摘要
根据相位法测距原理，论述了用激光雷达获取三维视觉信息的技术，对主要部件进行了讨论，研制成功适合于地面智能机器人导航的激光雷达三维成像系统，其视场范围为６０°×３０°，测距范围为 ３０ｍ ，距离图像空间分辨率为１４′×１４′，测距精度在３～３０ ｍ 范围内优于８ ｃｍ ．
By using the principles of phase ranging to analyze the techniques of geting 3D visual information by laser radar,the 3D image laser radar system is developed,whice is suitable for the visual guiding of land intelligent robot,the field of view is 60°×30°,the ranging distance is 30m,the spatial resolution of range image is 14′×14′,the ranging accuracy is 8cm between 3～30 m.
基金
国家自然科学基金
关键词
激光雷达
机器人视觉
相位测距
三维成像系统
laser radar
machine vision
laser phase ranging
laser 3D image sensor
