The invention discloses an indoor
point cloud map generation
system and an indoor
point cloud map generation method based on three-dimensional
laser. The indoor
point cloud map generation
system basedon three-dimensional
laser comprises: a
data acquisition module, wherein point
cloud data is collected by a
laser sensor; a data
filtration module, wherein
noise points and isolated points are filtered by a wave filter; a
data registration module, wherein the local point
cloud data is subjected to registration by using an
image registration method so as to form a completed 3D point cloud map; anda data partition module, wherein the 3D point cloud map is subjected to partition by using a data partition method to obtain the point cloud collection data of different planes and different objects.According to the technical scheme of the present invention, the discrete point
cloud data is converted into the complete three-dimensional point cloud map through filtering, splicing,
noise reducing,matching, partition and other operations, such that the accurate indoor environment map with the complete three-dimensional structure is established, the accurate and complete map basis is provided for the subsequent navigation and positioning of the
robot, and the good
scalability and the good stability are provided.