基于全景图像的无人艇激光雷达杂波滤除方法  

Lidar Clutter Filtering of Unmanned Surface Vehicle Based on Panoramic Image

作　　者：张煌 何佳洲[1] 王景石 蒋佳锐 Zhang Huang;He Jiazhou;Wang Jingshi;Jiang Jiarui(Information Fusion Laboratory,Jiangsu Institute of Automation,Lianyungang 222061,Jiangsu,China)

机构地区：[1]江苏自动化研究所信息融合实验室,江苏连云港222061

出　　处：《光学学报》2022年第18期66-76,共11页Acta Optica Sinica

摘　　要：海上环境复杂,安装在无人艇上的激光雷达在探测近艇目标过程中会产生各种杂波,影响了无人艇对近距离船只的检测与跟踪,威胁了无人艇自主航行安全,因此必须对激光雷达在海上产生的各种杂波进行有效滤除。将激光雷达与全景相机进行数据关联,实现了三维点云与全景图像在二维图像上的像素级配准,并根据两种数据的关联结果以及对全景图像上目标船只的检测,完成对定义的三类杂波点云的滤除。The sea environment is complex,and the lidar installed on the unmanned surface vehicle will generate various useless clutters in the process of detecting the target near our vehicle.And the useless clutters will affect the detection and tracking process and threaten the safety of the unmanned surface vehicle in the process of autonomous voyage.Therefore,it is necessary to effectively filter out all kinds of useless clutters generated by lidar on the sea.In this paper,the data association between the lidar and panorama camera is carried out to achieve the pixel-level registration of 3D point clouds and panoramic images in 2D images.According to the association results of the two kinds of data and the detection of target ships on the panoramic image,the three types of point cloud clutters defined in this paper are filtered.

关 键 词：图像处理 无人艇 数据关联 目标检测 杂波滤除 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]