中文摘要：

为通过路面激光反射强度获取路面信息,针对三维激光雷达不同激光束由于扫描距离和入射角不同等原因导致扫描到相同路面区域时,其反射强度存在偏差的问题进行校准研究。提出一种选用排除异常扫描线后的样本栅格数据,采用改进的均值校准和EM迭代算法,初步得到激光束部分可信的反射强度校准值;再通过线性插值和指数拉伸变换,离线得到适用多种路面环境的反射强度对应关系,该对应关系用于实时校准每个激光点的反射强度。通过对比校准前后的路面栅格反射强度均值图和方差分布图,可以看出该方法能明显提高路面反射强度地图的均匀程度,验证了其有效性。

英文摘要：

In order to obtain road information through laser reflection intensity,the paper studies the calibration of reflection intensity deviation while different laser beam scanning the same road with different scanning distance and incident angle. It firstly selects sample grid data which excludes abnormal scan lines,and obtains part of reflection intensity calibration value of the laser beam with improved mean calibration and EM iteration algorithm. Then,by using linear interpolation and exponential stretching,it obtains corresponding relationship of reflection intensity applying to diverse road environments,which is used for real-time calibrating reflection intensity of each laser point. The comparison between road grid reflection intensity map and variance distribution diagram shows that this method can improve the uniformity degree of road reflection intensity map,which verifies the validity of the method.