摘要
探讨了作为月球车感知部分的激光测距仪的外部参数校准问题 ,提出了一种借助于摄像机对激光测距仪进行校准的方法。本文描述了整个校准过程 ,列举了相关的计算公式 ,介绍了所采用的视觉处理技术 ,并通过试验和计算机仿真 。
The calibration of the exterior parameters of laser range finder which is a kind of the sensors on lunar rover, is discussed primarily, and a calibration method with the aid of color camera is presented. The entire calibration process and the related vision technologies are introduced, meanwhile the calculation formulas for transform matrix are presented and the validity of the calibration method introduced is shown by the results of the simulation and experiment.
出处
《航空制造技术》
北大核心
2004年第5期90-93,共4页
Aeronautical Manufacturing Technology
