Imaging method of a three-dimensional laser scanning imager

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

Inactive Publication Date: 2017-01-11
NORTHWESTERN POLYTECHNICAL UNIV
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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 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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  • Imaging method of a three-dimensional laser scanning imager
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  • Imaging method of a three-dimensional laser scanning imager

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Embodiment Construction

[0043] The present invention will now be further described in conjunction with the embodiments and drawings:

[0044] The 3D laser scanning imager includes an infrared laser, camera, Raspberry Pi development board, stm32 board and lithium battery. The linear infrared laser and the camera form an angle of 83°, and the linear laser projected by the linear infrared laser illuminates the obstacle 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 transmits the image 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 entire device to rotate 360° together, so that the three-dimensional point coordinate data of the scene in all directions can be obtained by scanning a circle.

[0045] Since the light interference in the infrared band in the daily light source is relatively small, an infrared laser i...

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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 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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/24G01C3/10
Inventor 林洋冯燕
Owner NORTHWESTERN POLYTECHNICAL UNIV
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