激光雷达视场范围高精度测量方法

High-precision measurement method of LiDAR field of view

针对激光雷达(light detection and ranging, LiDAR)视场范围测量方法复杂,且测量误差大的问题,提出了基于数字图像处理的激光雷达视场范围无接触高精度测量方法。定义激光雷达视场范围测量参数,设计单位像素距离标定靶标。针对激光雷达扫描图像,使用高斯滤波和最大类间方差阈值分割法,进行噪声去除及目标分割;利用基于最大连通域面积的方法,进行目标轮廓提取;利用凸包算法和多边形逼近算法相结合的方法,实现目标边缘直线拟合;通过顶点识别算法和相机视场范围测量原理,得到激光雷达高精度视场范围。实验结果表明,该方法大幅度提高了测量效率,实现了激光雷达不规则多边形扫描视场任意方向无接触高精度测量,且测量误差在合理范围内。

To deal with the complexity and big measurement error of LiDAR field of view measurement method,a contactless and high-precision measurement method of LiDAR field of view based on digital image processing was proposed.The measurement parameters of LiDAR field of view were defined,and a unit pixel distance calibration target was designed.For LiDAR scanned images,Gaussian filtering and maximum inter-class variance threshold were used for noise removal and target segmentation.The method based on the maximum connected domain area was used to extract the target contour.The convex packet algorithm and polygon approximation algorithm were combined to achieve straight line fitting of the target edges.The vertex recognition algorithm and the camera field of view measurement principle were used to obtain the LiDAR high-precision field of view.The experimental results show that the method significantly improves the measurement efficiency and achieves contact-free and high-precision measurement in any direction of the irregular polygon scanning field of view of LiDAR,and the measurement error is within a reasonable range.