China Mechanical Engineering

Previous Articles     Next Articles

Fitting Method of Reflector Positions Based on Lidar Echo Intensity

FANG Dehao1;XU Wan1;CHEN Youping2;YU Leitao1;ZHU Li1   

  1. 1. School of Mechanical Engineering, Hubei University of Technology, Wuhan, 430212
    2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074
  • Online:2021-01-25 Published:2021-02-01

基于激光雷达回波强度的反光板位置拟合方法

方德浩1;许万1;陈幼平2;余磊涛1;朱力1   

  1. 1. 湖北工业大学机械工程学院,武汉,430212
    2. 华中科技大学机械科学与工程学院,武汉,430074
  • 基金资助:
    国家自然科学基金(61976083);
    湖北省技术创新专项(2019AEE014)

Abstract: Aiming at problems of low fitting accuracy and poor data fault tolerance in existing fitting algorithms of lidar positioning systems, a reflector position fitting method was designed based on echo intensity. Firstly, the original scanning data was filtered,and the filtered data were segmented by echo intensity segmentation method and point distance-based segmentation. After segmenting, the data was fitted into a circle center, as a reflector actual position. Finally, a stacking forklift equipped with lidar R2000 was used for experiments. Experimental results show that the proposed method has high fitting accuracy and effectively improves data fault tolerance.

Key words: automated guided vehicle(AGV), lidar, echo intensity, reflector , position fitting

摘要: 针对目前激光雷达定位系统中的拟合算法存在拟合精度较低、数据容错能力较差等问题,设计了一种基于回波强度的反光板位置拟合方法。首先对原始扫描数据进行滤波,并结合回波强度分割法与基于点距离的分割法进行数据分割,对分割后数据结合回波强度进行反光板圆心拟合,以得到反光板实际位置。最后使用堆垛式叉车搭载激光雷达R2000进行实验,实验结果表明所提方法具有较高的拟合精度,并有效提高了数据容错能力。

关键词: 自动导引车, 激光雷达, 回波强度, 反光板, 位置拟合

CLC Number: