激光扫描追踪人体目标位姿的算法研究  

Research on the algorithm of laser scanning in tracking the position of human targets

作　　者：郭爱波[1] 王宏[1] 郑兴文[1] 李木岩 

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110819

出　　处：《机电工程》2014年第9期1122-1126,共5页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(61071057)

摘　　要：针对人体目标位姿的追踪问题,对二维激光扫描仪的工作原理进行了归纳,对所测取数据的分析算法进行了研究,设计了一种基于激光图像扫描的新型算法,利用C语言与Matlab混合编程,通过对人体目标肩部截面进行椭圆拟合,实时测取了运动人体目标的距离、角度和方位信息,并通过Matlab GUI显示。二维激光扫描仪通过旋转的光学部件发射光脉冲,形成了二维的扫描面,以实现区域扫描及轮廓测量的功能。研究结果表明,利用激光扫描仪测取的人体目标的位置信息与真实的人体目标的位置信息相比基本吻合,距离范围为0 m^4 m,距离精度优于0.05 m,角度范围为240°,角度跟踪精度优于2°,方位范围为360°,方位精度最高1°,该算法可用于需要对人体目标进行实时追踪的工程应用中,例如用于对人体目标实时跟随的移动平台或机器人中。Aiming at tracking human target＇s position,the working principle of the two-dimensional laser scanner was summed up,the algorithm of the analysis of data was researched,an algorithm based on the technology of laser image scanning was designed.An elliptical model of the body＇s shoulder was built up.distance,angle and azimuth information of human target were acquired,and displayed through Matlab GUI.A two-dimensional scanning plane was formed thorugh two-dimensional laser scanner used the rotating optical components,the function of regional scanning and profile measurement were realized.The results indicate that the position information of human target is acquired by laser scanner and have the basic agreement with the real position information,distance range is 0 m ～4 m,the accuracy is better than 0.05m,scope of angle is 240°,angular tracking accuracy is better than 2°,azimuth range is 360°,azimuth accuracy is 1 °,the algorithm can be applied to engineering applications such as mobile platforms or robots which need tracking human targets in real time.

关 键 词：激光扫描测距仪 追踪 椭圆拟合 混合编程 MATLAB 

分 类 号：TH744.5[机械工程—光学工程] TN95[机械工程—仪器科学与技术]