无人车反射式全景视觉感知技术研究
Research of reconnaissance technology about reflector based panoramic vision for unmanned platform
王健 柳新宇 李科杰 张东红 张振海 李剑
作者信息
摘要
针对应用最多的两种单视点曲面反射式全景视觉系统——双曲面反射式和抛物面反射式全景视觉系统存在的安装精度高和远心透镜造价高等缺点，提出了多视点抛物面反射式全景视觉系统。首先分析了系统视点的分布情况，建立了系统成像的参数模型，利用类比单视点曲面反射式全景视觉系统模型进行投影点解算, 然后分析了焦散面的特性。其次利用系统成像模型依次建立了系统的最大仰角、最大水平探测距离和分辨率的参数模型，讨论了对其产生影响的因数。在此分析的基础上研制了多视点抛物面反射式全景视觉系统样机，该样机成像效果好、安装精度高、成本低。最后实验验证了最大仰角参数模型、最大水平探测距离参数模型和分辨率的参数模型的正确性，最大仰角参数且与抛物面反射镜参数p成反比，最大水平探测距离参数与目标大小成正比，分辨率的参数与目标大小成正比且与目标所处位置的远近成反比。
Abstract
Multi-viewpoint parabolic reflector based panoramic vision system was presented, because of the disadvantages of the parabolic reflector and hyperboloid reflector based panoramic vision systems that are used most widely in the single viewpoint curved reflector based panoramic vision system. The distribution of the system viewpoint was first analyzed, and then the parameter model of system imaging was established. The projection point was solved using single viewpoint curved reflector based panoramic vision system by analogy and the caustic surface’s properties was analyzed. Secondly, the relationship between parameters of the maximum elevation, the maximum detection horizontal range and resolution was established, and the influencing factors were analyzed. Based on those, a prototype of multi-viewpoint parabolic reflector based panoramic vision system was designed at low cost, having a higher installation accuracy and better imaging quality. Finally, the maximum elevation, maximum horizontal detection range and the resolution were verified experimentally, and it was found that the maximum elevation is inversely proportional to the parameter p of parabolic reflector, the maximum horizontal detection range is proportional to the target size and the resolution is proportional to the target size but inversely proportional to the distance of the target location.关键词
无人车/焦散面/虚拟投影中心/全景视觉/探测距离Key words
unmanned vehicles/caustic surface/virtual center of projection/panoramic vision/detection range引用本文复制引用
王健,柳新宇,李科杰,张东红,张振海,李剑.无人车反射式全景视觉感知技术研究[EB/OL].(2015-07-07)[2026-04-04].http://www.paper.edu.cn/releasepaper/content/201507-58.学科分类
自动化技术、自动化技术设备
评论