超分辨率面阵激光雷达的动目标姿态估计

Super-resolution Planar Array 3D Imaging for Dynamic Objects Pose Estimation

摘要:

提出一种基于新型成像传感器——电子倍增电荷耦合器件的超分辨率偏振调制三维成像系统。利用低带宽电光调制器作为亚纳秒级高速快门,实现三维成像系统时间(距离)分辨能力。该系统只需要采集一帧原始数据,就可以从灰度图像中重建深度信息,实现动态成像。基于该系统结构提出多维数据融合求解目标位姿的方法,并通过试验验证了方法的可行性。实验结果表明,对距离激光雷达1km外的目标进行测量,其位移精度小于3cm,位姿角误差小于3°。

Abstract:

In this paper, demonstrated is a super-resolution polarization-modulated 3D imaging framework based on electron multiplying charge coupled device (EMCCD). Due to its low bandwidth characteristics, the electro-optic modulatoris applied as a fast shutter with sub-nanosecond-level to implement temporal and range resolution of 3D imaging system simultaneously. The depth information can be reconstructed from the gray image with only a frame of raw data, so as to achieve dynamic imaging performance. Based on the system structure, a method of multi-dimensional data fusion is proposed to calculate target position and attitude. The feasibility of the method is verified by experiments. Experimental results show thatfor the target 1km away from the lidar system, the displacement measurement accuracy is less than 3cm and the pose angle error is less than 3°.