| 基于二维激光雷达的自动室内三维重建系统 |
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| 引用本文： | 苏胜利,项志宇.基于二维激光雷达的自动室内三维重建系统[J].传感技术学报,2007,20(5):985-989. |
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| 作者姓名： | 苏胜利 项志宇 |
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| 作者单位： | 浙江大学信息科学与工程学院,杭州,310027;浙江大学信息科学与工程学院,杭州,310027 |
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| 摘 要： | 设计了一个基于二维激光雷达的自动室内三维重建系统.系统的硬件由一套自行设计的基于2D激光雷达的三维扫描系统和一台电脑构成.介绍了系统的软件模块,提出了结合最近点迭代(ICP)和通用多边形裁剪(GPC)的3D平面场景合成方法.ICP能够获得不同采集位置之间的位置变化,以此能将各个不同位置获得的3D场景转换到同一坐标系下.场景合成时的碎平面问题通过GPC方法来解决.实验结果表明:该系统成本低,精度高,能稳定可靠地实现室内场景的自动三维重建.
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| 关 键 词： | 二维激光雷达 三维场景重建 最近点迭代 通用多边形裁剪 |
| 文章编号： | 1004-1699（2007）05-0985-05 |
| 收稿时间： | 2006-06-22 |
| 修稿时间： | 2006-07-29 |
An automatic 3D reconstruction system for indoor environment
using a 2D laser radar |
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| SU Sheng-li,XIANG Zhi-yu.An automatic 3D reconstruction system for indoor environment
using a 2D laser radar[J].Journal of Transduction Technology,2007,20(5):985-989. |
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| Authors: | SU Sheng-li XIANG Zhi-yu |
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| Affiliation: | College of ln f ormaiton Science and Engineering, Zhej iang University, Hangzhou 3100Z7, China |
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| Abstract: | An automatic 3D reconstruction system for indoor environment is designed. The hardware includes a computer and a set of self-developed 3D laser scanning system that is based on a 2D laser radar. An ICP and GPC based 3D planar scene integration algorithm is proposed in the software module. ICP can provide position changes between neighboring data-acquiring points. Based on this information the 3D scene data from different viewpoints can be transformed into a global coordinate system. The large number of plane segments from different local views are integrated and simplified by GPC. The experimental resuits show that the resulting system is cost-effective and can realize 3D reconstruction of indoor environment with high stability and accuracy. |
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| Keywords: | 2D laser radar 3D reconstruction ICP generic polygon clipper |
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