Chinese Journal of Lasers, Volume. 47, Issue 8, 810001(2020)
Extraction Method of Artificial Landmark Center Based on Lidar Echo Intensity
Figures & Tables(11)
Fig. 2. Experiment platform and experiment scene. (a) Different background plate experiment scenes; (b) experimental scene of algorithm accuracy verification
Fig. 3. Recognition results of landmark center at 0.5 m. (a) Hough algorithm; (b) threshold cutting algorithm; (c) modified algorithm
Fig. 4. Difference of three algorithms' recognition results under different distances
Fig. 5. Laser scanning data and the recognition results of landmark center at large incidence angle. (a) Laser scanning data; (b) recognition result of landmark center
Fig. 6. Difference of three algorithms' recognition results under different incidence angles
Fig. 7. Laser scanning data and the recognition results of landmark center with glass as the background. (a)(c) Laser scanning data; (b)(d) recognition results of landmark center
Table 1. Specification of lidar
View tableTable 1. Specification of lidar
Parameter Index Source of data VANJEE TEC WLR-712 Measurable distance for 10% reflective surface 50 m Measurement accuracy Max: ±50 mm Scanning angle 360° Angular resolution 0.05°/0.1° Beam divergence 5 mrad Scanning frequency 8 Hz/16 Hz
Table 2. Reflectivity of different background plates
View tableTable 2. Reflectivity of different background plates
Background material Reflectivity /% White paper 80--90 Black-3% ref 3 White metal <80 No background 0
Table 3. Original landmark center data identified by modified algorithm at different laser poses
View tableTable 3. Original landmark center data identified by modified algorithm at different laser poses
Landmark No. Laser pose1 Laser pose2 Laser pose3 X /mm Y /mm D /mm X /mm Y /mm D /mm X /mm Y /mm D /mm 1 576 1178 1311 2861 1199 3102 8373 1203 8458 2 5968 1173 6082 8266 1188 8350 13775 1192 13826 3 11380 1178 11440 13669 1195 13721 19178 1199 19215 4 22204 -628 22212 24500 -586 24507 30014 -592 30019 5 27617 -38 27617 29914 5 29914 35425 -1 35425
Table 4. Distance error Lerr of two landmarks
View tableTable 4. Distance error Lerr of two landmarks
L Lreal /mm Laser pose 1 Laser pose 2 Laser pose 3 Lcal /mm Lerr /(mm per m) Lcal /mm Lerr /(mm per m) Lcal /mm Lerr /(mm per m) L12 5400.0 5392.0 1.5 5405.0 0.9 5415.0 2.8 L13 10800.0 10804.0 0.4 10808.0 0.7 10815.0 1.4 L14 21674.9 21703.3 1.3 21712.5 1.7 21724.0 2.3 L15 27026.7 27068.3 1.5 27079.3 1.9 27085.7 2.2 L23 5400.0 5412.0 2.2 5403.0 0.6 5400.0 0.0 L24 16299.7 16335.6 2.2 16330.6 1.9 16332.7 2.0 L25 21633.3 21682.8 2.3 21680.3 2.2 21676.7 2.0 L34 10949.0 10973.6 2.3 10976.5 2.5 10982.7 3.1 L35 16244.4 16282.5 2.3 16288.5 2.7 16288.2 2.7 L45 5433.2 5445.1 2.2 5446.2 2.4 5443.4 1.9
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Zu Shuang, Hu Panpan, Pan Qi. Extraction Method of Artificial Landmark Center Based on Lidar Echo Intensity[J]. Chinese Journal of Lasers, 2020, 47(8): 810001
Paper Information
Category: remote sensing and sensor
Received: Dec. 27, 2019
Accepted: --
Published Online: Aug. 17, 2020
The Author Email: Panpan Hu (hupanpanhust@gmail.com)
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