基于2D激光雷达的快速3D测距系统的设计与实现

三维扫描激光雷达的优点在于能够快速准确地获取环境的三维几何信息,但同时它高昂的价格也大大限制了它的应用范围.设计了一个快速三维扫描激光雷达系统,并为其内在参数做了标定.系统主要由一个二维激光雷达、一个步进电机驱动的俯仰机械装置及其相关控制单元构成.专门设计的高速数据通讯卡实现激光雷达数据的高速传输,保证系统能工作在高速采样状态.对几个主要的内在参数做了分析,并采用最小误差平方和方法对系统做了标定.最后的实验结果表明,该系统扫描速度快,精度高,是一种以低成本获得高质量三维数据的有效实现手段.

The Design and Implementation of 3D Range Measurement System based on a 2D Laser Range Finder

3D laser radar has the advantage of acquiring the accurate 3D information of the surrounding environment in a fast manner. However its high selling price restricts its further application in many fields. A fast 3D scanning laser radar is designed and calibrated. The system consists of a 2D laser scanner, a step motor controlled pitching mechanical equipment and a control unit. A specially designed high-speed data transmission board is used to guarantee the high sampling rate of the radar. The inner parameters affecting the accuracy of the system are analyzed and then computed by the least sum of square error algorithm. The experimental results show that the resulting system has high scanning rate and high data accuracy and therefore is a cost effective means to acquire high aualitv 3D data.