一种三维激光扫描系统的设计及参数标定

蔡军; 赵原; 李宇豪; 解杨敏

doi:10.13700/j.bh.1001-5965.2018.0029

一种三维激光扫描系统的设计及参数标定

doi: 10.13700/j.bh.1001-5965.2018.0029

上海大学机电工程与自动化学院上海市智能制造及机器人重点实验室, 上海 200444

基金项目:

国家自然科学基金 61503234

详细信息

作者简介:
蔡军  男, 硕士研究生。主要研究方向:移动机器人三维环境建模和自主导航

赵原  男, 学士。主要研究方向:机械自动化设计

李宇豪  男, 学士。主要研究方向:移动机器人路径规划

解杨敏  女, 博士, 讲师, 硕士生导师。主要研究方向:移动机器人技术、控制理论及其应用

通讯作者:
解杨敏, E-mail:xieym@shu.edu.cn

中图分类号: TP242.3
计量
- 文章访问数: 914
- HTML全文浏览量: 124
- PDF下载量: 627
- 被引次数: 0
出版历程
- 收稿日期: 2018-01-12
- 录用日期: 2018-04-13
- 网络出版日期: 2018-10-20

A 3D laser scanning system design and parameter calibration

Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200444, China

Funds:

National Natural Science Foundation of China 61503234

More Information

Corresponding author: XIE Yangmin, E-mail:xieym@shu.edu.cn

摘要

摘要:
基于三维激光扫描系统的移动机器人动态环境地图构建技术是机器人智能感知技术的重要组成部分，而三维激光扫描系统的设计及标定技术对于地图构建的精度有决定性的影响。针对应用于小型移动机器人的三维激光扫描系统低成本、小型化的需求，设计了一套由高精度旋转云台和小型二维激光测距传感器组成的三维激光扫描系统，并提出了一种新的系统参数标定方法以提高三维扫描测量的准确度。该方法使用镂空圆孔标定板作为标定对象以完成对三维扫描特征自动准确获取，并根据非线性最小二乘法对三维激光扫描系统的参数进行优化计算。实验结果表明，所设计的三维激光扫描系统能够准确地测量周围环境的三维信息，实现了以低成本获得高质量环境建模的三维扫描数据技术。
- 移动机器人 /
- 二维激光测距传感器 /
- 三维激光扫描系统 /
- 标定板设计 /
- 参数标定
Abstract:
Dynamic environment map construction technology based on 3D laser scanning system has been served as one of the important intelligent perception technologies for mobile robots. The design and calibration of 3D laser scanning system place a decisive influence on the accuracy of the constructed environment model.For implementation on low cost and miniaturization of 3D laser scanning system for small mobile robots, a 3D laser scanning system composed of high precision rotating cloud platform and small 2D laser ranging sensor is designed, and a new system parameter calibration method is proposed to improve the accuracy of 3D scanning measurement. A hollow circular hole calibration plate was used as the calibration object to capture the 3D scanning features automatically and accurately. The parameters of the 3D laser scanning system were then optimized with a nonlinear least square algorithm. The experimental results demonstrate that the designed 3D laser scanning system can accurately capture the 3D information of the surrounding environment, which realizes the 3D scanning data technique for high-quality environment modeling with a relatively low cost.
- mobile robots /
- 2D laser ranging sensor /
- 3D laser scanning system /
- calibration plate design /
- parameter calibration

HTML全文

图 1 三维激光扫描系统机构设计原理图

Figure 1. Schematic diagram of 3D laser scanning system mechanism design

下载: 全尺寸图片幻灯片

图 2 系统坐标系

Figure 2. System's coordinate systems

下载: 全尺寸图片幻灯片

图 3 激光测距传感器坐标系

Figure 3. Coordinate system of laser ranging sensor

下载: 全尺寸图片幻灯片

图 4 标定实验系统

Figure 4. Calibration experimental system

下载: 全尺寸图片幻灯片

图 5 标定板示意图

Figure 5. Schematic of calibration plate

下载: 全尺寸图片幻灯片

图 6 标定过程原理图

Figure 6. Schematic diagram of calibration process

下载: 全尺寸图片幻灯片

图 7 三维激光扫描系统构成示意图

Figure 7. Structure diagram of 3D laser scanning system

下载: 全尺寸图片幻灯片

图 8 标定算法流程框图

Figure 8. Flowchart of calibration algorithm

下载: 全尺寸图片幻灯片

图 9 三维激光扫描系统标定现场

Figure 9. Scence of 3D laser scanning system calibration

下载: 全尺寸图片幻灯片

图 10 均值标准差柱状图

Figure 10. Histogram of mean and standard deviation

下载: 全尺寸图片幻灯片

图 11 实物扫描测试

Figure 11. Physical scanning test

下载: 全尺寸图片幻灯片

图 12 实物点云图

Figure 12. Contour of physical point

下载: 全尺寸图片幻灯片

表 1 圆孔中心点坐标值

Table 1. Coordinate value of circular hole center point

标记点	2.0m处圆孔中心坐标值/mm	标记点	2.2m处圆孔中心坐标值/mm
1	(208.90，2015.86，0)	7	(203.33，2225.31，0)
2	(451.83，2025.42，0)	8	(450.04，2230.17，0)
3	(93.47，2011.62，0)	9	(90.09，2214.50，0)
4	(340.23，2022.84，0)	10	(337.90，2220.12，0)
5	(208.96，2016.36，0)	11	(203.61，2225.30，0)
6	(452.58，2029.35，0)	12	(450.22，2229.64，0)

下载: 导出CSV

表 2 未知量初始值和上下边界值

Table 2. Initial value and upper and lower boundary value of unknown variables

标定参数	初始值	下界值	上界值
X/mm	208.90	168.90	248.90
Y/mm	2065.86	2025.86	2105.86
Z/mm	0	-5	5
α/(°)	0	-2	2
β/(°)	0	-2	2
γ/(°)	0	-2	2
T_X/mm	0	-5	5
T_Y/mm	50	45	55
T_Z/mm	0	-5	5

下载: 导出CSV

表 3 标定结果

Table 3. Calibration results

标定参数	数值
X/mm	212.35
Y/mm	2 055.97
Z/mm	-2.82
α/(°)	0.011
β(°)	-0.091
γ/(°)	0
T_X/mm	1.34
T_Y/mm	45.01
T_Z/mm	4.96

下载: 导出CSV

表 4 重投影误差

Table 4. Reprojection error

轴方向	X方向	Y方向	Z方向
平均重投影误差/pixel	0.42	0.48	0.87

下载: 导出CSV

表 5 三维激光扫描系统误差对比

Table 5. Comparison of 3D laser scanning system error

Laser型号	最大测距/m	测量距离/m	测量误差/mm	测量精度/‰
UST-10LX	10	2	6.80	3.40
SICK-LMS100^[12]	20	1	7.9	7.90
DLS-C15^[21]	150	2	8.1	4.05
SICK-LMS221^[22]	80	8.19	30	3.66

下载: 导出CSV

参考文献(22)

[1]	HUANG H, BRENNER C, SESTER M.A generative statistical approach to automatic 3D building roof reconstruction from laser scanning data[J]. ISPRS Journal of Photogrammetry and Remote Sensing, 2013, 79(5):29-43.
[2]	VANEGAS C A, ALIAGA D G, BENES B.Automatic extraction of Manhattan-World building masses from 3D laser range scans[J]. Transactions on Visualization and Computer Graphics, 2012, 18(10):1627-1637.
[3]	JR O C B, MIZUSHIMA A, ISHⅡ K, et al.Development of an autonomous navigation system using a two-dimensional laser scanner in an orchard application[J]. Biosystems Engineering, 2007, 96(2):139-149. doi: 10.1016/j.biosystemseng.2006.10.012
[4]	USAMENTIAGA R, MOLLEDA J, GARCIA D F.Fast and robust laser stripe extraction for 3D reconstruction in industrial environments[J]. Machine Vision and Applications, 2012, 23(1):179-196. doi: 10.1007/s00138-010-0288-6
[5]	王曾兰.基于二维激光雷达数据的三维重建研究[D].沈阳: 东北大学, 2013: 13-17. WANG Z L.Three dimensional reconstruction based on two dimensional laser radar data[D]. Shenyang: Northeastern University, 2013: 13-17(in Chinese).
[6]	WANG Y K, HUO J, WANG X S.A real-time robotic indoor 3D mapping system using duel 2D laser range finders[C]//The 33rd Chinese Control Conference.Nanjing: Shanghai System Science Press, 2014: 8542-8546.
[7]	海智渊.激光3D导航系统设计与研究[D].长春: 长春理工大学, 2014: 7-13. HAI Z Y.Design and research on 3D laser navigation system[D]. Changchun: Changchun University of Science and Technology, 2014: 7-13(in Chinese).
[8]	陈辉, 马世伟, NUECHTER A.基于激光扫描和SFM的非同步点云三维重构方法[J].仪器仪表学报, 2016, 17(5):1148-1157. CHEN H, MA S W, NUECHTER A.Non-synchronous point cloud algorithm for 3D reconstruction based on laser scanning and SFM[J]. Chinese Journal of Scientific Instrument, 2016, 17(5):1148-1157(in Chinese).
[9]	赵煦.基于地面激光扫描点云数据的三维重建方法研究[D].武汉: 武汉大学, 2010: 18-22. ZHAO X.Research on 3D reconstruction of point cloud from terrestrial laser scanning[D]. Wuhan: Wuhan University, 2010: 18-22(in Chinese).
[10]	曾齐红.机载激光雷达点云数据处理与建筑物三维重建[D].上海: 上海大学, 2009: 67-75. ZENG Q H.Airborne lidar point cloud data processing and 3D building reconstruction[D]. Shanghai: Shanghai University, 2009: 67-75(in Chinese).
[11]	SURMANN H, NUCHTER A, HERTZBERG J.An autonomous mobile robot with a 3D laser range finder for 3D exploration and digitalization of indoor environments[J]. Robotics and Autonomous Systems, 2003, 45(3-4):181-198. doi: 10.1016/j.robot.2003.09.004
[12]	CHOU Y S, LIU J S.A robotic indoor 3D mapping system using a 2D laser range finder mounted on a rotating four-bar linkage of a mobile platform[J]. International Journal of Advanced Robotic Systems, 2013, 10(1):1-10. doi: 10.5772/52938
[13]	项志宇.快速三维扫描激光雷达的设计及其系统标定[J].浙江大学学报(工学版), 2006, 40(12):2130-2133. doi: 10.3785/j.issn.1008-973X.2006.12.024 XIANG Z Y.Fast 3D scanning laser radar system design and calibration[J]. Journal of Zhejiang University(Engineering Science), 2006, 40(12):2130-2133(in Chinese). doi: 10.3785/j.issn.1008-973X.2006.12.024
[14]	曹双倩, 袁培江, 陈冬冬, 等.激光测距传感器光束矢向和零点位置标定方法[J].北京航空航天大学学报, 2018, 44(6):1321-1327. CAO S Q, YUAN P J, CHEN D D, et al.Calibration method for laser beam direction and zero point of laser displacement sensor[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(6):1321-1327(in Chinese).
[15]	范明争, 韩先国.基于标定及补偿提高串联机器人定位精度方法[J].北京航空航天大学学报, 2017, 43(1):176-183. FAN M Z, HAN X G.Precision improvement method for serial robot localization based on a new calibration and compensation strategy[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(1):176-183(in Chinese).
[16]	郭扬, 杜正春, 姚振强.大尺寸三维激光测量系统标定方法[J].上海交通大学学报, 2012, 46(2):223-227. GUO Y, DU Z C, YAO Z Q.Calibration of a large-scale 3D laser measurement system[J]. Journal of Shanghai Jiaotong University, 2012, 46(2):223-227(in Chinese).
[17]	付梦印, 李超, 王美玲, 等.基于机器人激光测距数据的三维扫描系统的设计与实现[J].仪器仪表学报, 2008, 29(4):434-438. FU M Y, LI C, WANG M L, et al. A 3D scanning system based on range data from mobile robot's laser scanner[J]. Chinese Journal of Scientific Instrument, 2008, 29(4):434-438(in Chinese).
[18]	ZHUANG Y, YAN F, HU H.Automatic extrinsic self-calibration for fusing data from monocular vision and 3-D laser scanner[J]. Transactions on Instrumentation and Measurement, 2014, 63(7):1874-1876. doi: 10.1109/TIM.2014.2307731
[19]	熊有伦.机器人技术基础[M].武汉:华中科技大学出版社, 2011:16-26. XIONG Y L.Robot technology foundation[M]. Wuhan:Huazhong University of Science and Technology Press, 2011:16-26(in Chinese).
[20]	RENFRO C.Encyclopedia of optimization[J]. Reference Reviews, 2009, 584(4):31-52.
[21]	刘钦, 刘桂华, 罗颖, 等.基于一维激光测距仪和云台的场景三维重建[J].工具技术, 2011, 45(11):76-79. doi: 10.3969/j.issn.1000-7008.2011.11.024 LIU Q, LIU G H, LUO Y, et al.Three-dimensional reconstruction scene algorithm based on one-dimensional laser ranger and pan-tilt[J]. Tool Engineering, 2011, 45(11):76-79(in Chinese). doi: 10.3969/j.issn.1000-7008.2011.11.024
[22]	李赣华.基于摄像机和二维激光测距仪的三维建模关键技术研究[D].长沙: 国防科学技术大学, 2006: 98-99. LI G H.Key technologies for 3D model construction using camera and 2D laser range finder[D]. Changsha: National University of Defense Technology, 2006: 98-99(in Chinese).