基于扇块化阈值判定的机载激光雷达可通行区域在线检测方法研究  

Online detection method of airborne LiDAR passable area based on fan⁃block threshold determination

作　　者：杨喜旺[1] YANG Xiwang(School of Data Science and Technology,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学大数据学院,山西太原030051

出　　处：《现代电子技术》2024年第12期91-95,共5页Modern Electronics Technique

摘　　要：激光受扫描区域与摄像点间角度、方向以及间隔距离等因素影响,导致激光可覆盖区域有限,从而影响可通行区域在线检测的准确性。为此,提出一种基于扇块化阈值判定的机载激光雷达可通行区域在线检测方法。扇块化阈值包括最大扫描距离阈值和畸变系数阈值,利用其判定机载激光雷达扇形块区域;采用最大熵值预测模型与调节系数处理扇形块区域数据,结合小波变换实现机载激光雷达可通行区域在线检测。实验结果表明,所提方法不仅检测到在4、6、7检测点处,道路宽度信息发生了变化,而且可以有效检测出区域内的障碍物,从而提高可通行区域的检测准确性,具备较好的检测效果。Due to the influence of factors such as Angle,direction and distance between the scanning area and the camera point,the laser can cover a limited area,which affects the accuracy of online detection of the passable area.Therefore,an airborne liDAR online detection method of passable area based on fan-block threshold determination is studied.The fan-block area of airborne lidar is determined by the fan-block threshold including the maximum scanning distance threshold and the distortion coefficient threshold.The fan-block area data is processed by the maximum entropy prediction model and the adjustment coefficient,and the online detection of the passable area of airborne lidar is realized by combining the wavelet transform.The experimental results show that the proposed method can detect changes in the road width information at detection points 4,6 and 7,and can effectively detect obstacles in the area,thus improving the detection accuracy of the passable area and achieving a good detection effect.

关 键 词：机载激光雷达 可通行区域 在线检测 障碍物识别 扇块化阈值 小波变换函数 

分 类 号：TN958.98-34[电子电信—信号与信息处理] TP312[电子电信—信息与通信工程]