基于激光扫描系统的机车车顶异物检测

The Detection of Roof Foreign Object Based on Laser Scanning System

机车车顶异物的存在是列车运行的安全隐患,为提高机车运行质量,本文提出了一种基于激光扫描结合点云处理的异物检测方法。论文采用一台三维激光扫描仪LMS400对车顶进行扫描,距离传感器获得的数据经扫描仪标定和速度校正后,在空间坐标系下重构成三维点云,使用改进的ICP算法进行点云配准后,采用改进的背景差分法来进行异物提取。实验结果表明,基于相关熵度量的鲁棒ICP配准算法有较高的配准精度和较快的收敛速度,同时,异物也能准确地被检测出来。

The presence of roof foreign object is a security risk to train operation.To improve the quality of locomotive running,this paper proposes a foreign object detection method based on laser scanning combined with point cloud processing technologies.In order to obtain the scanning data,a three-dimensional laser scanner LMS400 was used to scan the roof.Then the point cloud could be reconstructed by scanner calibration and speed correction. After using improved ICP（ Iterative Closest Point） algorithm for point cloud registration,improved background subtraction was adopted to extract the foreign objects.The results show that,the robust ICP registration algorithm based on correntropy has both high registration accuracy and fast convergence.Also,foreign object can be accurately detected.