Two-dimensional imagination expression method of three-dimensional laser-point cloud data

A point cloud data, three-dimensional laser technology, applied in image data processing, 2D image generation, projection reproduction, etc., can solve problems such as inability to effectively eliminate limitations

Active Publication Date: 2016-05-11
DALIAN UNIV OF TECH
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Problems solved by technology

[0006] In practical applications, large-scale scenes generally use laser continuous scanning to collect point cloud data. Each frame of laser data has its own s

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  • Two-dimensional imagination expression method of three-dimensional laser-point cloud data
  • Two-dimensional imagination expression method of three-dimensional laser-point cloud data
  • Two-dimensional imagination expression method of three-dimensional laser-point cloud data

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Embodiment Construction

[0051] The specific implementation of the present invention includes two aspects, one is the acquisition of three-dimensional laser point cloud data, and the other is generating a grayscale image according to the three-dimensional laser point cloud data.

[0052] The three-dimensional laser point cloud data used in the present invention may be collected by a ground mobile robot platform or an aerial mobile robot platform, or may be obtained by any other collection method. The present invention does not have too many requirements for the selection of the site, and both indoor and outdoor environments are acceptable. The scanning method of the scene can be selected as a fixed-point scanning method or a continuous laser scanning method. It is required that the collected 3D laser point cloud data can distinguish the laser data points belonging to each frame of laser line, so that the 3D laser point cloud data can be stored in the form of a two-dimensional array, and the pixels of ...

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Abstract

The invention discloses a two-dimensional imagination expression method of three-dimensional laser-point cloud data, and belongs to the field of image technologies. The method is implemented by devices mainly consisting of a mobile robot, a laser scanner and a computer system, wherein the laser scanner and the computer system are both installed on the platform of the mobile robot, and communication is performed between the laser scanner and the computer system by a data line; and the laser scanner is used for collecting the three-dimensional laser-point cloud data information of a scene, and the computer system is used for converting the three-dimensional laser-point cloud data into a two-dimensional gray level image. The method provided by the invention provides a powerful support for scene segmentation and scene understanding based on the laser-point data, and can be applied to large scale data and suitable for multiple scanning modes; and according to the method, the scenery boundary distinction degree and detail quality of the image are improved, and the texture of the image is clearer.

Description

technical field [0001] The invention belongs to the field of robot autonomous environment perception technology and laser scanning imaging, and relates to converting three-dimensional laser point cloud data collected by a mobile robot system into two-dimensional grayscale images to complete the expression of indoor and outdoor scenes. Background technique [0002] Vision is one of the important means for intelligent robots and intelligent systems to perceive the environment. Since the visual sensor is based on a passive sensing mechanism, it is easily affected by environmental factors such as brightness and light intensity changes during the imaging process. In addition, the image information collected by the monocular vision sensor lacks spatial depth information, which is not conducive to distinguishing scenes with different depth information. [0003] The acquisition of 3D laser data is not affected by environmental factors such as brightness and light intensity changes,...

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Application Information

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IPC IPC(8): G06T11/00
CPCG06T11/003
Inventor 庄严常欢闫飞刘一莎
Owner DALIAN UNIV OF TECH
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