360°激光测距的可移动三维建模方法

Mobile Three-Dimensional Modeling Method Using 360 Degree Laser Ranging

为了实现对未知密闭空间内部结构的探测,提出了一种可进行全方位测量并实现三维模型重建的方法.采用移动平台搭载两路激光测距传感器,在水平和竖直方向同步进行距离和角度的数据采集,并将数据传输到上位机.上位机对所获得的距离数据进行融合,采用3D建模技术得到移动平台周围环境的三维模型.同时,摄像头将周围环境的实时图像数据传到上位机,操作人员根据图像控制移动平台,实现对移动平台周围环境的全方位扫描,得到最终的三维模型.经实验验证,该方法精度可达0.2m.本设计可以对人员难以到达或危险的区域进行测量.

To realize the detection of the internal structure of the unknown confined space,which can carry out all-round measurement and realize the reconstruction of the three-dimensional model.The mobile platform is equipped with two laser ranging sensors to collect distance and angle data synchronously in the horizontal and vertical directions and transmit the data to the upper computer.The host computer fuses the obtained data and uses 3D modeling technology to obtain a three-dimensional model of the surrounding environment of the mobile platform.Moreover,the camera transmits the real-time image data of the surrounding environment to the upper computer,and the operator controls the mobile platform according to the image,which can realize the full-scale scanning of the surrounding environment of the mobile platform and obtain the final three-dimensional model.The experimental verification shows that the accuracy of this method is up to 0.2 m.This design can measure areas where are hard for people to reach or dangerous.