CAJ | 학술논문

在热像仪与3D激光雷达组合感知系统上，对基于特征点的配准问题进行了研究。结合热像仪与3D激光雷达的工作特性，设计制作了温控镂空发热网配准靶，可同时为热像仪与3D激光雷达提供特征点。红外图像特征点使用Harris角点探测器进行采集；为减小混合像素和激光点稀疏的影响，对配准靶平面进行了拟合并对点云进行了配准平面符合度检查，确定了深度图边缘；使用计算角点附近深度边缘均值的方法提取深度特征点坐标，并对坐标进行了修正；最后使用NMSM- EM优化方法对配准结果进行了优化。基于以上研究成果，使组合感知系统能够在微光条件下完成对移动机器人行驶环境的感知。
재열상의여3D격광뢰체조합감지계통상，대기우특정점적배준문제진행료연구。결합열상의여3D격광뢰체적공작특성，설계제작료온공루공발열망배준파，가동시위열상의여3D격광뢰체제공특정점。홍외도상특정점사용Harris각점탐측기진행채집；위감소혼합상소화격광점희소적영향，대배준파평면진행료의합병대점운진행료배준평면부합도검사，학정료심도도변연；사용계산각점부근심도변연균치적방법제취심도특정점좌표，병대좌표진행료수정；최후사용NMSM- EM우화방법대배준결과진행료우화。기우이상연구성과，사조합감지계통능구재미광조건하완성대이동궤기인행사배경적감지。
With the integrated perception system of IR camera and 3D lidar , the calibration based on feature point matching was studied and the thermostat heating hollow net was designed to provide feature points. Infrared image feature points were extracted by Harris corner detector. To decrease the influence from mixed pixels, plane fitting of heating net and plane conformity check of laser points on net were used to locate the edges in depth image . Edges ’ average value at corner was calculated to extract depth feature point. At last, NMSM- EM method was adopted to optimize the result. The research results show that the integrated perception system can accurately perceive mobile robot ’ s running environment in dim light .