基于多视角车辆轮廓深度图像的割线迭代接近角计算方法  

Secant Iterative Approach Angle Calculation Method Based on Multi View Vehicle Contour Depth Image

作　　者：赵诚 王志举 张巍 史瑞磊 ZHAO Cheng;WANG Zhi-ju;ZHANG Wei;SHI Rui-lei(Vehicle Testing Engineering Research Institute of China,Beijing 102100 China;Beijing University of Technology,Beijing 100124 China)

机构地区：[1]中机科(北京)车辆检测工程研究院有限公司,北京102100 [2]北京工业大学,北京100124

出　　处：《自动化技术与应用》2023年第3期60-62,79,共4页Techniques of Automation and Applications

摘　　要：针对车辆通过性指标中接近角的测量问题,提出一种基于深度相机获取车辆底盘轮廓点云的接近角计算方法。首先使用深度相机对目标车辆底盘轮廓进行多视角的点云采集,并通过迭代最近点算法进行点云拼接与模型重建,对轮廓点云的轮胎特征进行分割提取,最后采用本文提出的割线迭代方法对接近角进行计算。通过计算机仿真构建车辆轮廓点云,并对该点云进行拼接、分析计算。结果表明,本文提出的方法具有快速、准确的接近角计算效果。Aiming at the measurement problem of approach angle in vehicle trafficability index,a method of approach angle calculation based on depth camera is proposed.Firstly,the depth camera is used to collect the multi view point cloud of the target vehicle chassis contour,and the iterative closest point algorithm is used to splice the point cloud and reconstruct the model,and the tire features of the contour point cloud are segmented and extracted.Finally,the secant iteration method proposed in this paper is used to calculate the approach angle.Through the computer simulation,the point cloud of vehicle contour is constructed,and the point cloud is spliced,analyzed and calculated.The results show that the proposed method has fast and accurate calculation effect of approach angle.

关 键 词：接近角计算 点云拼接 迭代最近点算法 割线迭代 

分 类 号：TP202.2[自动化与计算机技术—检测技术与自动化装置]