传感技术学报2016，Vol.29Issue(11)：1692-1697,6.DOI:10.3969/j.issn.1004-1699.2016.11.011
三角测距激光雷达的光斑定位算法研究
Spot Positioning Algorithm for Laser Radar Based on Triangulation
摘要
Abstract
In order to reduce the noise of light spot of laser radar system and improve the precision of the distance measurement for the system,an advanced algorithm based on attribute distance weighted average filter algorithm and gray-gravity method algorithm was proposed. The attribute distance weighted average filter with the property of curvature can not only reduce the noise of light spot,but also can highlight the peak spot of the laser facula. While the method by using iterative calculations for gray centroids would further improve the positioning accuracy of light spot and it can also solve the problem of susceptible to noise by using the square weighted gray-gravity method. Ex⁃periments have dealt with the collected practical data in MATLAB simulation environment,and the results of the ex⁃periments show that the algorithm can achieve positioning accuracy with even 0.05 pix for 4μs pixel unit. Many re⁃peated experiments indicated that the experimental results had a good stability.关键词
机器人传感器/二维激光雷达/亚像素定位/属性距离加权平均滤波/平方加权质心法Key words
robot sensor/2-D laser radar/sub pixel positioning/attribute distance weighted average filter/square weighted gray-gravity method algorithm分类
信息技术与安全科学引用本文复制引用
李高,何元烈,曾碧..三角测距激光雷达的光斑定位算法研究[J].传感技术学报,2016,29(11):1692-1697,6.基金项目
广东省产学研合作专项资金项目（2014B090904080）；广东省应用型科技研发专项资金项目（2015B090922012）；东莞市产学研合作项目 （）
