Super-resolution Planar Array 3D Imaging for Dynamic Objects Pose Estimation [超分辨率面阵激光雷达的动目标姿态估计]

作者：Wang S.; Liu B.; Li H.; Chen Z.; Jiang S.

来源：Semiconductor Optoelectronics, 2020, 41(3): 448-454.

DOI：10.16818/j.issn1001-5868.2020.03.027

• Lidar
• Multidimensional data fusion
• Polarization modulation
• Pose estimation
• Time resolved imaging

In this paper, demonstrated is a super-resolution polarization-modulated 3D imaging framework based on electron multiplying charge coupled device (EMCCD). Due to its low bandwidth characteristics, the electro-optic modulatoris applied as a fast shutter with sub-nanosecond-level to implement temporal and range resolution of 3D imaging system simultaneously. The depth information can be reconstructed from the gray image with only a frame of raw data, so as to achieve dynamic imaging performance. Based on the system structure, a method of multi-dimensional data fusion is proposed to calculate target position and attitude. The feasibility of the method is verified by experiments. Experimental results show thatfor the target 1 km away from the lidar system, the displacement measurement accuracy is less than 3 cm and the pose angle error is less than 3°.

• 单位
  电子科技大学; 中国科学院大学