point cloud-based SLAM mobile robot airport road detection data collection method
A mobile robot and road detection technology, applied in the field of 3D point cloud, can solve problems such as high noise, incomplete data inclusion, difficulty in obtaining RGB mapping, etc., achieve maximum flexibility, solve time-consuming and labor-intensive effects
Inactive Publication Date: 2021-03-30
浙江汉德瑞智能科技有限公司
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Problems solved by technology
[0008] In order to improve the efficiency of pavement index detection, the present invention solves the problem that the data collected manually by engineers contains incomplete defects, and the problem of limitations in dynamically estimating the current scanning position and automatically constructing an environment map for 3D reconstruction, such as Lower point cloud resolution, higher noise due to motion distortion, and difficult to obtain RGB mapped point clouds
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[0029] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0030]On the contrary, the invention covers any alternatives, modifications, equivalent methods and schemes within the spirit and scope of the invention as defined by the claims. Further, in order to make the public have a better understanding of the present invention, some specific details are described in detail in the detailed description of the present invention below. The present invention can be fully understood by those skilled in the art without the description of these detailed parts.
[0031] see figure 1 , the technical solution of the present invention being the embodiment of the pres...
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The invention discloses a point cloud-based SLAM mobile robot airport road detection data collection method. The method comprises the steps of S10, starting static scanning; s20, carrying out dynamicscanning by using SLAM; s30, determining a scanning position and a scanning angle through horizontal scanning; s40, fusing the data with the color information; s50, scanning a registration point cloudwith function matching; s60, testing and analyzing; s70, carrying out result analysis. According to the invention, the point cloud data collection process is automated; even if the overlapping area between continuous scanning is very low, the method can still work without using a target or a feature in the point cloud; and the number of scanning times required for reconstructing a large site is small, so that the time and the cost of data collection are reduced.
Description
technical field [0001] The invention belongs to the technical field of three-dimensional point clouds, and relates to a point cloud-based SLAM mobile robot airport road detection data acquisition method. Background technique [0002] 3D laser scanning technology can also be understood as real scene replication technology. It is a technological revolution in the field of surveying and mapping after GPS technology. It is a new technology that has appeared in recent years. The 3D coordinates, reflectivity, and texture information of the point can quickly reconstruct the 3D model of the measured target and various image construction data such as lines, surfaces, and volumes. Since the 3D laser scanning system can intensively acquire a large number of data points of the target object, compared with the traditional single point measurement, the 3D laser scanning technology is also known as a revolutionary technological breakthrough from single point measurement to surface measurem...
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IPC IPC(8): G06T7/70G06K9/62G06K9/46G01S17/89
CPCG06T7/70G01S17/89G06T2207/10028G06T2207/10024G06V10/44G06F18/25
Inventor 张继勇裘健鋆
Owner 浙江汉德瑞智能科技有限公司