采用温控镂空发热网的热像仪与3D激光雷达配准  

Calibration of IR camera and 3D lidar using thermostat heating hollow net

作　　者：宗民[1] 杨毅[1] 朱昊[1] 付梦印[1] 汪顺亭[1] 

机构地区：[1]北京理工大学复杂系统智能控制与决策国家重点实验室,北京100081

出　　处：《红外与激光工程》2014年第12期4198-4203,共6页Infrared and Laser Engineering

基　　金：总装预研项目(404010xxxx3);国家自然科学基金重点培育项目(91120003);国家自然科学基金(61173076);国家自然科学基金青年基金(61105092)

摘　　要：在热像仪与3D激光雷达组合感知系统上,对基于特征点的配准问题进行了研究。结合热像仪与3D激光雷达的工作特性,设计制作了温控镂空发热网配准靶,可同时为热像仪与3D激光雷达提供特征点。红外图像特征点使用Harris角点探测器进行采集;为减小混合像素和激光点稀疏的影响,对配准靶平面进行了拟合并对点云进行了配准平面符合度检查,确定了深度图边缘;使用计算角点附近深度边缘均值的方法提取深度特征点坐标,并对坐标进行了修正;最后使用NMSM-EM优化方法对配准结果进行了优化。基于以上研究成果,使组合感知系统能够在微光条件下完成对移动机器人行驶环境的感知。With the integrated perception system of IR camera and 3D lidar,the calibration based on feature point matching was studied and the thermostat heating hollow net was designed to provide feature points.Infrared image feature points were extracted by Harris corner detector.To decrease the influence from mixed pixels,plane fitting of heating net and plane conformity check of laser points on net were used to locate the edges in depth image.Edges′ average value at corner was calculated to extract depth feature point.At last,NMSM-EM method was adopted to optimize the result.The research results show that the integrated perception system can accurately perceive mobile robot′s running environment in dim light.

关 键 词：自动控制技术 组合感知系统 热像仪 激光雷达 配准 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]