[1]张程,王建华,郑翔,等.基于多线激光雷达的圆柱面检测[J].探测与控制学报,2020,42(03):82.[doi:.]
 ZHANG Cheng,WANG Jianhua,ZHENG Xiang,et al.Cylindrical Surface Detection Based on Multi-line LIDAR[J].,2020,42(03):82.[doi:.]
点击复制

基于多线激光雷达的圆柱面检测()
分享到:

《探测与控制学报》[ISSN:1008-1194/CN:61-1316/TJ]

卷:
42
期数:
2020年03
页码:
82
栏目:
出版日期:
2020-06-15

文章信息/Info

Title:
Cylindrical Surface Detection Based on Multi-line LIDAR
文章编号:
1008-1194(2020)03-0082-10
作者:
张程王建华郑翔赵明绘张山甲
上海海事大学航运技术与控制工程交通运输行业重点实验室,上海 201306
Author(s):
ZHANG Cheng WANG Jianhua ZHENG XiangZHAO Minghui ZHANG Shanjia
Key Laboratory of Transportation Technology and Control Engineering Transportation Industry,Shanghai Maritime University, Shanghai 201306, China
关键词:
激光雷达圆柱面检测椭圆拟合场景理解
Keywords:
LiDAR cylindrical detection ellipse-fitting scene understanding
分类号:
TP391
DOI:
.
文献标志码:
A
摘要:
针对在水面场景中使用多线激光雷达检测圆柱面时,出现点云稀疏、局部特征不明显的问题,提出了基于多线激光雷达的圆柱面检测方法。该方法通过利用多线激光雷达扫描圆柱面时形成的对称椭圆弧点阵特征,建立不等式提取属于圆柱面的点云,并且利用改进的椭圆拟合方法对经过拟合预处理的圆柱面点阵断面坐标进行二维平面椭圆拟合,然后利用拟合结果计算出圆柱面的参数。仿真与实验验证结果表明,对于在需要使用多线激光雷达检测圆柱面的场景中,该方法具有有效性与正确性。
Abstract:
Aiming at the problem of sparse point clouds and inapparent local features, the multi-line LiDAR was used to detect cylindrical surface in the water surface scenes, a detection method for cylindrical surface was proposed. In this method, the feature with a symmetrical elliptical on the cylindrical surface formed by the single-line laser beam was used to establish the inequality equation to detect the lattice on the cylindrical surface; and the two-dimensional plane ellipse was fitted on the lattice cross-section coordinated belonging to the cylindrical surface after fitting preprocessing by the improved ellipse fitting method; then the parameters of the cylindrical surface were calculated using the fitting results. The simulation and experimental results showed that the method was effective and correct for scenes where multi-line LiDAR was required to detect cylindrical surfaces.

参考文献/References:

[1] Tran T T, Cao V T, Laurendeau D. Extraction of cylinders and estimation of their parameters from point clouds[J]. Computers & Graphics, 2015, 46:345-357.
[2] Attene M, Giuseppe Patanè. Hierarchicalstructure recovery of point-sampled surfaces[J]. Computer Graphics Forum, 2010, 29(6):1905-1920.
[3] Nurunnabi A A M, Sadahiro Y, Lindenbergh R C. Robust cylinder fitting in three-dimensional point cloud data[J]. ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 2017, XLII-1/W1:63-70.
[4] Schnabel R, Wahl R, Klein R. Efficient RANSAC for point-cloud shape detection[J]. Computer Graphics Forum, 2007, 26(2):214-226.
[5] Liu Y J, Zhang J B, Hou J C, et al. Cylinder detection in large-scale point cloud of pipeline plant[J]. IEEE Transactions on Visualization and Computer Graphics, 2013, 19(10):1700-1707.
[6] Rabbani T, Heuvel F V D. Efficient hough transform for automatic detection of cylinders in point clouds[J]. Iaprs Xxxvi/w, 2005:60--65.
[7] Figueiredo R, Dehban A, Bernardino A, et al. Shape basedattention for identification and localization of cylindrical objects[C]//2017 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob). US: IEEE, Lisbon, Portugal, 2017.
[8] Figueiredo R, Moreno P, Bernardino A . Robust cylinder detection and pose estimation using 3D point cloud information[C]//IEEE International Conference on Autonomous Robot Systems & Competitions. US: IEEE, Coimbra, Portugal 2017.
[9] Drost B, Ilic S. Localhough transform for 3d primitive detection[C]//International Conference on 3d Vision. US: IEEE, 2015:398-406.
[10] 余必秀. 基于多传感器的内河无人测量船航行环境感知系统研究[D].武汉:武汉理工大学,2018.
[11] 黄如林, 梁华为, 陈佳佳,等. 基于激光雷达的无人驾驶汽车动态障碍物检测、跟踪与识别方法[J]. 机器人, 2016, 38(4):437-443.
[12] 郑正扬. 基于三维激光雷达的智能汽车障碍物检测与跟踪[D].镇江:江苏大学,2018.
[13] 李鑫慧, 郭蓬, 臧晨,等. 激光雷达技术研究现状及其应用[J]. 汽车电器, 2019, 369(5):11-13.
[14] Liu F, Xu G, Liang L, et al. Minimum circumscribed circle and maximum inscribed circle of roundness deviation evaluation with intersecting chord method[J]. IEEE Transactions on Instrumentation and Measurement, 2016, 65(12):2787-2796.
[15] WANG Jinliang, CHEN Lianjun. Reviewon filtering algorithm for lidar points cloud data[J]. Remote Sensing Technology and Application, 2010.
[16] Fitzgibbon A, Pilu M, Fisher R B. Direct least square fitting of ellipses[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 1999, 21(5):476-480.
[17] 秦世伟, 潘国荣, 谷川,等. 基于遗传算法的三维空间柱面拟合[J]. 同济大学学报(自然科学版), 2010, 38(4):604-607.
[18] 郝雪,刘京亮,晁艺.稀疏点测量航空导管的圆柱拟合算法研究[J/OL].机械科学与技术,2019(8):1276-1281[2018-03-06]. https://doi.org/10.13433/j.cnki.1003-8728.20180306.

相似文献/References:

[1]邹子强,刘星,张雪峰.弹载线阵扫描激光雷达的目标识别算法[J].探测与控制学报,2019,41(01):43.[doi:.]
 ZOU Ziqiang,LIU Xing,ZHANG Xuefeng.Target Recognition Algorithm of Linear Array Scanning Laser Radar [J].,2019,41(03):43.[doi:.]

备注/Memo

备注/Memo:
收稿日期:2019-11-21
基金项目:国家自然科学基金项目资助(61771223)
作者简介:张程(1994—),男,江苏扬州人,硕士研究生,研究方向:无人船,视觉与激光雷达融合。E-mail:201730510030@stu.shmtu.edu.cn。
更新日期/Last Update: 2020-07-15