基于线状阵列扫描的激光雷达快速三维成像

Fast 3D Imaging with Timeofflight Laser Scanner Based on Linear Array Scanning

摘要:

介绍了一种线阵快扫描三维激光雷达成像仪,给出了线阵激光雷达的系统结构和工作原理.从阵列探测器中的某一单元出发,在分析激光光束发射与接收光路的基础上,利用光学原理和解析几何推导了线阵激光雷达成像严密的计算方程,并分析了影响激光雷达成像质量的内部和外部因素.外场测试实验表明,在30 m的距离,该仪器原理样机的距离分辨率可以达到5 cm,能够探测到直径在8 cm以上的目标,平面拟合后的残差的标准偏差在5 cm左右

Abstract:

A laser scanner using linear array scanning for fast threedimentional imaging is introduced.Both the system structure and operational principle are presented.Based on the analysis of the emitting and receiving path of the laser beam,the rigorous imaging equations of the laser scanner is deduced starting from one unit of the array detector by means of the optical principles and analytic geometry knowledge.The main internal and external fators undermining the imaging quality of laser scanner are also discussed.The outfield test shows that in the distance of 30 m the vertical resolution of the instrument is 5 cm,while in the direction perpendicular to that of ranging targets with diameter can be detected bigger than 8 cm,and that the standard error of residuals in the fitted plane is about 5 cm.