Fusing method of 3D laser point cloud and 2D image

Abstract

The invention relates to the technical field of 3D point cloud data processing and 3D scene reconstruction. A fusing method of a 3D laser point cloud and a 2D image comprises the following steps: (1) making a black-and-white grid vertical hole calibration board; (2) collecting 3D laser point cloud and 2D images; (3) calculating the space coordinates of the centers of the vertical holes; (4) calculating the pixel coordinates of the centers of the vertical holes; and (5) calculating a mapping matrix to complete data fusion. The method has the advantages as follows: firstly, linear point cloud data of a laser scanner and image data shot by a camera are used, and the amount of data sampled is small; secondly, for solving of the mapping relation between 3D laser point cloud and 2D images, the amount of calculation is small, the calculation process is simple, and the calculation efficiency is high; thirdly, real-time 3D laser point cloud and 2D image fusion can be realized; fourthly, the space coordinates of the centers of the vertical holes are calculated using an interval matrix, there are multiple constraints, and calculation is more accurate; and fifthly, the homographic relation between the laser scanning plane and the camera imaging plane is directly constructed based on the imaging principle of the camera to solve the mapping matrix, and the calculation method is simple and reliable.

Description

technical field [0001] The invention relates to a fusion method of a three-dimensional laser point cloud and a two-dimensional image, belonging to the technical fields of three-dimensional point cloud data processing and three-dimensional scene reconstruction. Background technique [0002] In the process of digitizing the real world, the 3D point cloud data records the geometric properties and position information of the object surface, and the 2D image records the color information and texture information of the object surface. The deep fusion of the two will form an emerging digital Media, that is, 3D color point cloud data, 3D color point cloud data is a further development of 3D point cloud data, which can more accurately represent the real world. The fusion of 3D laser point cloud and 2D image is a key technology to solve 3D scene reconstruction. It has strong theoretical significance and application value. It has been used in industrial inspection, autonomous navigatio...

AI Technical Summary

Problems solved by technology

This method has the following disadvantages: 1) This method requires a comprehensive laser scanning of the calibration plate to obtain a complete 3D laser point cloud of the calibration plate, and the amount of data acquired by sampling is large

2) In order to solve the mapping relationship between the 3D laser point cloud and the 2D image, this method needs to process a large amount of sampled data, the calculation amount is too large, the calculation efficiency is low, and the calculation process is cumbersome; 3) This method cannot realize the 3D laser point cloud Real-time matching of cloud and 2D image. When 3D laser point cloud and 2D image are fused, the laser scanner needs to scan the entire scene first to obtain the 3D laser point cloud of the complete scene, and then combine it with the 3D laser point cloud obtained by the camera. Two-dimensional planar image data is fused, and the process is not real-time

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