论文部分内容阅读
针对目前国内外应用于移动机器人的三维激光扫描系统存在的扫描效率问题,提出了一种仿人眼功能的三维激光扫描算法.从仿生学角度出发,该算法模仿人类眼睛的扫描功能,对陌生环境进行分步扫描:根据当前的扫描信息,在线规划出下一步的扫描规律,以减少无用信息的获取;采用分步插补定位的方法来弥补分步扫描带来的时间消耗,从而提高了扫描系统的效率.为了满足扫描算法的在线处理对实时性的要求,采用了一种DSP(Digital Signal Processing)+FPGA(Field-Programmable Gate Array)的硬件平台架构:即DSP作主控制器负责三维信息的获取,FPGA作协处理器负责扫描算法的实现.实验结果表明仿人眼功能的扫描算法可以有效的提高三维扫描系统的扫描效率.
In order to solve the problem of scanning efficiency of 3D laser scanning system applied to mobile robot both at home and abroad at present, this paper proposes a three-dimensional laser scanning algorithm that imitates the function of the human eye. From the viewpoint of bionics, this algorithm imitates the scanning function of human eyes, Environment step by step scanning: according to the current scanning information, online planning out the next scanning rules to reduce the useless information acquisition; using step interpolation positioning method to make up for the time-consuming step-scan, thereby increasing the To meet the real-time requirement of on-line processing of scanning algorithm, a hardware platform architecture of DSP (Field Signal Processing) + FPGA (Field-Programmable Gate Array) is adopted: DSP is the master controller responsible for three-dimensional The acquisition of information and FPGA co-processor are responsible for the realization of the scanning algorithm.The experimental results show that the scanning algorithm that imitates the function of the human eye can effectively improve the scanning efficiency of the three-dimensional scanning system.