中国激光, 2020, 47 (8): 0810001, 网络出版: 2020-08-17   

基于激光雷达回波强度的人工路标中心提取方法 下载: 1244次

Extraction Method of Artificial Landmark Center Based on Lidar Echo Intensity
祖爽 1胡攀攀 1,2,*潘奇 1
作者单位
1 北京万集科技股份有限公司, 北京 100193
2 武汉万集信息技术有限公司, 湖北 武汉 430074
引用该论文

祖爽, 胡攀攀, 潘奇. 基于激光雷达回波强度的人工路标中心提取方法[J]. 中国激光, 2020, 47(8): 0810001.

Zu Shuang, Hu Panpan, Pan Qi. Extraction Method of Artificial Landmark Center Based on Lidar Echo Intensity[J]. Chinese Journal of Lasers, 2020, 47(8): 0810001.

参考文献

[1] 胡少兴, 陈春朋, 张爱武. 同步定位及地图创建算法在车载移动测绘系统中的应用[J]. 中国激光, 2012, 39(11): 1108012.

    Hu S X, Chen C P, Zhang A W. Application of SLAM in vehicle-borne mobile mapping system[J]. Chinese Journal of Lasers, 2012, 39(11): 1108012.

[2] 陈晓冬, 张佳琛, 庞伟凇, 等. 智能驾驶车载激光雷达关键技术与应用算法[J]. 光电工程, 2019, 46(7): 190182.

    Chen X D, Zhang J C, Pang W S, et al. Key technology and application algorithm of intelligent driving vehicle LiDAR[J]. Opto-Electronic Engineering, 2019, 46(7): 190182.

[3] 王任栋, 李华, 赵凯, 等. 基于核密度估计的城市动态密集场景激光雷达定位[J]. 光学学报, 2019, 39(5): 0528003.

    Wang R D, Li H, Zhao K, et al. Robust localization based on kernel density estimation in dynamic diverse City scenes using lidar[J]. Acta Optica Sinica, 2019, 39(5): 0528003.

[4] 张天喜, 周军, 廖华丽, 等. 基于三维激光的图优化即时定位与建图策略[J]. 激光与光电子学进展, 2019, 56(20): 201502.

    Zhang T X, Zhou J, Liao H L, et al. Simultaneous localization and mapping strategy of graph optimization based on three-dimensional laser[J]. Laser & Optoelectronics Progress, 2019, 56(20): 201502.

[5] 陈健武, 全思博, 全燕鸣, 等. 双二维激光雷达相对位姿的标定方法[J]. 中国激光, 2017, 44(10): 1004005.

    Chen J W, Quan S B, Quan Y M, et al. Calibration method of relative position and pose between dual two-dimensional laser radar[J]. Chinese Journal of Lasers, 2017, 44(10): 1004005.

[6] 韦邦国, 宋韬, 郭帅. 遗传算法在双激光雷达位姿标定中的应用[J]. 计量与测试技术, 2019, 46(3): 91-95.

    Wei B G, Song T, Guo S. Application of genetic algorithms in position and pose calibration of dual LIDAR[J]. Metrology & Measurement Technique, 2019, 46(3): 91-95.

[7] 吴昱晗, 王蕴宝, 薛庆全, 等. 一种基于点云匹配的激光雷达/IMU联合标定方法[J]. 电子技术应用, 2019, 45(12): 78-82.

    Wu Y H, Wang Y B, Xue Q Q, et al. A LiDAR/IMU joint calibration method based on point cloud matching[J]. Application of Electronic Technique, 2019, 45(12): 78-82.

[8] 叶子蔚, 叶会英, 聂翔宇, 等. 基于接收信号强度检测的高精度可见光定位方法[J]. 中国激光, 2018, 45(3): 0306002.

    Ye Z W, Ye H Y, Nie X Y, et al. High-accuracy visible light positioning method based on received signal strength indicator[J]. Chinese Journal of Lasers, 2018, 45(3): 0306002.

[9] Hu H S, Gu D B. Landmark-based navigation of industrial mobile robots[J]. Industrial Robot: an International Journal, 2000, 27(6): 458-467.

[10] SeongJ, KimJ, ChungW. Mobile robot localization using indistinguishable artificial landmarks[C]∥2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), October 30- November 2, 2013, Jeju, South Korea.New York: IEEE Press, 2013: 222- 224.

[11] RonzoniD, OlmiR, SecchiC, et al.AGV global localization using indistinguishable artificial landmarks[C]∥2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai, China.New York: IEEE Press, 2011: 287- 292.

[12] Betke M, Gurvits L. Mobile robot localization using landmarks[J]. IEEE Transactions on Robotics and Automation, 1997, 13(2): 251-263.

[13] 曲丽萍, 王宏健, 边信黔. 基于距离聚类的圆柱类实体路标特征提取算法[J]. 探测与控制学报, 2013, 35(1): 43-49.

    Qu L P, Wang H J, Bian X Q. Feature extraction of circular landmark based numerical inference and geometric analysis[J]. Journal of Detection & Control, 2013, 35(1): 43-49.

[14] Huang XQ, SasakiT, HashimotoH, et al.Circle detection and fitting based positioning system using laser range finder[C]∥2010 IEEE/SICE International Symposium on System Integration, December 21-22, 2010, Sendai, Japan.New York: IEEE Press, 2010: 442- 447.

[15] 钱钧, 杨汝清, 王晨, 等. 基于路标的智能车辆定位[J]. 上海交通大学学报, 2007, 41(6): 894-898.

    Qian J N, Yang R, Wang C N, et al. Landmark based localization of intelligent vehicle[J]. Journal of Shanghai Jiao Tong University, 2007, 41(6): 894-898.

[16] 肖杨, 胡少兴, 肖深, 等. 从三维激光点云中快速统计树木信息的方法[J]. 中国激光, 2018, 45(5): 0510007.

    Xiao Y, Hu S X, Xiao S, et al. A fast statistical method of tree information from 3D laser point clouds[J]. Chinese Journal of Lasers, 2018, 45(5): 0510007.

[17] 黄昉菀, 戴礼豪, 陈国龙, 等. 基于激光数据特征提取的一般环境下实时定位方法[J]. 软件, 2012, 33(5): 9-11, 14.

    Huang F W, Dai L H, Chen G L, et al. Real-time positioning methods based on the characteristics of the laser data to extract the general environment[J]. Computer Engineering & Software, 2012, 33(5): 9-11, 14.

[18] 石飞. 托卡马克部件转运车的定位与导航方法研究[D]. 上海: 上海交通大学, 2014.

    ShiF. Research of positioning and navigation of the tokamak transfer cask[D]. Shanghai: Shanghai Jiaotong University, 2014.

[19] 张旭, 王智, 崔粲, 等. 二维激光雷达定位建图系统设计与实现[J]. 光学技术, 2019, 45(5): 596-600.

    Zhang X, Wang Z, Cui C, et al. Design andimplementation of 2D lidar positioning and mapping system[J]. Optical Technique, 2019, 45(5): 596-600.

[20] YoshitakaH, HirohikoK, AkihisaO, et al.Mapbuilding for mobile robots using a SOKUIKI sensor-robust scan matching using laser reflection intensity[C]∥2006 SICE-ICASE International Joint Conference, October 18-21, 2006, Busan, South Korea.New York: IEEE Press, 2006: 5951- 5956.

祖爽, 胡攀攀, 潘奇. 基于激光雷达回波强度的人工路标中心提取方法[J]. 中国激光, 2020, 47(8): 0810001. Zu Shuang, Hu Panpan, Pan Qi. Extraction Method of Artificial Landmark Center Based on Lidar Echo Intensity[J]. Chinese Journal of Lasers, 2020, 47(8): 0810001.

本文已被 9 篇论文引用
被引统计数据来源于中国光学期刊网
引用该论文: TXT   |   EndNote

相关论文

加载中...

关于本站 Cookie 的使用提示

中国光学期刊网使用基于 cookie 的技术来更好地为您提供各项服务,点击此处了解我们的隐私策略。 如您需继续使用本网站,请您授权我们使用本地 cookie 来保存部分信息。
全站搜索
您最值得信赖的光电行业旗舰网络服务平台!