车载激光雷达三维点云重构与漫游方法

Reconstruction of 3D point cloud based on vehicle-borne LiDAR and research on roaming methods

针对车载激光雷达系统,建立了由激光扫描仪数据、载车GPS数据、载车姿态数据进行激光点云解算与重构的数学模型,得到道路及两侧景物的三维点云场景。根据载车行进轨迹,用Open GL三维引擎技术,实现对道路两侧景物的三维漫游。研究将激光雷达应用于车辆和飞行器的防撞预警,此技术具有快速、主动获取障碍物的高精确度三维坐标,探测距离远,受天气影响小的优势。为能见度低、障碍物较多情况下的车辆和飞行器的防撞提供了一个可行的技术途径。

For vehicle-borne Light Detection And Ranging(Li DAR), a mathematical model is built for the computation and reconstruction of laser point cloud with the scanning data, Global Positioning System(GPS) data and Inertial Measurement Unit(IMU) data. 3D point cloud of the road and the scenery on the both sides of the road is obtained. Then according to the trajectory of vehicle, 3D roaming for the scenery on the both sides of the road is realized by using Open GL 3D engine technology. A collision warning technology is researched for applying in vehicle and aircraft by adopting the Li DAR system. Li DAR can obtain the target's high precision 3D coordinates in a quick and initiative way with a long detection distance, and can ignore the influence of night and weather. This technology provides a feasible technical way for vehicle and aircraft's collision avoidance in the environment of low visibility and multi-obstacle.