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ji guang ce ju lei da ju li tu zhang ai wu shi shi jian ce suan fa yan jiu ji wu cha fen xi
Author(s): 
Pages: 43-49+54
Year: Issue:  2
Journal: Robot

Keyword:  ALV激光测距成像雷达距离图障碍物检测误差分析多义性间距垂直扫描中心角;
Abstract: 本文在首先阐述陆地自主车(ALV)中利用激光测距成像雷达所获取的距离图实时检测障碍物的坐标变换法的基础上,着重深入研究了雷达垂直扫描中心角的误差与自主车3个姿态角的误差及激光测距成像雷达多义性间距对障碍物检测结果的影响.本文提出了利用无障平坦地面距离图反推垂直扫描中心角的大小再用最小二乘法进行拟合的方法.另外,为降低障碍物检测的误差,提出了按行取基准高度的阈值法
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