基于一维激光测距仪和云台的场景三维重建

Three-dimensional Reconstruction Scene Algorithm Based on One-dimensional Laser Ranger and Pan-tilt

提出了一种基于一维激光测距仪和云台对场景进行三维重建的方法。该方法设计了简单的标定物,建立激光测距仪坐标系和云台坐标系模型,统一了坐标系转换方程,并根据正交直线的共线性、正交性及共面性等测度建立目标函数,完成激光测距仪和云台位置关系的精确标定,并利用遗传算法对其进行优化后,实现对场景物体的三维重建。实验结果表明,该算法简单,易于实现,并具有较高的三维重建的精度,可有效应用于场景的三维重建。

The proposed method achieved the 3D scene reconstruction based on one-dimensional laser ranger and pan-tilt.A simple calibration object was designed and the two coordinate systems based on the laser ranger and the pan-tilt were created and unified through the coordinate system transformation equations.In order to accurately calibrate the laser ranger and pan-tilt,the objective function is constructed according to the colinearity,orthogonality and coplanarity of the calibrated orthogonal straight lines.The genetic algorithm is also used to optimize the calibration result.Finally,the 3D scene reconstruction can be realized.The experimental results showed that the proposed algorithm is simple and easy to realize with high precision.It can be applied to 3D scene reconstruction effectively.