自遮挡物体线激光测量视点规划

针对未知自遮挡物体的测量和三维重建问题，提出利用Kinect Fusion技术快速重建和线激光精密测量相结合的视点规划新方法。应用Kinect Fusion技术快速获取未知自遮挡物体表面的深度信息模型，研究提出轮廓表面的截面特征信息提取方法，在此基础上分析轮廓表面的截面形状特征，根据五自由度线激光测量系统的左右方向和上下方向测量可视性判断，在最佳测量范围内进行线激光测量全局视点规划，准确、快速消除自遮挡和点云孔洞，最后获得重建精度高的三维物体表面。经过自遮挡物体重建实验，验证了所提方法的可行性及有效性。

View Planning in Line Laser Measurement for Self-occlusion Objects

Focusing on measurement and 3D reconstruction of unknown self-occlusion objects, a new view planning method was proposed combining with fast reconstruction using Kinect Fusion technology and line laser precision measurement. Firstly, the surface depth information model of unknown self-occlusion object was obtained quickly with Kinect Fusion technology, and then the cross section shape of the object was analyzed. According to measuring visibility judgment of the five degrees-of-freedom line laser measurement system about left-right direction and upper-lower direction, the global view planning was carried out based on the best measurement range,the self-occlusion and point cloud holes were eliminated accurately and quickly. Finally, the 3D object surface reconstruction with high precision was obtained.The reconstruction experiments of self-occlusion object show that the method is feasibility and effective.