基于 RA NSAC 的残缺平面标靶稳健定位方法

针对圆形有效反射区域的平面标靶拖尾点和因遮挡造成的数据缺失问题,提出一种基于RANSAC的残缺平面标靶稳健定位方法。文中采用RANSAC算法拟合标靶平面,使经过测距误差修正的反射点规整位于标靶平面;利用Givens变换将空间三维圆拟合简化为二维圆RANSAC拟合。采用两个实验分析同一平面标靶因不同遮挡对定位精度的影响。结果表明,该方法能够有效解决拖尾点和数据缺失问题,提高平面标靶定位的鲁棒性。

A robust location method of incomplete planar target based on RANSAC

In order to solve the problem of ghost points and target point missing caused by blocking ,a robust location method of planar target based on RANSAC is presented .This paper applies RANSAC to fitting the target plane .Every single target point is located on the plane after ranging error correction .The edge points are extracted in the method of polar coordinate transformation .Then Givens transformation is used to simplify 3D circle fitting to 2D circle fitting with RANSAC .Two experiments are made to analyze the locating precision of different‐integrity planar target .T he experimental results demonstrate that the method presented in this paper can effectively solve the problem and improve the robustness of planar target location .