Three-dimensional rebuilding method based on laser and camera data fusion

Abstract

A three-dimensional rebuilding method based on laser and camera data fusion is characterized in that the rebuilding method comprises the following steps: (1) a C++ language is adopted to compile a laser data automatic collecting platform based on a radar principle; (2) a rotation matrix R and a translation vector T are arranged between a camera coordinate system and a laser coordinate system; (3)a motion object is extracted and subdivided by utilizing an optical flow field region merging algorithm, thus further subdividing the point cloud corresponding to the motion object; and (4) guaranteeof point cloud and image texture on the precise positioning is provided for the three-dimensional image texture mapping, thus realizing the three-dimensional rebuilding system based on data fusion. The three-dimensional rebuilding method has the advantages of quickly and automatically collecting and processing laser data, quickly completing the external labeling of the laser and CCD, effectively extracting and subdividing effective point clouds of the object in complex environment and exactly completing the three-dimensional rebuilding of the laser and CCD data of the object.

Description

technical field [0001] The invention relates to a three-dimensional reconstruction method based on laser and camera, in particular to a kind of laser data acquisition and processing; laser and CCD external calibration method; effective point cloud extraction and segmentation method; laser and CCD data fusion three-dimensional reconstruction method . Background technique [0002] The real world is three-dimensional. For a long time, due to the limitation of the development level of science and technology, most of the data we can obtain and effectively process and analyze are two-dimensional data, which makes the three-dimensional information of a large number of objects lost. With the development of computer technology, people's access to information has shifted from traditional two-dimensional plane images to three-dimensional images. In recent years, laser rangefinders based on the principle of radar have been developed rapidly, and they can obtain highly accurate 3D data ...

AI Technical Summary

Problems solved by technology

[0002] The real world is three-dimensional. For a long time, due to the limitation of the development level of science and technology, most of the data we can obtain and effectively process and analyze are two-dimensional data, which makes the three-dimensional information of a large number of objects lost.

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