无人机载激光线扫描浅滩三维成像研究

设计了一种基于三角法线扫描的无人机载激光雷达三维成像系统。系统以520 nm线激光为光源照射目标,利用无人机扫描获取目标的三维数据。文章设计了无人机载激光线扫描系统的硬件系统,构建了线激光水下折射三维坐标解算模型,提出了水上、水面与水下激光条纹提取的图像处理方法,并利用研制的雷达系统进行了近海浅水区域无人机扫描实验。实验结果表明,系统利用IMU及GPS能够有效提升三维图像的准确性,快速获取目标区域水上及水下目标的三维数据,平均距离分辨率达到3 cm,具有速度快、精度高、成本低的优势,在近岸浅海区域的大范围高速三维成像领域具有广阔的应用前景。

Research on unmanned aerial vehicle-borne laser line scanning system for shallow shoal 3D imaging

In this paper,Unmanned Aerial Vehicle(UAV)-borne three dimension(3D)imaging Laser imaging radar(Lidar)system is designed based on triangular imaging principle. The system uses 520 nm laser line as light source to illuminate the targets,and uses UAV as the system carrier to obtain the 3D data of the target. the hardware system of UAV-borne laser line scanning system was designed,a model of 3D coordinate calculation for laser line underwater refraction was proposed,the image processing method of laser stripe extraction of targets on water,water surface and targets underwater was proposed,and UAV scanning experiments in shallow shoal areas using the developed radar system was carried out. The experimental results show that IMU and GPS can effectively improve the accuracy of the 3D images,this system can quickly acquire the 3D data of targets on water and underwater in the target area,with an average distance resolution of 3 cm. The system has the advantages of fast speed,high accuracy and low cost,and has broad application prospects in the large-scale high-speed 3D imaging field for shallow shoal area.