基于激光雷达强度值的目标反射特征提取

童祎; 夏珉; 杨克成; 李微; 郭文平

doi:doi:10.3788/lop55.102802

激光与光电子学进展, 2018, 55 (10): 102802, 网络出版: 2018-10-14

基于激光雷达强度值的目标反射特征提取下载： 1768次

Target Reflection Feature Extraction Based on Lidar Intensity Value

论文大纲

童祎夏珉杨克成李微郭文平

作者单位

华中科技大学光学与电子信息学院, 湖北武汉 430074

遥感器激光雷达强度值反射特征目标分类 sensors lidar intensity value characteristics of reflectivity target classification

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摘要

激光雷达强度值能在一定程度上反映目标反射特性, 但由于受到距离、入射角、大气衰减效应等因素的影响, 并不能直接作为目标分类的重要特征。针对常用车载扫描激光雷达, 在对激光雷达强度值进行理论分析的基础上, 通过实验的方式固定了其他因素对强度值的影响, 建立了激光雷达强度值和表征目标反射特征参数间的关系模型。经过实验研究发现, 半椭圆模型形式的角度因子能更好地描述目标漫反射强度值随入射角的变化规律, 激光雷达强度值与接收功率间为线性转换规律; 在盲区范围外, 目标漫反射强度值随距离的变化遵循负指数规律。在实际应用中, 可以结合雷达运动来获得同一目标在不同相对位置处的强度值, 并将其代入模型中反演与目标反射特性相关的参数, 以实现对不同目标的区分。

Abstract

The lidar intensity value can reflect the target reflection characteristics to a certain degree, but it cannot be directly used as an important feature of target classification because of the influence of various factors, such as distance, incident angle, and atmospheric attenuation effect. For the lidar commonly used in vehicle, based on theoretical analysis of the lindar intensity value, the influence of other factors on the intensity values is fixed by the experimental method, and the relationship between the lidar intensity value and the parameters of the target reflection characteristics is established. The experimental results show that the angle factor of semi-elliptical model can better describe the variation of the target diffuse intensity value with the incident angle. And the lidar intensity value linearly transforms with the received power. Outside the blind area, the variation of target diffuse reflection value with distance follows the negative index law. In practical applications, we combine lidar motion to obtain intensity values of the same target at different relative positions. We can use the obtained intensity values to substitute into the model, invert the parameters related to the target reflection characteristics, and realize the differentiation of different targets.

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童祎, 夏珉, 杨克成, 李微, 郭文平. 基于激光雷达强度值的目标反射特征提取[J]. 激光与光电子学进展, 2018, 55(10): 102802. Tong Yi, Xia Min, Yang Kecheng, Li Wei, Guo Wenping. Target Reflection Feature Extraction Based on Lidar Intensity Value[J]. Laser & Optoelectronics Progress, 2018, 55(10): 102802.

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