摘要
针对多感知融合定位系统,首先设计一种集成UWB基站和激光反射柱的复合标定器,通过测定主、从基站间的相对距离建立UWB定位坐标系;其次针对激光雷达定位系统,提出一种雷达定位坐标系粗-精标定方法,包括主/从雷达初始位姿偏移测定以及激光点云迭代最近点(Iterative Closest Point,ICP)配准;再次针对多感知融合定位系统,利用ICP配准算法计算复合标定器的激光点云与UWB点云间的坐标变换矩阵,完成多感知融合定位系统的坐标标定。标定实验结果验证了所提方法的精确性和有效性。
Firstly,a UWB-laser compound calibrator is designed for the multi-perception fusion-based positioning system.A UWB positioning coordinate frame is built by measuring the relative distance between master and slave stations.Then,a coarse-fine calibration method is proposed for a lidar positioning system,including the initial deviation measurement of a master and slave lidar,and the iterative closest point(ICP)registration of lidar point cloud.Thirdly,the ICP registration algorithm is used to calculate the coordinate transformation matrix between laser point cloud and UWB point cloud of compound calibrators for system calibration.
出处
《工业控制计算机》
2023年第6期91-93,共3页
Industrial Control Computer
基金
国家自然科学基金(61973154)
江苏省发改委立项计划(2020-320102-87-01-117228)
江苏省科技成果转化专项资金(BA2021005)
江苏高校“青蓝工程”优秀青年骨干教师项目(2022)。
关键词
坐标标定
多感知融合
点云配准
迭代最近点
coordinate calibration
multi-perception fusion
point cloud registration
iterative closest point
