应用最小解外参数的二维激光测距仪位姿标定  

Pose calibration of two-dimensional laser rangefinder based on minimum solution parameters

作　　者：陈红红 任立胜 闫凤[1] CHEN Honghong;REN Lisheng;YAN Feng(Inner Mongolia Agricultural University,Baotou Inner Mongolia 014109,China)

机构地区：[1]内蒙古农业大学,内蒙古包头014109

出　　处：《激光杂志》2021年第5期176-180,共5页Laser Journal

基　　金：内蒙古自治区高等学校科学研究项目(No.NJZY20055)。

摘　　要：为完成二维激光测距仪的精密测量,需要准确标定其空间位姿,为此提出一种应用最小解外参数的二维激光测距仪位姿标定方法。运用最小二乘把激光测距仪内观测矢量、系数矩阵中包含误差的元素重新构成未知矢量,将最小解当作位姿标定初值,让数据转换成目标坐标信息;创建摄像机透视投影模型,引入透镜的径向畸变和切向畸变,利用标定板把激光束简化为单点激光,采用主成分分析法优化各点到直线的垂直距离,减少点到直线的投影误差,获得准确的二维激光测距仪位姿标定结果。仿真结果表明,所提方法位姿标定快速精确,鲁棒性好,拥有极强的实用性。In order to complete the precise measurement of a two-dimensional laser rangefinder,it is necessary to calibrate its spatial position and pose accurately. The least-square is used to reconstruct the unknown vector from the observation vector and the error elements in the coefficient matrix of the laser rangefinder. The minimum solution is regarded as the initial value of pose calibration,and the data is converted into target coordinate information. The camera perspective projection model is created,and the radial and tangential distortion of the lens is introduced. The laser beam is simplified to a single point laser by using the calibration plate,and the principal component analysis is used.The method optimises the vertical distance from each point to the line,reduces the projection error from the point to the line,and obtains the accurate pose calibration result of the two-dimensional laser rangefinder. Simulation results show that the proposed method is fast,accurate,robust and practical.

关 键 词：最小二乘法 外参数 二维激光测距仪 位姿标定 坐标转换 

分 类 号：TP253[自动化与计算机技术—检测技术与自动化装置]