二维激光雷达室内定位数据预处理方法研究

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英文篇名：Research on preprocessing method of indoor positioning data for two-dimensional laser radar 作者：邹鑫慈 ; 郭哲 ; 隋心 ; 张涵 英文作者：Zou Xinci;Guo Zhe;Sui Xin;Zhang Han;School of Geomatics,Liaoning Technical University; 关键词：激光雷达 ; 滤波降噪 ; 区域分割 ; 特征提取 英文关键词：laser radar;;filtering and noise reduction;;region segmentation;;feature extraction 中文刊名：KSCL 英文刊名：Mine Surveying 机构：辽宁工程技术大学测绘与地理科学学院; 出版日期：2017-06-15 出版单位：矿山测量 年：2017 期：v.45;No.189 语种：中文; 页：KSCL201703021 页数：5 CN：03 ISSN：13-1096/TD 分类号：82-86

摘要

文中针对二维激光雷达数据中存在的噪声、离散化误差以及数据缺失的问题,分别采用均值滤波法、欧氏距离分割法以及改进的动态阈值线特征提取法完成二维点云数据的预处理。利用实验对所采用方法的可行性和精度进行了分析评价,结果表明,即使采用廉价的二维激光雷达,也可获得亚分米级的匹配结果,能够满足一般室内定位的要求。
        For the problems of noise,discretization error and missing data of presenting in the two-dimensional laser radar data,mean filtering method,euclidean distance segmentation method and the improved dynamic threshold line feature extraction method were used respectively to complete the preprocessing of two-dimensional point cloud data.Feasibility and accuracy of the methods were analyzed and evaluated by experiments. The results showed that inexpensive 2D laser radar could also be obtained the sub decimeter level matching results meeting the requirements of the indoor positioning.

引文

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