪声对标定结果的影响。A model parameter calibration algorithm based on spatial sphere is proposed to estimate the measurement model parameters of a 3D laser scanner.The distance constraint between each laser scanning point on a spherical calibration object and the center of the calibration sphere is used to establish a nonlinear objective function to determine the model parameters of the 3D laser scanner and the calibration sphere parameters.The model parameter calibration of the laser scanner is realized by optimizing the objective function implemented by a proposed hybrid algorithm which integrates the invasive weed optimization（IWO） and the Levenberg-Marquardt algorithm.By adding the number of scanning points on the calibration sphere,the influence of measuring noise of laser scanner on calibration accuracy can be weakened,thereby the model parameter calibration accuracy of the proposed algorithm is improved.Experimental results show that the proposed algorithm can yield accurate calibration results with a good consistency of model parameters,and effectively suppress the measurement noise.

关 键 词：三维激光扫描仪 标定 非线性目标函数 入侵性杂草优化 LEVENBERG-MARQUARDT算法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]