Abstract: Aiming at problems of low fitting accuracy and poor data fault tolerance in existing fitting algorithms of lidar positioning systems, a reflector position fitting method was designed based on echo intensity. Firstly, the original scanning data was filtered，and the filtered data were segmented by echo intensity segmentation method and point distance-based segmentation. After segmenting, the data was fitted into a circle center, as a reflector actual position. Finally, a stacking forklift equipped with lidar R2000 was used for experiments. Experimental results show that the proposed method has high fitting accuracy and effectively improves data fault tolerance.

Key words: automated guided vehicle(AGV), lidar, echo intensity, reflector , position fitting

摘要： 针对目前激光雷达定位系统中的拟合算法存在拟合精度较低、数据容错能力较差等问题，设计了一种基于回波强度的反光板位置拟合方法。首先对原始扫描数据进行滤波，并结合回波强度分割法与基于点距离的分割法进行数据分割，对分割后数据结合回波强度进行反光板圆心拟合，以得到反光板实际位置。最后使用堆垛式叉车搭载激光雷达R2000进行实验，实验结果表明所提方法具有较高的拟合精度，并有效提高了数据容错能力。

关键词: 自动导引车, 激光雷达, 回波强度, 反光板, 位置拟合