Design And Application Of A 3D Laser Radar

In this paper,a low-cost 3D laser radar is designed and manufactured.Firstly,a mathematical model for calculating the actual distance of the measured object from the pixel position of the reflected light spot on the imager based on the principle of laser triangle single point distance measurement is derived.Then,three-dimensional scan is available by using a line laser and a stepping motor.Finally,the obtained data is processed in three dimensions to obtain three-dimensional coordinates and saved as point cloud data.In the scanning measurement process,the spot center position extraction algorithm is applied to accurately locate the position of the reflected spot on the imager,and a new weighting average algorithm is used to improve the error due to the line laser is applied.In this paper,two laser radar prototypes were made.The optical measurement part includes an 808nm infrared laser and a high-speed camera with CMOS image sensor.The control part is a stepper motor controlled by a STM32 development board.The software was written using Keil and Visual Studio.This paper has carried on the measurement experiment to two radar prototypes,each accuracy and the measurement scope was analyzed.Experimental results show that the 3D laser radar designed in this paper can perform 3D object scanning and environment 3D reconstruction.When the product of the camera focal length and the radar baseline length is 760mm2,the minimum measurement distance is 200mm,the measurement error is less than 25mm within lm,no more than 53mm within 3m,and no more than 70mm within 4m distance.When the product of the camera focal length and the baseline length is 1500mm2,the minimum measurement distance is 400mm,and the measurement error is no more than 6mm within 1m,no more than 33mm within 3m,and no more than 64mm within 4m distance.