基于激光雷达回波强度的人工路标中心提取方法

Extraction Method of Artificial Landmark Center Based on Lidar Echo Intensity

针对基于人工路标的二维激光雷达导航定位应用,提出一种基于激光雷达回波强度的自适应圆柱形人工路标中心提取方法。分析了不同应用环境对路标中心提取的影响,包括不同的漫反射背景面、激光雷达与背景面的入射角以及镜面反射面。搭建不同应用场景的物理实验平台,采集原始激光雷达扫描数据,给出三种中心识别算法的识别结果,并对比分析了实验结果。最终实验结果表明,本文提出的算法在各种应用场景下均可以稳定、准确地识别人工路标中心点,具有较高的鲁棒性以及较高的实用性。

An adaptive,dynamic method based on the navigation and location applications of 2D lidar was proposed for extracting the center of cylindrical artificial landmarks(reflector marks)using laser echo intensity.The influence of different application scenes on the accuracy of extraction of the landmark center was analyzed.The proposed method was tested using different diffuse reflectivity background plates,incidence angles between the lidar and background plates,and specular reflection background plates.The recognition results for three algorithms were acquired using an experimental platform for different application scenarios.We then compared and analyzed the experimental results,which reveal that the modified algorithm can reliably and accurately extract the centers of the artificial landmarks in various application scenarios and that it is highly robust and practical.