基于单应性变换的雷达栅格坐标与光学像素坐标映射方法研究  

Research on Radar Grid Coordinates and Optical Pixel Coordinate Mapping Method Based on Unisometric Transformation

作　　者：王彦平 崔喜伟 李洋[1] WANG Yanping;CUI Xiwei;LI Yang(Radar Monitoring Technology Laboratory,School of Information Science and Technology,North China University of Technology,Beijing 100144,China)

机构地区：[1]北方工业大学信息学院雷达监测技术实验室,北京100144

出　　处：《信号处理》2023年第7期1233-1242,共10页Journal of Signal Processing

基　　金：国家自然科学基金重点项目(62131001);北京市自然科学基金资助项目(4232003);毓优人才培养计划项目(218051360020XN115/014)。

摘　　要：毫米波雷达与光学摄像头是自动驾驶及灾害监测机器人等无人自主平台的主要感知器组合之一,将雷达栅格坐标映射至光学像素坐标是后续微波与视觉信息融合处理的关键基础。现有坐标映射方法主要解决雷达坐标系单帧点云坐标与光学像素坐标的映射问题。雷达运动积累多帧点云构建的占据栅格地图可获取比单帧雷达点云更强的几何语义特征信息,但其栅格坐标难以直接与光学像素坐标建立坐标映射关系。针对该问题,本文提出基于单应性变换的雷达栅格坐标与光学像素坐标映射方法。在此基础上,本文分析了特征点数量等误差因素对映射精度的影响及有效性条件。最后,利用实际采集的毫米波雷达及光学图像数据验证了映射方法的有效性。Millimeter-wave radar and optical camera are one of the main perceptron combinations of unmanned autonomous platforms such as autonomous driving and disaster monitoring robots,and mapping radar grid coordinates to optical pixel coordinates is the key basis for subsequent microwave and visual information fusion processing.The existing coordinate mapping method mainly solves the problem of mapping single-frame point cloud coordinates and optical pixel coordinates of radar coordinate system.The occupied grid map constructed by radar motion accumulation multi-frame point cloud can obtain stronger geometric semantic feature information than that of single-frame radar point cloud,but its raster coordinates are difficult to directly establish a coordinate mapping relationship with optical pixel coordinates.To solve this problem,this paper proposes a mapping method for radar raster coordinates and optical pixel coordinates based on unidirectional transformation.On this basis,the influence of error factors such as the number of feature points on the mapping accuracy and the validity conditions are analyzed.Finally,the actual collected millimeter-wave radar and optical image data verify the effectiveness of the mapping method.

关 键 词：单应性变换 同步定位与构图 映射 

分 类 号：TN958[电子电信—信号与信息处理]