Method for determining environment information on the basis of three-dimensional heat source environment model with low cost

Abstract

The invention discloses a method for determining environment information on the basis of a three-dimensional heat source environment model with low cost. The method utilizes a two-dimensional laser radar to carry out modeling on environment under the assistance of a steering engine, an environment model is fused with heat source information obtained by a thermal imager, and finally, the three-dimensional heat source environment model with spatial information and heat source information is constructed. The model is constructed in a point cloud form, and a greedy projection triangulation algorithm is used for carrying out triangularization to enhance a real effect. By use of the method for carrying out real-time modeling on the heat source environment on a premise of low cost, modeling accuracy can be regulated according to requirements, and the three-dimensional heat source model of the environment is obtained.

Description

Technical field [0001] The invention relates to the technical field of environment modeling and information acquisition, in particular to a three-dimensional environment modeling using low-cost two-dimensional lasers and mechanical devices, and then fusion of temperature information obtained by a thermal imager to achieve a three-dimensional heat source environment Modeling. Background technique [0002] In recent years, the number of fires in China and the resulting property losses and casualties have shown an upward trend. Fires have become one of the most frequent disasters in the world today. In response to the current increasing frequency of fires and the huge threat to the personal safety of firefighters from the fire environment, more and more unmanned equipment has begun to be put into the fire scene to assist the fire department in repairing the fire scene. [0003] Traditionally, the sensing equipment used in unmanned equipment in the fire scene is generally an ordinary ...

AI Technical Summary

Problems solved by technology

However, in these methods, the focal length of the thermal imager cannot be changed in one use. For scenes of different scales, the imaging will be blurred due to the inability to focus correctly. At the same time, when calibrating the thermal imager, due to the special characteristics of thermal imaging, traditional methods cannot be used for calibration , the calibration is more troublesome, and the method that requires manual participation in the measurement cannot become a perception system for unmanned equipment

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