公开(公告)号：WO2016146728A1

公开(公告)日：2016-09-22

申请号：PCT/EP2016/055771

申请日：2016-03-17

Applicant: ALBERT-LUDWIGS-UNIVERSITÄT FREIBURG

Inventor： RÖWEKÄMPER, Jörg ,  RUHNKE, Michael ,  STEDER, Bastian ,  TIPALDI, Gian Diego ,  BURGARD, Wolfram

IPC: G01S17/42 ,  G01S17/87 ,  G01S7/48 ,  G01S7/497

CPC classification number: G01S7/4972 ,  G01S7/4808 ,  G01S17/42 ,  G01S17/87

Abstract: During calibration of a network of multiple horizontally scanning range finders a measurement is performed with the range finders during movement of an object through an area covered by the network. For each of the range finders data sets are identified associated with the moving object based on a static analysis. An estimated relative transformation between respective poses of the range finders is determined for reach pair of overlapping range finders, based on the identified data sets of this pair. An initial maximum likelihood configuration of poses is determined based on the estimated relative transformations of each pair. In an iterative fashion with multiple iteration steps, sets of point correspondences of the data sets are determined based on a threshold condition. A maximum likelihood configuration of poses is determined based on the sets of point correspondences and on the maximum likelihood configuration determined in the previous iteration step or, in a first iteration step, on the initial maximum likelihood configuration.

Abstract translation: 在多个水平扫描测距仪的网络的校准期间，在物体运动通过网络覆盖的区域期间，使用测距仪进行测量。 对于每个测距仪，基于静态分析，识别与移动物体相关联的数据集。 基于该对的所识别的数据集，确定测距仪的各个姿态之间的估计的相对变换以达到重叠测距仪对。 基于每对估计的相对变换来确定姿势的初始最大似然配置。 以多个迭代步骤的迭代方式，基于阈值条件确定数据集的点对应集合。 基于点对应的集合和在先前迭代步骤中确定的最大似然配置，或者在第一迭代步骤中，基于初始最大似然配置来确定姿势的最大似然配置。