基于单目视觉和激光雷达的测距方法研究

Research on Ranging Method Based on Monocular Vision and LiDAR

在执行海上作战及训练任务时,利用无人艇上加装测距装置可以及时、准确地获取所需目标的距离信息,对战场态势感知具有重要意义。论文详细介绍了基于单目视觉和激光雷达两种测距方法的原理,并设计实验进行了验证与误差分析。结果表明,激光雷达测距精度更高,响应速度更快,但当目标在视场中占比较小时,激光雷达无法识别目标类别。在实际应用过程中,可将两种方法结合使用,通过单目视觉的方法对目标进行识别,再利用激光雷达进行辅助定位。

It is of great significance for battlefield situation awareness to obtain the range information of the target in time and accurately by using the distance measuring device on the unmanned surface vehicle when carrying out maritime combat and training tasks. The principles of two ranging methods based on monocular vision and lidar are introduced in detail,and experiments are designed for verification and error analysis. The results show that lidar has higher ranging accuracy and faster response speed,but it cannot identify the target category when the target occupies a small proportion in the field of view. In practical application,the two methods can be combined to identify the target by monocular vision,and then laser radar can be used to assist the location.