基于层次分析法的CCD像元细分算法综合评价

  本文关键词：用于机械臂末端感知的激光测距传感器设计，由笔耕文化传播整理发布。

摘要

基于CCD 的激光测距传感器通过像元细分，可有效提高该类传感器的测量精度。诸多的像元细分算法，每种都有其优缺点及特定应用。然而针对特定的测距传感器，，如何综合评价哪种算法更优，尚缺乏有效手段。因此，提出了基于层次分析法的像元细分算法优劣的综合评价方法，该方法基于像元细分算法在传感器测量范围的近段、中段和远段的实际定位精度、方差和极差等指标，利用层次分析法构建综合评价模型。利用该方法，实验分析了二分法、加权质心法、加权多项式插值法和按比例求中心法等像元细分算法对特定测距传感器的适用性。实验结果表明，该方法能够有效获取适用于特定测距传感器的最优像元细分算法。

关键词

Abstract

The accuracy of laser range finder based on CCD can be effectively improved by pixel subdivision. There are mant pixel subdivision algorithms, and each has advantages and specific application. However, according to the specific range finder, there is no effective mean to evaluate which algorithm is better comprehensively. Hence, a comprehensive evaluation method is proposed, which is based on analytic hierarchy process (AHP) and is used to evaluate the pixel subdivision algorithms. This method is based on actual positioning precision, variance and range of the pixel subdivision algorithms in the proximal, the middle and the distal of measuring range of the laser range finder. And it constructs the comprehensive evaluation model by AHP. According to the method, the applicability of the dichotomy, weighted centroid, weighted polynomial interpolation and center from the proportion algorithm for the specific range finder is analyzed by experiment. The experimental results show that the method can be used to obtain the optimal pixel subdivision algorithm for specific range sensor effectively.

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补充资料

中图分类号：TP212.14

DOI：10.3788/aos201535.0728002

所属栏目：遥感与传感器

基金项目：国家973计划(2013CB733103)

收稿日期：2015-01-21

修改稿日期：2015-03-30

网络出版日期：--

作者单位    点击查看

陈家伟：哈尔滨工业大学机器人技术与系统国家重点实验室, 黑龙江 哈尔滨 150001
张元飞：哈尔滨工业大学机器人技术与系统国家重点实验室, 黑龙江 哈尔滨 150001
张禹：哈尔滨工业大学机器人技术与系统国家重点实验室, 黑龙江 哈尔滨 150001
谢宗武：哈尔滨工业大学机器人技术与系统国家重点实验室, 黑龙江 哈尔滨 150001

联系人作者：陈家伟(chenjiawei0427@163.com)

备注：陈家伟(1991—)，男，硕士研究生，主要从事机器人技术及传感器研究。

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引用该论文

Chen Jiawei,Zhang Yuanfei,Zhang Yu,Xie Zongwu. A Comprehensive Evaluation Method Based on Analytic Hierarchy Process for CCD Pixel Subdivision Algorithms[J]. Acta Optica Sinica, 2015, 35(7): 0728002

陈家伟,张元飞,张禹,谢宗武. 基于层次分析法的CCD像元细分算法综合评价[J]. 光学学报, 2015, 35(7): 0728002

  本文关键词：用于机械臂末端感知的激光测距传感器设计，由笔耕文化传播整理发布。