Laser & Optoelectronics Progress, Volume. 57, Issue 2, 21106(2020)
Motion Compensation Method Based on Lidar
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Fig. 2. Schematics of vehicle body coordinate transformation. (a) Translational motion of vehicle body; (b) rotation motion of vehicle body
Fig. 3. Spatial description of quaternion relative to reference coordinate system
Fig. 5. Improved lidar motion compensation pseudo-code based on Gaussian mixture model
Fig. 10. Motion compensation results when vehicle enters the motion compensation area
Table 1. Comparison of advantages and disadvantages of transformation matrix parameterization methods
View tableTable 1. Comparison of advantages and disadvantages of transformation matrix parameterization methods
Method Advantage Disadvantage Euler angles method Only three differential equations (three independent parameters) are required; it is directly initialized by pitch, yaw, and roll angle Nonlinear differential equation; there is no singular value at ±90°; the order of rotation is important Direction cosine method Linear equation; no singular value; the direction of the transformation matrix is solved Six independent differential equations; complex computation; Euler angles can not be obtained directly The quaternion method There are only four differential equations; no singular values and easy solutions; the way only need three differential equations (three independent parameters); it is directly initialized by pitch, yaw and roll angle Euler angle and transformation matrix can not be obtained directly; the initial conditions for Euler angles must be used
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Pang Zhengya, Zhou Zhifeng, Wang Liduan, Ye Juelei. Motion Compensation Method Based on Lidar[J]. Laser & Optoelectronics Progress, 2020, 57(2): 21106
Paper Information
Category: Imaging Systems
Received: Jun. 22, 2019
Accepted: --
Published Online: Jan. 3, 2020
The Author Email: Zhou Zhifeng (zhousjtu@126.com)
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