基于360度激光扫描仪的深度图像构建

Construction of Depth Image Based on 360-degree Laser Scanner

随着计算机视觉应用的日益广泛和自动化程度的日益提高,人们对于计算机视觉系统的要求也越来越高,在诸如机器人导航、飞行器导航、工业零件检测和抓取以及流水线组装等需要三维场景分析的计算机视觉应用领域中,场景深度信息对于系统的任务完成和性能的实现至关重要。提出并实现了一种结构简单可行的深度图像构建系统,系统搭载了轻小型360度激光扫描仪与USB摄像机。首先对360度激光扫描仪和USB摄像机分别进行标定,之后进行整体系统的标定,最后将系统采集的数据融合构建深度图像。通过实验证明,在激光扫描仪的扫描高度范围内本系统能精确构建深度图像,该系统适用于室内小型移动机器人的视觉导航。

With the wide using of machine vision and the rapid development of automation degree,the requirement of people for computer machine vision system are increasingly needed,such as robot navigation,aircraft navigation,industrial components detection,grasp and assay line,etc.which need 3D scene analysis in the field of computer vision.Scene depth information for task completion and performance of system is of great importance.In this paper,a simple depth image construction system is proposed and implemented,the system is equipped with a small light 360 degree laser scanner and a USB camera.Firstly,the 360-degree laser scanner and the USB camera are calibrated,then,the entire system is calibrated.Finally,the depth image is constructed by using the data collected by this system.The experimental results show that the system can accurately build depth image within the range of the laser scanner.This system is suitable for the robot visual navigation of the indoor small mobile.