基于单线激光雷达的三维形貌重建方法研究

Research on 3D shape reconstruction method based on single-line lidar

现有三维扫描激光雷达存在成本高、扫描范围有限等缺点,为解决这些问题,本文提出一种基于单线激光雷达的三维形貌重建系统,并对系统进行误差补偿以提高系统的准确度。该系统采用可编程逻辑控制器控制的步进电机旋转单线激光雷达的扫描平面,实现对实际空间场景的扫描。通过上位机控制扫描装置的工作过程同时获取原始点云数据,进而针对原始点云数据的特征提出一种动态分步处理数据的方法,将处理后的点云数据应用Crust算法实现三维形貌重建。最后,通过实验验证了本文所提出的方法的有效性和实用性。

Existing 3D scanning lidar has disadvantages such as high cost and limited scanning range.To solve these problems,a 3D morphology reconstruction system based on single-line lidar is proposed in this paper,and carries out error compensation to improve the accuracy of the system.In this system,the stepper motor controlled by programmable logic controller is used to rotate the scanning plane of the single-line lidar to realize the scanning of the real space scene.The working process of the scanning device is controlled by the upper computer and the original point cloud data is obtained at the same time.Then,according to the characteristics of the original point cloud data,a dynamic step-by-step data processing method is proposed.The processed point cloud data is applied to the Crust algorithm to achieve 3D morphology reconstruction.Finally,the validity and practicability of the proposed method are verified by experiments.