Research on Vision System Calibration Method of Forestry Mobile Robots-Reference-Cited by-同舟云学术

Research on Vision System Calibration Method of Forestry Mobile Robots

Published:2021-01-12 Issue: Volume:14 Page:1107-1114
ISSN:1998-4464
Container-title:International Journal of Circuits, Systems and Signal Processing
language:en
Short-container-title:

Author:

Yao Ruting¹,Zheng Yili¹,Chen Fengjun¹,Wu Jian¹,Wang Hui¹

Affiliation:

1. The School of Technology, Beijing Forestry University, Beijing 100083, China

Abstract

Forestry mobile robots can effectively solve the problems of low efficiency and poor safety in the forestry operation process. To realize the autonomous navigation of forestry mobile robots, a vision system consisting of a monocular camera and two-dimensional LiDAR and its calibration method are investigated. First, the adaptive algorithm is used to synchronize the data captured by the two in time. Second, a calibration board with a convex checkerboard is designed for the spatial calibration of the devices. The nonlinear least squares algorithm is employed to solve and optimize the external parameters. The experimental results show that the time synchronization precision of this calibration method is 0.0082s, the communication rate is 23Hz, and the gradient tolerance of spatial calibration is 8.55e−07. The calibration results satisfy the requirements of real-time operation and accuracy of the forestry mobile robot vision system. Furthermore, the engineering applications of the vision system are discussed herein. This study lays the foundation for further forestry mobile robots research, which is relevant to intelligent forest machines.

Publisher

North Atlantic University Union (NAUN)

Subject

Electrical and Electronic Engineering,Signal Processing

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