激光雷达成像的帧间偏移估计优化研究  

Research on the optimization of interframe offset estimation for lidar imaging

作　　者：刘赟宇 徐晟 LIU Yunyu;XU Sheng(School of Software and Communication,Tianjin Sino-German University of Applied Technology,Tianjin 300350,China)

机构地区：[1]天津中德应用技术大学软件与通信学院,天津300350

出　　处：《激光杂志》2023年第6期131-136,共6页Laser Journal

基　　金：天津市科技计划项目(No.20JCYBJC00280);天津市教育科学十三五规划课题(No.2018085)。

摘　　要：为精确辨识与跟踪目标物体,提出了激光雷达成像的帧间偏移估计优化方法。采集激光雷达图像,小波变换与均值滤波对图像进行去噪处理,对去噪后激光雷达图像进行运动估计,获取激光雷达图像的帧间偏移量,利用均值滤波器滤波处理运动估计结果,利用双线性插值后向映射原理建立激光雷达图像的运动补偿模型,完成激光雷达成像帧间的偏移估计优化。实验结果表明:该方法可实现不同噪声环境下激光雷达成像的帧间偏移估计,获得的帧间偏移量更接近实际偏移量,能够更好地满足实际工作需要。In order to accurately identify and track the target,an optimization method of interframe offset estimation for lidar imaging is proposed.The lidar image is collected,the wavelet transform and mean filtering are used to denoise the image,the motion estimation of the denoised lidar image is performed,and the inter frame offset of the lidar image is obtained.The mean filter is used to filter the motion estimation results,and the bilinear interpolation backward mapping principle is used to establish the motion compensation model of the lidar image,so as to complete the optimization of the inter frame offset estimation of the lidar image.The experimental results show that this method can realize the estimation of interframe offset of lidar imaging in different noise environments,and the obtained interframe offset is closer to the actual offset,which can better meet the practical work.

关 键 词：激光雷达成像 帧间偏移估计 噪声去除 图像采集 特征点提取 小波变换 

分 类 号：TN929[电子电信—通信与信息系统]