摘要
利用2D激光雷达配合云台装置,设计了一种3D激光扫描仪作为三维数据获取装置。根据扫描仪的硬件特性和传输特性,进行PC端的扫描控制系统以及数据处理系统的设计。扫描控制系统实现了对扫描范围以及扫描精度的控制和设定,数据处理系统针对采集到的原始数据,经过坐标的映射将相对坐标转换到全局坐标,并进行点云滤波,利用最小二乘进行曲面光滑,最终进行三角网格重建。经过多次实验结果证明,该系统可以对一般几何复杂度的三维场景进行较好的重建。
Based on 2D laser radar and pan-tilt device, a 3D laser scanner is designed as a data acquisition device. At the same time, the scanning control and data processing system is designed on the host computer. The scanning control system realizes the control of the scanning range and the scanning precision. The data processing system converts the coordinates into the global coordinate system through the mapping relationship of the collected data, and converts the data into a standard point cloud format file for storage. In order to further improve the accuracy of the data, after designing the filter to eliminate the outliers, a three-dimensional model is constructed to realize discrete point cloud data visualization. The results show that the system can reconstruct the three-dimensional space better.
作者
段清明
王凡
徐琳琳
全文俊
Duan Qingming;Wang Fan;Xu Linlin;Quan Wenjun(College of Instrumentation & Electrical Engineering,Jilin University,Changchun 130012,China)
出处
《电子技术应用》
2019年第10期66-70,共5页
Application of Electronic Technique
关键词
2D激光雷达
三维重建
点云处理
控制系统
2D laser radar
3D reconstruction
point cloud filtering
control system
