CN105511468B - A kind of double reflection method of discrimination of light beam of laser radar and line-structured light vision system - Google Patents
A kind of double reflection method of discrimination of light beam of laser radar and line-structured light vision system Download PDFInfo
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- CN105511468B CN105511468B CN201510939869.7A CN201510939869A CN105511468B CN 105511468 B CN105511468 B CN 105511468B CN 201510939869 A CN201510939869 A CN 201510939869A CN 105511468 B CN105511468 B CN 105511468B
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- 238000001028 reflection method Methods 0.000 title claims abstract description 6
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- 238000012512 characterization method Methods 0.000 claims description 3
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The present invention relates to the double reflection method of discrimination of light beam of a kind of laser radar and line-structured light vision system, belong to robot or unmanned vehicle technology field.The present invention merges laser radar with cable architecture vision system information, laser radar disorder characteristics amount at same position is compared and confirmed with the disorder characteristics amount in line-structured light system, when laser radar reflection double with line-structured light vision system at least one generation light beam, and reflective distance farther out when, realize effective differentiation to the double reflection of the two light beam using contradiction and the conflict of the two information.
Description
Technical field
The present invention relates to robot or unmanned vehicle technology fields, and in particular to a kind of laser radar and line-structured light vision system
The double reflection method of discrimination of light beam of system.
Background technology
Laser radar is as a kind of initiative range measurement sensor, because its resolution capability is strong, range accuracy is high, real-time performance is preferable
The advantages that be widely used in robot and unmanned vehicle detection of obstacles；Line-structured light vision system actively can due to having
Control can obtain object dimensional information, calculate advantage simple, that real-time is good, be also increasingly used for robot or unmanned vehicle or
In detection of obstacles.In complicated ground environment, double reflection may all occur for the light beam of laser radar and line-structured light system
Phenomenon, at this time laser radar line-structured light system will obtain error message, the obstacle information calculated by the wrong data
The generation of false-alarm and erroneous judgement will likely be directly resulted in.Therefore, the double reflection of light beam of laser radar and line-structured light vision system
Whether can effectively differentiate will directly affect the accuracy and validity of detection of obstacles.
Currently, the limitation of examined principle, only leans on laser radar and cable architecture vision system itself, cannot carry out double anti-
The accurate and effective penetrated differentiates；And the two be difficult to by with common millimetre-wave radar, monocular vision, double camera shootings in detection of obstacles
The information fusion of the sensors such as the stereoscopic vision of machine composition or system is effectively differentiated.Currently, researcher goes back both at home and abroad
A kind of effective method is not proposed to differentiate to the double reflex of laser radar and line-structured light vision system.Cause
This, how to design the double reflection method of discrimination of light beam of a kind of effective laser radar and line-structured light vision system is to need to solve
Certainly the technical issues of.
Invention content
The purpose of the present invention is design a kind of double reflection differentiation side of light beam of laser radar and line-structured light vision system
Method, realization effectively differentiate the double reflex of laser radar and line-structured light vision system light beam.
Technical solution
In order to solve the above technical problems, the present invention provides the light beams two of a kind of laser radar and line-structured light vision system
Method of discrimination is reflected again comprising following steps：
Step 1 establishes coordinate system
OW-XWYWZWFor world coordinate system, OWFor coordinate origin, XWIt is directed toward the direction that robot or unmanned vehicle advance, YWIt hangs down
Directly in XW, ZWPerpendicular to OW-XWYWPlane points up；OLFor laser radar, O 'LSwash for the line in line-structured light vision system
Light projecting apparatus, OcFor the video camera in line-structured light vision system, it is assumed that when the double reflection of light beam not occurring, laser radar with
Line-structured light should be swept at the A of position；
Step 2, obtains that light beam is practical strafes location information
Since the scan position both in reality can not possibly be completely superposed, if its be swept to respectively at the A of position near position
A1And A2Place, laser radar obtain A1The correspondence radar class at placeLine-structured light vision system obtains A2The correspondence cable architecture at place
Light stripe centric line line segmentAs the correspondence radar class at the A of positionWith cable architecture striation centerline segment
Step 3：Double reflection differentiates
By radar classWith cable architecture striation centerline segmentDisorder characteristics amount compared and confirmed, when swash
Optical radar and line-structured light vision system at least one the double reflection of generation light beam when, and reflective distance farther out when, the two it
Between information will conflict, the double reflection of the two light beam is effectively differentiated according to this contradictory information.
Then whenWithWhen the information of target to be observed meets formula (1)~(3) three formula simultaneously at middle characterization A, system
Differentiate that laser radar has occurred the two of light beam with line-structured light vision system at least one and re-emissions, i.e.,：
Wherein, XTFor default laser radar and cable architecture vision system the difference along car body direction of travel threshold
Value；HTFor the threshold value of both defaults difference in height.
Useful achievement
This method is merged by laser radar with the information of line-structured light vision system, can be to the double anti-of the two light beam
Row is injected effectively to differentiate.
Description of the drawings
Fig. 1 is the double reflection schematic diagram of light beam of laser radar and line-structured light vision system.
Specific implementation mode
The present invention will now be described in detail with reference to the accompanying drawings and examples.
As shown in Figure 1, OW-XWYWZWFor world coordinate system, OWFor coordinate origin, XWWhat direction robot or unmanned vehicle advanced
Direction, YWPerpendicular to XW, ZWPerpendicular to OW-XWYWPlane points up.OLFor laser radar, O 'LFor line-structured light vision system
In line laser grenade instrumentation, OcFor the video camera in line-structured light vision system, it is assumed that when the double reflection of light beam not occurring, swash
Optical radar should be swept to line-structured light at the A of position, since the scan position both in reality can not possibly be completely superposed, if it is distinguished
Position A near being swept at the A of position1And A2Place, laser radar obtain A1The correspondence radar class at placeLine-structured light vision system
System obtains A2The correspondence cable architecture striation centerline segment at placeAs the correspondence radar class at the A of positionAnd line
Structure striation centerline segment
If laser radar light beam is in A at this time1Place has occurred double reflection and has been swept to B1At position.For using the flight time
For the laser radar of poor principle, if light beam is from launch point OLTo position A1Flight time be t1；From position A1To position B1's
Flight time is t2；From position B1It is back to position OLFlight time be t3.Since the sum of triangle both sides are more than third side,
That is A1B1+B1OL＞ OLA1,OLA1+A1B1＞ B1OLIt is found that 2t1＜ t1+t2+t32 (t of ＜1+t2).Wherein, 2t1It is swept for laser radar
To position A1Turnaround time, 2 (t1+t2) it is that laser radar is swept to position B1Turnaround time therefore swash at this time
Optical radar will be considered that it has been swept at the C of position by calculating, that is, obtains the radar data of mistake, especially work as A1When C is larger, thunder
Up to would consider that the recessed barrier of front appearance, the false-alarm in detection of obstacles is caused to occur.
If line-structured light is in A2Also double reflection has occurred at position and is swept to B at position2.According to line-structured light visual theory,
It will be considered to itself and is swept at E, work as A2When E is larger, line-structured light vision subsystem would consider that there is convex barrier in front, cause
False-alarm in detection of obstacles occurs.
The above process shows when at least one generation light beam is double anti-at certain position with laser radar and line-structured light
Penetrate, and reflective distance farther out when, the two information will conflict.Therefore, laser radar can be carried out according to this contradictory information
Differentiate with the double reflection of the light beam of line-structured light vision system.
Wherein, XTFor default laser radar and cable architecture vision system the difference along car body direction of travel threshold
Value, can be overlapped with cable architecture vision system according to laser radar precision, car body travel speed and scan frequency of adjustment etc. because
Usually formulate；HTFor the threshold value of both defaults difference in height, if the installation of laser radar and cable architecture vision system
Height is h, and laser radar is d in the scanning distance along car body direction of travel with cable architecture vision system, it assumes that ground is absolute
Level can estimate HTFor HT≈XT×arctan-1(h/d), arctan-1(h/d) be the angles α estimated in figure minimum value.
In above-mentioned three formula, formula (1) shows the information that laser radar is obtained with cable architecture vision system at same position
There are larger differences along car body direction of travel；Formula (2) shows laser radar with cable architecture vision system at same position
There is contradiction and conflict in the target of acquisition, one is thought that the position is protrusion ground, and one thinks that the position is recessed in height
Ground；Formula (3) further demonstrates that the two, and there are larger differences in the target obtained at same position in height information.
Therefore, in conclusion system can pass through the disorder characteristics amount of corresponding radar data class and light stripe centric line line segment
Comparison and confirmation wrong radar data that part is generated by light beam multipath reflection and structure striation information differentiate.When being
System judgement laser radar and line-structured light vision subsystem are when light beam multipath reflection occurs at least one at certain position, system
It will abandon handling information at the position.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (2)
1. the double reflection method of discrimination of light beam of a kind of laser radar and line-structured light vision system, which is characterized in that including with
Lower step：
Step 1 establishes coordinate system
OW-XWYWZWFor world coordinate system, OWFor coordinate origin, XWIt is directed toward the direction that robot or unmanned vehicle advance, YWPerpendicular to
XW, ZWPerpendicular to OW-XWYWPlane points up；OLFor laser radar, O 'LIt is thrown for the line laser in line-structured light vision system
Injection device, OcFor the video camera in line-structured light vision system, it is assumed that when the double reflection of light beam not occurring, laser radar and knot
Structure light should be swept at the A of position；
Step 2, obtains that light beam is practical strafes location information
Since the scan position both in reality can not possibly be completely superposed, if its be swept to respectively at the A of position near position A1And A2
Place, laser radar obtain A1The correspondence radar class at placeLine-structured light vision system obtains A2The correspondence cable architecture striation at place
Centerline segmentAs the correspondence radar class at the A of positionWith cable architecture striation centerline segment
Step 3：Double reflection differentiates
By radar classWith cable architecture striation centerline segmentDisorder characteristics amount compared and confirmed, when laser thunder
Up to when the double reflection of light beam occurs with line-structured light vision system at least one, and reflective distance farther out when, believe between the two
Breath will conflict, and effectively be differentiated to the double reflection of the two light beam according to this contradictory information.
2. the method as described in claim 1, which is characterized in that the differentiation process of the step 3 is：If the A for characterization
Locate the radar data class of target to be observedWith corresponding light stripe centric line line segmentDisorder characteristics amount be respectivelyWithWherein,WithRespectively with forWithIn in all data points x coordinate arithmetic mean of instantaneous value, characterize at A target to be identified along the average bit of car body travel direction
It sets；[yA1,yAn] and [yA1′,yAn'] be respectivelyWithThe y-coordinate value of middle Origin And Destination characterizes mesh to be identified at A
It is marked on interval range residing in the y-direction in vehicle running region；WithRespectivelyWithIn z in all data points
The arithmetic mean of instantaneous value of coordinate characterizes target average height information to be identified at A；
Then whenWithWhen the information of target to be observed meets formula (1)~(3) three formula simultaneously at middle characterization A, system, which differentiates, to swash
The double reflection of light beam has occurred with line-structured light vision system at least one for optical radar, i.e.,：
Or
Wherein, XTFor default laser radar and cable architecture vision system the difference along car body direction of travel threshold value；HTFor
The threshold value of both defaults difference in height.
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| CN101526619B (en) * | 2009-04-02 | 2011-07-13 | 哈尔滨工业大学 | Synchronous range/velocity measurement system based on non-scanning laser radar and CCD camera |
| CN101882313B (en) * | 2010-07-14 | 2011-12-21 | 中国人民解放军国防科学技术大学 | Calibration method of correlation between single line laser radar and CCD (Charge Coupled Device) camera |
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