A 3D reconstruction device with variable field of view based on oscillating lidar

Abstract

The invention provides a view-variable three-dimensional reconstruction device based on laser radar swinging. The view-variable three-dimensional reconstruction device comprises a laser radar swinging mechanism, a mechanism movement control module and a three-dimensional point cloud reconstruction module, wherein the laser radar swinging mechanism comprises a single-line laser radar, a laser radar center fixing mechanism and a laser radar swinging control mechanism, the single-line laser radar is three-dimensional point cloud data collecting equipment, the laser radar center fixing mechanism bears the weight of the laser radar and fixes the center of the laser radar, and the laser radar swinging control mechanism achieves regulation of the view range of the laser radar and drives the laser radar to swing in an omni-directional manner; the mechanism movement control module controls the movements of the laser radar swinging mechanism and measures the pose of the laser radar in real time; the three-dimensional point cloud reconstruction module splice multiple frames of laser radar measuring data to reconstruct spatial three-dimensional point cloud. The view-variable three-dimensional reconstruction device has the advantages that measuring and reconstruction of a three-dimensional environment can be completed, the view range and point cloud distribution can be regulated according to needs so as to emphasized measuring of the space information of different positions, and the device is high in precision, high in reliability and good in adaptability.

Description

technical field [0001] The invention relates to the field of geographic information data collection and the field of three-dimensional topography surveying and mapping of the environment, in particular to a three-dimensional reconstruction device with a variable field of view based on a swing laser radar. Background technique [0002] With the rapid development of the mobile robot industry, more and more smart devices are put into work in unstructured environments, and the demand for three-dimensional perception and measurement of the environment is increasing. Among them, since all kinds of intelligent vehicles rely heavily on information such as roads and buildings when driving, 3D reconstruction in outdoor environments is more important. [0003] Among all kinds of 3D measuring devices at present, lidar has been widely used due to its high precision and good stability. However, the traditional multi-line lidar is expensive, and the resulting point cloud is sparse, which ...

AI Technical Summary

Problems solved by technology

[0004] However, the requirements for 3D reconstruction of the outdoor environment are complex, and the existing devices are difficult to meet

On the one hand, except for the sky directly above and the flat ground directly below, there are useful information in other directions outdoors, but most of the current swing devices cannot perform omnidirectional scanning due to institutional limitations, and can only perform small-scale spatial measurements, which cannot be completed at one time Reconstruction of important information; on the other hand, different scenarios and different applications have different requirements for measurement results. In a narrow environment, a measurement device needs to cover nearby information, while in a wide environment, distant information It is more necessary to obtain focused scanning, but the field of view of the existing devices and the distribution of the result point cloud are mostly fixed, which cannot be adjusted according to the demand, and it is difficult to adapt to different measurement situations

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