Swing laser radar-based indoor three-dimension point cloud map generation system and method

A technology of 3D point cloud and laser radar, which is applied in radio wave measurement system, electromagnetic wave re-radiation, utilization of re-radiation, etc., can solve the problem that the map data is only in two-dimensional form, the data fusion process requires more processing, and the cost of sensors is high. Achieve the effects of easy implementation, dense point cloud data, and high data accuracy

Active Publication Date: 2016-12-07
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

This invention can be used to generate information-rich map data, but there are disadvantages such as complex system, redundancy, cumb

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  • Swing laser radar-based indoor three-dimension point cloud map generation system and method
  • Swing laser radar-based indoor three-dimension point cloud map generation system and method
  • Swing laser radar-based indoor three-dimension point cloud map generation system and method

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Embodiment Construction

[0039] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0040] Such as Figure 1-3 As shown, this embodiment provides an indoor 3D point cloud map generation system based on swing lidar, the system includes a 3D point cloud data acquisition module and a data processing module, wherein:

[0041] The three-dimensional point cloud data acquisition module includes a laser radar 7 and a swing actuator 8, and the swing actuator 8 is equipped with a laser radar 7 and drives the laser radar 7 to swing back and forth;

[0042] The swing actuator 8 communicates...

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Abstract

The invention provides a swing laser radar-based indoor three-dimension point cloud map generation system. The system includes a three-dimension point cloud data acquisition module and a data processing module; the three-dimension point cloud data acquisition module comprises a laser radar and a swing implementing mechanism, wherein the laser radar is used for acquiring point cloud data of the surrounding environment of a mobile platform, and the swing implementing mechanism is used for carrying the laser radar, driving the laser radar to swing in a reciprocating manner and sending swing angle data to the data processing module; and the data processing module, adopted as a point cloud data processing and storage device, controls the start/stop state of the three-dimensional point cloud acquisition module, merges the scanning data of the laser radar and the swing angle data so as to generate indoor three-dimension point cloud data, splices the indoor three-dimension point cloud data to generate an indoor three-dimension point cloud map, and stores the indoor three-dimension point cloud map. The swing laser radar-based indoor three-dimension point cloud map generation system of the invention has the advantages of structural simplicity, easiness in implementation, high performance-to-price ratio as well as high density and high precision of generated point cloud map data. The generated three-dimensional point cloud map can be directly applied to various application situations of indoor navigation and positioning.

Description

technical field [0001] The invention relates to a three-dimensional point cloud map generation system, in particular, an indoor point cloud map generation system and method based on swing laser radar is designed. Background technique [0002] With the extensive development of robots in the fields of indoor services, environmental disaster relief, and surveying and mapping services, building a three-dimensional spatial map of the indoor environment has become a very important function of mobile robots. The establishment of high-precision 3D maps often faces specific problems such as the acquisition of high-precision spatial data, robot pose estimation, and later map optimization. [0003] At present, in the usual indoor three-dimensional environment mapping scheme of mobile robots, multi-sensor fusion is usually used, such as using sensors such as odometer, inertial navigation (IMU), global positioning system (GPS), lidar, binocular camera, etc. Data fusion is used to estima...

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Application Information

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IPC IPC(8): G01S17/89G01S7/481
CPCG01S7/4817G01S17/89
Inventor 杨明戚明旭王冰王春香
Owner SHANGHAI JIAO TONG UNIV
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