Calibration device based on rotary type two-dimensional laser three-dimensional reconstruction system

Abstract

The invention provides a calibration device based on a rotary type two-dimensional laser three-dimensional reconstruction system. The calibration device comprises a data acquisition module, an acquisition assistant module, a data transmission module and a data analysis and processing module, wherein the data acquisition module comprises a two-dimensional laser radar and a calibration module, and the calibration module consists of three mutually vertical non-transparent square planes; the acquisition assistant module comprises a support frame and a rotating cradle head arranged on the support frame, the two-dimensional laser radar is arranged on the rotating cradle head, and the rotating cradle head is controlled by the data analysis and processing module. The calibration device can effectively carry out once data acquisition, and the complex degree of calibration is reduced; moreover, a two-dimensional laser coordinate system is quickly and accurately fused with a word coordinate system, and the calibrated result is applied to large-scale scene three-dimensional reconstruction.

Description

technical field [0001] The invention relates to the field of computer vision, in particular to a calibration device and method based on a rotating two-dimensional laser three-dimensional reconstruction system. Background technique [0002] 3D reconstruction is the use of sensor technology to obtain 3D structural information of large scenes, which has very important applications in the fields of smart cities, traffic planning, 3D modeling and simulation. In some specific locations such as tunnels, culverts, under bridges, mine roads, and under high-rise buildings, traditional 3D measurement tools such as traditional GPS receivers, IMU units, and laser range finders cannot be used effectively because GPS signals cannot be received effectively. , at this time, using the laser to perform three-dimensional reconstruction on these positions can effectively obtain the information in the scene. [0003] The first step in 3D reconstruction is to carry out the calibration work. Wheth...

AI Technical Summary

Problems solved by technology

The calibration algorithm based on the planar template needs to obtain data for the calibration planar template 5 times, but the calibration process is cumbersome and complicated; the calibration algorithm based on the minimum solution that introduces nonlinear constraints still needs 3 times of data acquisition, but the calculation process of the algorithm is relatively complicated. The derivation process is cumbersome and there are multiple solutions

In the data acquisition method, multi-line radar can be used to extract three-dimensional features, but multi-line radar is expensive and not suitable for popularization and application

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