| 一种改进的视觉传感器与激光测距雷达特征匹配点提取算法 |
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| 引用本文： | 邓志红,刘明阳,付梦印.一种改进的视觉传感器与激光测距雷达特征匹配点提取算法[J].光学技术,2010,36(1). |
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| 作者姓名： | 邓志红 刘明阳 付梦印 |
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| 作者单位： | 北京理工大学,自动化学院,北京,100081 |
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| 基金项目： | 国家自然科学基金资助项目(60773044);;总装重点基金(9140A26010308BQ0178) |
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| 摘 要： | 激光测距雷达与视觉传感器的配准是视觉图像与激光距离信息融合的前提。激光测距雷达与视觉传感器的配准可分为点匹配与平面匹配。由于混合像素和非结构空间特征激光点丢失现象,使得基于点匹配的视觉传感器与激光测距雷达配准算法精度难以提高。通过对混合像素和非结构空间特征激光点丢失问题的分析,提出了一种结合平面建模思想,利用假想激光光束与平面模型相交提取匹配特征点的方法。验证了实验结果并进行了算法精度比较。实验结果表明,这种改进的特征匹配点提取算法解决了特征点缺失,并且提高了点匹配的精度,使匹配性能大大地改善。
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| 关 键 词： | 激光技术 点匹配 混合像素 非结构空间特征点丢失 激光测距雷达 可见光图像 平面建模 |
A improved method of matching point extracting for vision sensor and LMS space alignment |
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| DENG Zhi-hong,LIU Ming-yang,FU Meng-yin.A improved method of matching point extracting for vision sensor and LMS space alignment[J].Optical Technique,2010,36(1). |
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| Authors: | DENG Zhi-hong LIU Ming-yang FU Meng-yin |
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| Institution: | School of Automation;Beijing Institute of Technology;Beijing 100081;China |
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| Abstract: | Space alignment is the first step in data fusion for vision sensor and LMS.Point matching and plane matching are commonly used in space alignment of vision sensor and LMS.But the precision of point matching method is hardly improved,since mixed pixel and matching point loss in non-structure space.Mixed pixel and matching point loss in non-structure space are analyzed.A method for matching point extracting by modeling of pattern and LMS laser is proposed.The result is verified and space alignment precision i... |
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| Keywords: | laser techniques point matching mixed pixel matching point loss LMS visible light image pattern modeling |
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