Mobile platform-based color laser point cloud imaging system

Abstract

The invention relates to a mobile platform-based color laser point cloud imaging system and belongs to the field of environment awareness. The mobile platform-based color laser point cloud imaging system comprises a mobile platform, a support rod, a camera, a camera calibration module, a motion control module, a man-machine interaction module, a spatial alignment module, a mechanical wrist, a depth map establishing module, a filter module, a laser scanning radar, an attitude and azimuth reference module, and a laser point cloud dyeing module, wherein the mechanical wrist comprises a connecting shaft A, a connecting shaft B and a connecting cantilever. The mobile platform-based color laser point cloud imaging system acquires the three-dimensional point cloud information and image information through the laser scanning radar and the camera, and realizes the imaging of the color laser point cloud by the spatial alignment method and the laser point cloud dyeing method of the laser scanning radar and the camera. Compared with the traditional methods, the mobile platform-based color laser point cloud imaging system improves the registration accuracy of the laser scanning radar and the camera, has more real color three-dimensional point cloud obtained, can acquire the color three-dimensional point cloud in wide environment range by means of the mobile platform simultaneously, and has wider application range.

Description

technical field [0001] The invention relates to a color laser point cloud imaging system based on a mobile platform, which belongs to the field of environment perception. Background technique [0002] In recent years, laser scanning technology has been greatly developed. Using laser scanning radar can obtain highly accurate 3D data of the real scene. These data most directly reflect the real morphological characteristics of objective things, so people use it as an effective means to quickly obtain the 3D point cloud information of the measured object. 3D point cloud information It contains the measurement information (distance, geometric shape, etc.) of the measured object; but its disadvantage is that it cannot provide texture and color information about the scene object, so it is difficult to realize object recognition and other work by simply using 3D point cloud information. The camera can quickly acquire the image information of the measured object, including color, tw...

AI Technical Summary

Problems solved by technology

Using laser scanning radar can obtain highly accurate 3D data of the real scene. These data most directly reflect the real morphological characteristics of objective things, so people use it as an effective means to quickly obtain the 3D point cloud information of the measured object. 3D point cloud information Contains the measurement information (distance, geometric shape, etc.) of the measured object; but its disadvantage is that it cannot provide texture and color information about the scene object, so it is difficult to realize object recognition and other work by simply using 3D point cloud information

The camera can quickly acquire the image information of the measured object, including color and two-dimensional geometric shape information, texture, etc., making object image recognition easier, but its disadvantage is that the accuracy of the measured object's spatial shape, position and other information is poor

[0005] At present, the existing relevant literature mainly focuses on the research on the fusion algorithm of the 3D point cloud information scanned by the laser scanning radar and the image information captured by the camera, or the color laser point cloud imaging system mentioned is only suitable for fixed Platform, there is no construction plan of color laser point cloud imaging system based on mobile platform

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