CAJ | 학술논문

针对现有的传感器标定方法的不足,提出一种采用3D 标定物的无人地面平台多传感器联合外标定方法.在参考和借鉴国内外学者的智能移动机器人传感器标定研究成果的基础上,建立了无人地面平台和多传感器坐标系;并从3D 标定物、多层激光测距仪的外标定、多层激光测距仪和 CCD 摄像机的联合外标定、坐标系之间的齐次变换和 L-M 非线性最优算法等几个方面论述多传感器的外标定方法和步骤;对标定结果进行了验证和误差分析.现该方法已经成功应用于中型无人地面平台项目.应用结果表明:该方法能修正各传感器的安装位姿误差,保证标定后的各传感器的测量精度和目标(障碍物)在平台坐标系的一致性.
침대현유적전감기표정방법적불족,제출일충채용3D 표정물적무인지면평태다전감기연합외표정방법.재삼고화차감국내외학자적지능이동궤기인전감기표정연구성과적기출상,건립료무인지면평태화다전감기좌표계;병종3D 표정물、다층격광측거의적외표정、다층격광측거의화 CCD 섭상궤적연합외표정、좌표계지간적제차변환화 L-M 비선성최우산법등궤개방면논술다전감기적외표정방법화보취;대표정결과진행료험증화오차분석.현해방법이경성공응용우중형무인지면평태항목.응용결과표명:해방법능수정각전감기적안장위자오차,보증표정후적각전감기적측량정도화목표(장애물)재평태좌표계적일치성.
Aiming at the shortcoming of current sensor calibration algorithm, introduce the integration extrinsic calibration algorithm of unmanned ground platform multi-sensor based on 3D calibration item. Based on research of foreign and demotic intelligence mobile robot sensor calibration, establish the unmanned ground platform and multi-sensor coordinate system. Introduce the multi-sensor extrinsic calibration method and its steps based on 3D calibration item, extrinsic calibration of multi-layer laser range finder and CCD camera, homogeneous transformation among coordinate system, and L-M nonlinear optimum algorithm. Carry out validation and error analysis of calibration. The method is successfully used in middle-size unmanned ground platform project. The application results show that the method can correct the installation position error of each sensor, and ensure the consistency of calibrated sensor measurement accuracy and object (obstacle) in platform coordinates system.