CAJ | 학술논문

在智能机器人的导航定位系统中，为了得到的信息更加全面和准确，一般采用多种传感器共同获取信息，这就需要进行数据的融合，多传感器的联合标定是数据融合的关键问题。针对CCD相机和激光相机进行标定，首先采集标定靶特殊点的信息，建立标定靶平面方程，其次用harris角点检测算法检测角点，去除不符合平面方程的点，最后求解旋转矩阵和平移矩阵。实验结果表明，该方法能有效去除混合像素，标定结果更加准确。
재지능궤기인적도항정위계통중，위료득도적신식경가전면화준학，일반채용다충전감기공동획취신식，저취수요진행수거적융합，다전감기적연합표정시수거융합적관건문제。침대CCD상궤화격광상궤진행표정，수선채집표정파특수점적신식，건립표정파평면방정，기차용harris각점검측산법검측각점，거제불부합평면방정적점，최후구해선전구진화평이구진。실험결과표명，해방법능유효거제혼합상소，표정결과경가준학。
In the intelligent robot' s navigation and positioning system, in order to get more comprehen- sive and accurate information, people generally use multiple sensors to get information, therefore fuse da- tas are needed, the major problem of the fusion of multiple sensors is the coordinates calibration between them. In consideration of the coordinate calibration between CCD camera and laser camera: firstly, the information of special points in the calibration object ject was built, secondly, the corners were detected plane were removed, finally the rotation matrix and was got, then the pane equation of the calibration ob- by harris method, the points which were not in the translation matrix were solved. The results show that