激光成像导航技术研究开题报告
文献综述
摘要：自动驾驶技术包含环境感知、规划决策、自动控制等多项技术，是当前的研究热点。激光成像是利用激光光束扫描物体，将反射光束反射回来，得到的排布顺序不同而成像。用图像落差来反映所成的像。激光成像具有超视距的探测能力，可用于卫星激光扫描成像，未来用于遥感测绘、激光解析电离成像技术、激光扫描显示等科技领域。与其他成像探测模式比存在显著的优点，因而得到了广泛应用。本文主要内容是通过对激光传感器成像平台的组建，研究和优化移动平台的导航技术和算法，来辅助移动平台实现自动行驶功能。
关键词：激光成像 导航 算法 自动行驶
Abstract:Autonomous driving technology, which includes many technologies such as environmental awareness, planning and decision automatic control, is a hot research topic at present.Laser imaging is to scan an object with a laser beam, reflect the reflected beam back, and obtain different arrangement order and imaging.Image drop is used to reflect the resulting image.Laser imaging has the ability to detect beyond the line-of-sight, which can be used in satellite laser scanning imaging, remote sensing mapping laser analytical ionization imaging technology laser scanning display and other scientific and technological fields in the future.Compared with other imaging detection modes, it has significant advantages and has been widely used.The main content of this paper is to study and optimize the navigation technology and algorithm of the mobile platform through the establishment of the laser sensor imaging platform, so as to assist the mobile platform to realize the automatic driving function.
Keywords: laser;imaging;navigation;algorithm;automatic driving
1 引言
1.1 激光成像技术的概述
激光成像探测是通过激光束对目标进行照射，目标的反射回波经光电成像探测器接收，通过信号处理获取目标的反射强度信息、目标至探测器的距离和速度信息，进而获得区别于背景的目标强度图像、距离图像和多普勒(速度) 图像[1]。与合成孔径、毫米波、红外、可见光等其他成像探测模式相比，激光成像探测具有显著特点[2]：① 抗电磁干扰能力强，且对地物和背景有极强的抑制能力，不像红外和可见光成像那样易受环境温度及阳光变化的影响；② 抗隐身能力强，能穿透一定的遮蔽物、伪装和掩体，并可对散射截面很小的目标尤其是红外隐身目标进行有效探测；③ 具有高的距离、角度和速度分辨率，能同时获得目标的多种图像( 如距离像、强度像、距离-角度像等) ，图像信息量丰富，自动目标识别算法大为简化，目标区分能力突出，易于判别目标类型，特别是目标的易损部位。
