激光雷达单目视觉目标点跟踪系统设计（英文）

Design of Monocular Vision Target Tracking System Based on Lidar

应用激光雷达对空间中的某点进行定位,需要设计目标点跟踪系统,来捕获目标点的位姿角度信息,并反馈给转台进而控制转台调节激光方位以指向目标点.为完成对目标跟踪系统的设计,编写了相机获取目标点图像坐标程序,得到目标点角度信息程序以及对转台的反馈控制程序.最终,搭建了目标跟踪系统,进行激光雷达空间定位相关实验.实验结果表明:对于目标跟踪系统,针对于初始光点与目标点处于同一竖直目标成像面的情况,在测距范围为1~15 m的情况下,其水平定位误差不超过6.6 mm,垂直定位误差不超过7.8 mm,且垂直定位误差总是高于水平定位误差.该系统应用于激光雷达对空间中某点的定位,基本满足定位精度的要求.

To locate a certain point in space by l idar, a target point tracking system was designed and the angular position information of the target point was captured and fed back to the turntable to control it, ai-ming to adjust the laser position to point to the target point. To realize the design of the target tracking system, a series of programs were prepared, including a program for the camera to acquire the image co-ordinates of the target point, a program for obtaining the target point angular information, and a feedback control program for the turntable. Final ly, the target tracking system was established to carry out experi-ments related to l idar spatial location. Experimental results show that when the original point and the tar-get point were in the same vertical target imaging plane in the target tracking system within the range of 1 m to 15 m, the horizontal positioning error didnJ t exceed 6. 6 mm, the vertical positioning error was with-in 7. 8 mm, and the vertical positioning error was always higher than the horizontal positioning error. This system is applied to the positioning of a certain point in space by l idar, basically meeting the requirement of positioning accuracy.