摘要
提出了一种基于三维激光发射器与单目摄像机的外部参数标定的方法。针对三维激光点云具有噪声这一问题,有效去除了点云中的离群点,并提出基于激光点云有序性的三角网格划分方法。对每个三角网格面进行贴图,完成对场景的重构。该方法能自动、稳定、精确获得三维激光与视觉之间的外部参数,基于RGB-D数据的室内场景重构实验验证了方法的可行性。
This paper presents a method based on 3D laser transmitter and external monocular camera calibration parameters.Having a noise problem for three-dimensional laser point cloud,the cloud point effectively eliminates outliers,and proposed based on laser point cloud orderly triangle Meshing methods.Map it to each triangular mesh surface,complete reconstruction of the scene.This method automatically,stable,fine Indeed external parameters obtained between visual and three- dimensional laser- based interior scenes RGB- D data were collected to test the feasibility of this method.
出处
《自动化与仪器仪表》
2016年第12期10-12,共3页
Automation & Instrumentation
关键词
三维激光发射器
单目摄像机
场景重构
3D laser transmitter
monocular camera
scene reconstruction
