Imaging method for three-dimensional laser scanning imager

A scanning imaging, three-dimensional laser technology, applied in instruments, optical devices, measuring devices, etc., can solve the problems of restricting further applications, low imaging resolution and ranging accuracy, and high price of kinect

Inactive Publication Date: 2015-01-07
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
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Problems solved by technology

[0003] The device complexity of the laser scanning imager is high. For example, the price of the laser radar products produced by Hokuyo Company is tens of thousands of yuan.
One of the reasons for its high cost is that they often use high-speed optical galvanometers for laser scanning with a large angle range, and the distance measurement uses the method of calculating the phase differenc

Method used

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  • Imaging method for three-dimensional laser scanning imager
  • Imaging method for three-dimensional laser scanning imager
  • Imaging method for three-dimensional laser scanning imager

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Embodiment Construction

[0043] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0044] The three-dimensional laser scanning imager includes an infrared line laser, a camera, a Raspberry Pi development board, an stm32 board, and a lithium battery. The line infrared laser and the camera form an angle of 83°, and the line laser projected by the line infrared laser irradiates obstacles The object will be reflected back and imaged in the camera. The camera is connected to a Raspberry Pi development board through the USB interface, and the image is transmitted to the development board. The bottom of the 3D laser scanning imager is equipped with a steering gear that can rotate 360°, which will drive the whole device to rotate 360° together, so that the 3D point coordinate data of the scene in all directions can be obtained by scanning a circle.

[0045] Since there is less light interference in the infrared band in the daily light source, an infrar...

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Abstract

The invention relates to an imaging method for a three-dimensional laser scanning imager. An input image is processed by utilizing the principle of a triangulation ranging method; according to the coordinates of the center of a spot, formed by reflected lasers, in the image, the included angle between a laser device and a camera and a fixed distance valve between the laser device and the camera, the three-dimensional coordinates of all points of an object projected by the beam of linear lasers are finally figured out by utilizing the theory of solid geometry; finally, a scene point cloud model is drawn by utilizing a GLUT library.

Description

technical field [0001] The invention relates to an imaging method with a scene three-dimensional laser scanning imager, in particular to a low-cost imaging method with a scene three-dimensional laser scanning imager. Background technique [0002] Laser Rangefinder or Laser Radar has been used more and more in military, aviation and civil fields due to its fast ranging speed, high precision, and intuitive information acquisition. In the research of intelligent mobile robots, The laser ranging system, together with CCD cameras and ultrasonic sensors, has become one of the indispensable external environment perception sensors for robots. At present, laser scanning imagers mainly include two-dimensional and three-dimensional. The imager can rotate the scanning plane (multi-line scanning) while scanning two-dimensionally. The main representative is the RIEGL series long-range three-dimensional radar produced by Austrian RIEGL company. [0003] The device complexity of the laser...

Claims

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Application Information

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IPC IPC(8): G01B11/24G01C3/10
Inventor 林洋冯燕
Owner NORTHWESTERN POLYTECHNICAL UNIV
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