移动机器人激光雷达数据的三维可视化方法

Method of 3D visualization using laser radar on board of mobile robot

为提供周围的三维深度信息,给出了一种对未知环境中移动机器人配备激光雷达所采集的数据进行三维重建的方法。通过激光雷达采集反映深度信息的程距数据,采用边探测方法,对探测交叉节点或极值进行边界分割,并采用几何模型匹配算法处理简单环境。通过对局部三角形环的极限化,构造出较为复杂的三维表面,用最小测距损失算法对不同观测角度的测量值进行融合,实现了三维重视和一定程度的动态交互。实验测试结果表明,在实验室较为简单,物体比较规则的环境里可以比较完备地重建三维场景,所建立的几何模型同样适用于机器人的导航和检测。

A method of 3D reconstruction based on data acquired is presented by a laser radar on board of a mobile robot. Gather the range data which can reflect the depth information through the laser radar. Adopt the border survey method, we can cut border through survey the cross-nodes or extremums, and adopt the geometry model matching algorithm to deal with the simple environment. Construct the comparatively complicated three-dimensional surface through the limit of some triangular rings. When merging the range data which gathered from different angles, use the grade orientation algorithm from pels grade. The algorithm described in this paper obtain the better result in the experiments, can reconstruction the three-dimensional scene in the labor environment where the objects comparatively simple and regular. The geometric model describes by this method also would be adapt to the robot navigation and verification purposes.