摘要
设计了一个基于二维激光雷达的自动室内三维重建系统.系统的硬件由一套自行设计的基于2D激光雷达的三维扫描系统和一台电脑构成.介绍了系统的软件模块,提出了结合最近点迭代(ICP)和通用多边形裁剪(GPC)的3D平面场景合成方法.ICP能够获得不同采集位置之间的位置变化,以此能将各个不同位置获得的3D场景转换到同一坐标系下.场景合成时的碎平面问题通过GPC方法来解决.实验结果表明:该系统成本低,精度高,能稳定可靠地实现室内场景的自动三维重建.
An automatic 3D reconstruction system for indoor environment is designed. The hardware includes a computer and a set of self-developed 3D laser scanning system that is based on a 2D laser radar. An ICP and GPC based 3D planar scene integration algorithm is proposed in the software module. ICP can provide position changes between neighboring data-acquiring points. Based on this information the 3D scene data from different viewpoints can be transformed into a global coordinate system. The large number of plane segments from different local views are integrated and simplified by GPC. The experimental resuits show that the resulting system is cost-effective and can realize 3D reconstruction of indoor environment with high stability and accuracy.
出处
《传感技术学报》
CAS
CSCD
北大核心
2007年第5期985-989,共5页
Chinese Journal of Sensors and Actuators
基金
国家自然科学基金资助项目(NSFC60505017)
