相机与激光雷达融合的密闭空间目标智能定位

党睿娜; 瓢正泉; 冯付勇; 刘庆杰; 王振皓; 尹俭芳

doi:10.12382/bgxb.2025.0299

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相机与激光雷达融合的密闭空间目标智能定位

更新时间：2026-02-10

- 相机与激光雷达融合的密闭空间目标智能定位
- Intelligent Localization of Targets in Confined Space via Camera-LiDAR Fusion
- 兵工学报 2025年46卷第S2期页码：250299
- 作者机构：
  
  1. 中兵智能创新研究院有限公司, 北京 100072
  2. 群体协同与自主国家级重点实验室, 北京 100072
  3. 中国电子科技南湖研究院, 浙江嘉兴 314000
- 作者简介：
  
  * 邮箱: bitinfor@126.com
- 基金信息：
- DOI：10.12382/bgxb.2025.0299
  中图分类号：
- 收稿：2025-04-21，
  
  网络首发：2026-02-03，
  
  纸质出版：2025
- 稿件说明：
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党睿娜, 瓢正泉, 冯付勇, 等. 相机与激光雷达融合的密闭空间目标智能定位[J]. 兵工学报, 2025,46(S2):250299.

Ruina DANG, Zhengquan PIAO, Fuyong FENG, et al. Intelligent Localization of Targets in Confined Space via Camera-LiDAR Fusion[J]. Acta Armamentarii, 2025, 46(S2): 250299.
党睿娜, 瓢正泉, 冯付勇, 等. 相机与激光雷达融合的密闭空间目标智能定位[J]. 兵工学报, 2025,46(S2):250299. DOI： 10.12382/bgxb.2025.0299.

Ruina DANG, Zhengquan PIAO, Fuyong FENG, et al. Intelligent Localization of Targets in Confined Space via Camera-LiDAR Fusion[J]. Acta Armamentarii, 2025, 46(S2): 250299. DOI： 10.12382/bgxb.2025.0299.

摘要

提出一种基于相机与激光雷达融合的密闭空间目标智能定位方法。通过相机对地下目标进行实时检测。结合LiDAR三维点云地图

在生成的点云地图坐标系内计算当前图像中检测到的每个目标的位置。采用目标融合和重复去除等方法抑制由于被多次检测等因素产生的重复目标

并将目标检测与识别结果标注在三维点云地图中

进而获得能够直观、高效地呈现密闭空间目标的探测与定位结果。真实密闭空间下的试验结果表明

所提方法能够实时精准地检测场景中的关键目标

并通过融合激光雷达点云数据

分别在三维地图和二维投影图上直观显示目标识别和定位信息。

Abstract

This paper proposes an intelligent localization method for targets in confined spaces based on camera and LiDAR fusion. The underground targets are detected in real time using a camera

and then the detected targets in each image are localized within the coordinate system of the generated point cloud map based on LiDAR’s 3D point cloud map. Finally

the techniques such as target fusion and redundancy removal are used to suppress the duplicate targets that arise due to repeated detections and other factors. The target detection and recognition results are annotated onto the point cloud map

yielding a search and localization output that provides an intuitive and efficient representation of the targets in confined space. Experimental results in real confined space show that the proposed method can accurately detect the key targets in the scene in real time

and visually display the target recognition and location information on 3D map and 2D projection map by fusing LiDAR point cloud data.

关键词

Keywords

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