无人地面平台多传感器联合外标定方法_骆云志.pdfVIP

2012-12 66   Ordnance Industry Automation 31(12) doi: 10.3969/j.issn.1006-1576.2012.12.018         621000 3D 3D CCD LM   LM   TJ02 B  Integration Extrinsic Calibration Algorithm of Unmanned Ground Platform Multi-Sensor Luo Yunzhi, Zhang Chunhua, Lyu Weiqiang, Zhou Jianping, Wang Qian, Zhao Yongbin, Li Jian, Li Jueying (Department of Military Products , No . 58 Institute of China Ordnance Industries, Mianyang 621000, China) Abstract: Aiming at the shortcoming of current sensor calibration algorithm, introduce the integration extrinsic calibration algorithm of unmanned ground platform multi-sensor based on 3D calibration item. Based on research of foreign and demotic intelligence mobile robot sensor calibration, establish the unmanned ground platform and multi-sensor coordinate system. Introduce the multi-sensor extrinsic calibration method and its steps based on 3D calibration item, extrinsic calibration of multi-layer laser range finder and CCD camera, homogeneous transformation among coordinate system, and L-M nonlinear optimum algorithm. Carry out validation and error analysis of calibration. The method is successfully used in middle-size unmanned ground platform project. The application results show that the method can correct the installation position error of each sensor, and ensure the consistency of calibrated sensor measurement accuracy and object (obstacle) in platform coordinates system. Key words: unmanned ground platform; multi-layer laser range finder extrinsic calibration; integration extrinsic calibration of multi-sen