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Three-dimensional point cloud reconstruction method based on laser radar

A technology of lidar and 3D point cloud, applied in the field of 3D reconstruction based on lidar, which can solve the problems of poor real-time mapping, expensive sensors, and motion distortion.

Pending Publication Date: 2019-09-10
于兴虎
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  • Claims
  • Application Information

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Problems solved by technology

[0006] The purpose of the present invention is to solve the shortcomings of the existing three-dimensional laser mapping method, such as expensive sensors, serious motion distortion at low scan rates, and poor real-time mapping, and proposes a method based on rotating single-line laser radar and LM optimization method that can Real-time Perception and Reconstruction Method of 3D Environment

Method used

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  • Three-dimensional point cloud reconstruction method based on laser radar
  • Three-dimensional point cloud reconstruction method based on laser radar
  • Three-dimensional point cloud reconstruction method based on laser radar

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Embodiment 2

[0153] In this embodiment, a street is taken as an example, and real-time mapping is carried out through the 3D point cloud reconstruction method described in Embodiment 1. The mapping result is as follows Figure 6 and Figure 7 shown, where Figure 6 An oblique view reconstructed from the 3D point cloud of the street, Figure 7 It is a top view, in which the point cloud color corresponds to the vertical height from low to high according to the distribution of gray value from high to low, that is, the point cloud representing the ground is the lightest in color, and the points representing higher positions such as vehicles, trees, walls and buildings Clouds are darker in color. From the results of the map construction, this method has a good effect on the 3D reconstruction of the street.

Embodiment 3

[0155] In this embodiment, a corresponding scanning system is established for the three-dimensional point cloud reconstruction method described in Embodiment 1. The scanning system includes a two-dimensional laser scanning device and a data processor. Please refer to Figure 8 , the scanning device includes: a single-line laser radar 1 and a driving body 2, the single-line laser radar 1 is installed on the rotating shaft of the driving body 2, and the driving body 2 is used to drive the single-line laser radar 1 and its two-dimensional scanning plane around The rotating shaft of the driving body 2 rotates, controls its rotational speed and returns the rotation angle information to the data processor in real time. The driving body 2 includes a Cortex-M4 control board 7, a stepping motor 6, a reducer 5 and an encoder 8, The single-line laser radar 1 is installed on the upper bracket 3, and the upper bracket 3 is connected to the output shaft of the stepper motor 6 through the red...

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Abstract

The invention relates to the technical field of three-dimensional reconstruction. The invention discloses a three-dimensional point cloud reconstruction method based on laser radar. The method comprises the following steps: data acquisition and preprocessing, feature extraction, feature matching, motion estimation, point cloud fusion and the like. The three dimensional environment real-time mapping function is achieved through a two-dimensional laser radar, and compared with the scheme based on a multi-line laser radar, the three-dimensional point cloud reconstruction method has the advantagesof being low in cost, good in motion distortion removing effect, high in real-time performance and high in mapping precision and has high practical significance for popularization and application ofthe three-dimensional environment reconstruction technology.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional reconstruction based on laser radar, and is especially suitable for mobile robots, unmanned vehicles, architectural surveying and mapping and other fields that require real-time perception and reconstruction of three-dimensional scenes, and relates to a three-dimensional point cloud reconstruction based on laser radar method. Background technique [0002] The 3D environment reconstruction technology is an important technology in the current application occasions such as mobile robots and unmanned vehicles. It plays an important role in the robot's perception of 3D environment information and subsequent motion strategy planning. The current mainstream 3D scene reconstruction technology is mainly divided into two categories according to the sensors used: one is based on visual sensors, such as monocular cameras, binocular cameras and RGB-D cameras, etc.; the other is based on lidar sensors...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/00G06T19/20G06T7/13G01S17/89
CPCG01S17/89G06T7/13G06T17/00G06T19/20G06T2200/08G06T2207/10028G06T2219/2016
Inventor 于兴虎孟令波
Owner 于兴虎
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