第20卷
第4期
2012年4月
文章编号
1004-924X(2012)04-0843-08
光学精密工程
Optics and Precision Engineering
激光雷达目标三维姿态估计
郭裕兰*，万建伟，鲁敏，谭志国
（国防科技大学电子科学与工程学院，湖南长沙410073）
Vol.20No. 4 Apr.2012
摘要：针对现有激光雷达目标姿态估计算法对遗档较为敏感的间题，提出了一种新的三维姿态估计算法。分析了现有算法的内在本质和地面装甲目标固有的表面结构特性，提出了投影点云密度摘(PDE)特征，研究了PDE特征与目标姿态的内在关系，给出了对目标点云选代地进行策转投影并导找PDE最小值以实现三维姿态估计的方法。采用25类地面装甲目标的激光雷达点芸数据进行仿真实验，分析了自遗挡、遮挡以及噪声下的估计性能，讨论了参数选择对估算结果的影响。实验结果表明，本文方法在自遇挡下的估计误差小于3"，在遮挡率达到80%时的估计误差小于10°。实验显
示，本文方法对遮挡和噪声具有很强的稳健性，且收敛迅速，能很好地实现激光雷达目标三维姿态估计。关键调：三雄姿态估计；激光雷达；目标识别；遮格；投影点云
中图分类号：TN958.98
文献标识码：A
doi;10, 3788/OPE, 20122004, 0843
Three dimensional orientationestimationforladar target
GUOYu-lan'，WANJian-wei,LUMin,TANZhi-guo(Collegeof EiectronicScienceandEngineering,National University of Defense Technology,Changsha 410o73,China) Correspondingauthor,E-mail:yulan.guonudt,edu.cn
Abstract: Since the existing target orientation estimation methods for laser radars are not robust to the a methods and the intrinsic characters of the surface structures for ground targets were analyzed careful ly, then the feature of Projection Density Entropy (PDE) was introduced, and the relationship be tween PDE and target orientation was analyzed. Finally, a 3D orientation estimation method was for mulated by iteratively rotating and projecting the target point cloud onto the coordinate planes togeth er with PDE calculation. Comparative experiments were performed on the dataset containing point clouds of 25 ground targets, the performance in self-occlusion, occlusion and the noise were investiga ted, and the parameter tuning was discussed. The results show that the estimation error of this meth-od is below 3° in self-occlusion, and also no more than 1o ° even in 8o% occlusion. It is clear that the proposed method is robust to occlusion and converges quickly, thus is capable of estimating the 3D o-rientation of ladar targets in complex scenes.
Key words: 3D orientation estimation; ladar; target recognition;occlusion; projected point cloud
收稿日期：2011-09-27；修订日期：2012-01-18.
基金项目：国家自然科学基金资助项目（No.60972114)；国家博士后科学基金资助项目（No.20100481511)；国家留
学基金委CSC奖学金资助项目（No.2011611067）