基于激光测距仪-摄像机校准的水田除草轮视觉定位方法研究

IF 1.7 4区工程技术 Q3 MATERIALS SCIENCE, MULTIDISCIPLINARY

Journal of Laser Applications Pub Date : 2024-06-03 DOI:10.2351/7.0001341

Shanshan Wang, Xingsong Wang, Shanshan Yu

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引用次数: 0

摘要

水田机械除草中，除草轮的定位对于补偿除草轮与秧苗行之间的作业偏差具有重要意义。本文提出了一种在相机坐标系中确定除草轮三维坐标的视觉定位方法。通过将激光测距仪与除草轮固定在一起，所提出的方法将除草轮的定位转换为解决激光测距仪与摄像机之间的相对姿态关系。然后，根据激光光斑在 AprilTag 校准平面上的约束条件，建立非线性优化模型，得到相对姿态参数。在实验中，提出了两个评价指标来评估标定精度。实验结果表明，所提出的除草轮视觉定位方法的平均定位误差为 2.766 毫米，平均像素误差为 7.161 像素。

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Research on a visual positioning method of paddy field weeding wheels based on laser rangefinder-camera calibration

The positioning of paddy field weeding wheels is of great significance for compensating the operation deviation between the weeding wheel and the seedling row in paddy field mechanical weeding. In this paper, a visual positioning method for determining the three-dimensional coordinates of weeding wheels in the camera coordinate system is proposed. By fixing the laser rangefinder with the weeding wheel, the proposed method converts the positioning of weeding wheels into solving the relative pose relationship between the laser rangefinder and the camera. Then, based on the constraints of the laser spots on the AprilTag calibration plane, a nonlinear optimization model is established to obtain the relative pose parameters. In the experiment, two evaluation indicators were proposed to evaluate the calibration accuracy. The experimental results showed that the proposed visual positioning method of the weeding wheel can reach a mean positioning error of 2.766 mm and a mean pixel error of 7.161 pixels.

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来源期刊

Journal of Laser Applications 物理-光学

CiteScore

3.60

自引率

9.50%

发文量

125

审稿时长

>12 weeks

期刊介绍： The Journal of Laser Applications (JLA) is the scientific platform of the Laser Institute of America (LIA) and is published in cooperation with AIP Publishing. The high-quality articles cover a broad range from fundamental and applied research and development to industrial applications. Therefore, JLA is a reflection of the state-of-R&D in photonic production, sensing and measurement as well as Laser safety. The following international and well known first-class scientists serve as allocated Editors in 9 new categories: High Precision Materials Processing with Ultrafast Lasers Laser Additive Manufacturing High Power Materials Processing with High Brightness Lasers Emerging Applications of Laser Technologies in High-performance/Multi-function Materials and Structures Surface Modification Lasers in Nanomanufacturing / Nanophotonics & Thin Film Technology Spectroscopy / Imaging / Diagnostics / Measurements Laser Systems and Markets Medical Applications & Safety Thermal Transportation Nanomaterials and Nanoprocessing Laser applications in Microelectronics.