基于激光扫描的智能车辆前方地形三维可视化技术研究

Study on 3D Visualization Technology of Terrain Information for Intelligent Vehicle Based on Laser Scanning Data

基于激光扫描仪的数据分析,对智能车辆前方地形数据的三维可视化技术进行了研究。首先对采集的离散数据进行预处理:采用中值滤波算法减弱噪声的影响,通过车体坐标系到世界坐标系的转换实现车辆行走过程中不同场景的拼接;然后基于Splatting理论,选取椭圆高斯足印函数实现了离散三维数据的直接体绘制;最后结合可视化工具包VTK(Visualization Toolkit)的连续数据场轮廓提取和交互操作功能,在Visual C++开发环境下实现了基于激光扫描的环境信息可视化技术,可以达到逼真重构真实环境的可视化效果。

Based on the data analysis of laser scanner, the 3D visualization technology of terrain data in front of intelligent vehicle was studied.The collected discrete data is preprocessed firstly, namely, median filtering algorithm was adopted to weaken the effect of noise and cordination transform from vehicle coordinates to world coordinates was considered to connect different scenes. Then a direct volume rendering algorithm of discrete 3D data is realized by choosing ellipse Gaussian footprint function based on Splatting method. Visualization Toolkit （VTK） was applied to generate surface of reconstructed consecutive volume data and create alternative actor. At last, the laser scanning based environment information visualization technique was realized under Visual C ＋＋ development environment and proved to be efficient.