摘要
针对小型智能机动平台对三维成像激光雷达小型化、低功耗、高精度、快速成像的特定应用要求,基于集成激光器阵列和APD探测阵列设计并实现了12元线阵扫描三维成像激光雷达系统;基于高速数字处理芯片和高精度时间间隔测量芯片实现了并行高精度激光脉冲飞行时间测量和实时数据处理和传输。详细描述了系统原理、组成部分以及实验结果。实验验证该系统激光脉冲重复频率大于10 k Hz,垂直方向激光单元角度间隔小于2.5 mrad,近距离距离分辨率优于2.4 cm,测量数据统计标准差小于1,各通道一致性良好。在高速水平扫描转动平台驱动下实现了室内三维场景重构以及高塔大视场远距离目标探测成像实验。
A linear-scanning 3D imaging laser radar system based on laser array and APD array is designed to meetthe application of small intelligent mobile platform, which requires the laser radar system with small-scale, low powerconsumption, high resolution and fast imaging abilities. The digital data processing module based on DSP chip andTDC-GPX chip is designed to realize parallel TOF timing and real-time data processing and transmission. The princi-ple of the system and the experimental results are described in detail. The results show that the laser pulse repeat rateis over 10 kHz,the interval angle of each element in vertical direction is less than 2. 5 mrad,the resolution of near dis-tance is smaller than 2.4 cm and the standard diversions of measurement data are smaller than 1. The indoor and tow-er 3D imaging experiments illuminate that the proposed system offers excellent 3D detection and imaging eapability.
出处
《激光与红外》
CAS
CSCD
北大核心
2017年第11期1358-1364,共7页
Laser & Infrared
基金
国家自然科学基金项目(No.61371167)资助
关键词
激光雷达
激光多束照射
线阵扫描
三维成像
三维重构
laser radar
multi-beam laser transmitting
linear-array scanning
3D imaging
3D reconstruction
