基于三维激光雷达的障碍特性分析

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1、分类号TP391学号14030086ＵＤＣ密级公开工学硕士学位论文基于三维激光雷达的障碍特性分析硕士生姓名李侨辉学科专业控制科学与工程研究方向模式识别与智能系统指导教师戴斌教授二〇一六年十一月3DLIDAR-basedObstaclesCharacteristicAnalysisCandidate:QiaohuiLiAdvisor:Prof.BinDaiAdissertationSubmittedinpartialfulfillmentoftherequirementsforthedegreeofMasterofEngineeringinControlScienceandEngineerin

2、gGraduateSchoolofNationalUniversityofDefenseTechnologyChangsha,Hunan,P.R.ChinaNovember28,2016国防科学技术大学研究生院硕士学位论文目录摘要.................................................................................................................iABSTRACT..............................................................

3、...........................................ii第一章绪论......................................................................................................11.1研究背景与意义.............................................................................................11.1.1自主车研究现状..............................

4、......................................................11.1.2视觉传感器与深度传感器简介............................................................41.1.3研究意义................................................................................................61.2基于三维激光雷达的障碍特性研究现状.......................................

5、................71.2.1基于激光雷达的静态障碍特性研究现状............................................71.2.2基于激光雷达的动态障碍特性研究现状..........................................101.3本文主要研究内容与成果.............................................................................111.3.1本文主要研究内容及组织结构......................................

6、....................111.3.2本文主要研究成果..............................................................................12第二章基于激光雷达的地面分割算法............................................................132.1激光雷达点云特性.......................................................................................132.1.16

7、4线激光雷达简介..............................................................................132.1.264线激光雷达数据表示......................................................................142.2基于分块直线拟合的障碍检测..............