基于场面热点区域的激光雷达与摄像头布局优化研究  

Research on optimization of lidar and camera layout based on scene hotspot areas

作　　者：千富荣 丁玉荣 余京津[1] QIAN Furong;DING Yurong;YU Jingjin(Civil Aviation Flight Universityof China,Suining Sichuan 629000,China)

机构地区：[1]中国民用航空飞行学院,四川遂宁629000

出　　处：《激光杂志》2025年第3期233-238,共6页Laser Journal

基　　金：国家级新工科研究与实践项目(No.E-HTJT20201728);中国民用航空飞行学院青年基金项目(No.QJ2023-052)。

摘　　要：在激光雷达与摄像头的布局过程中,原有的布局约束条件不够精确或全面,导致布局后的覆盖率较低,从而影响测量结果可靠性。因此,提出基于场面热点区域的激光雷达与摄像头布局优化方法。补全目标区域运动轨迹数据,并对其进行预处理,获取场面热点数据,确定场面热点区域。根据获取到的场面热点数据,通过距离、角度以及碰撞三部分构建激光雷达布局约束条件。确定激光雷达运动速度,使用网格划分场面热点区域,应用约束条件完成布局位置最优点求解。构建实验环节,实验结果表明:此方法完成布局优化,可进一步提升,激光雷达与摄像头布局后覆盖率,保证激光雷达及摄像头测量结果可靠性。In the layout process of LiDAR and camera,the original layout constraints are not precise or comprehensive enough,resulting in lower coverage after layout,which affects the reliability of measurement results.Therefore,a laser radar and camera layout optimization method based on hot spot areas is proposed.Complete the motion trajectory data of the target area,preprocess it,obtain scene hotspot data,and determine the scene hotspot area.Based on the obtained scene hotspot data,laser radar layout constraints are constructed through three parts:distance,angle,and collision.Determine the motion speed of the LiDAR,use a grid to partition the hot spot areas of the scene,and apply constraint conditions to solve for the optimal layout position.Constructing an experimental section,the experimental results show that this method achieves layout optimization and can further improve the coverage of LiDAR and camera layout,ensuring the reliability of LiDAR and camera measurement results.

关 键 词：场面热点 激光雷达 覆盖率 测量偏差 布局优化 

分 类 号：TN958.98[电子电信—信号与信息处理]