Imaging method of a three-dimensional laser scanning imager

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 Rangefinderor Laser Radar has been used more and more in military, aviation and civil fields due to its fast ranging speed, high accuracy, and intuitive information acquisition. In the research of intelligent mobile robots, The laser ranging system has become one of the indispensable external environment sensing sensors for robots together with CCD cameras and ultrasonic sensors. At present, laser scanning imagers are mainly two-dimensional and three-dimensional. Two-dimensional only obtains distance information on a fixed scanning plane (also known as single-line scanning), such as the LMS series 2D radar produced by SICK in Germany; three-dimensional laser ranging The imager can rotate the scanning plane (multi-line scanning) wh...

AI Technical Summary

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 difference of emitted / reflected laser beams.

[0004] The high price of laser scanning imager limits its further application

Of course, there is also an alternative, that is Microsoft's kinect, but its imaging resolution and ranging accuracy are much lower than those of lidar, and it cannot be used outdoors

Moreover, the price of kinect is relatively high, and its penetration rate in China is very low.

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