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3D environment surface triangular mesh constructing method based on 2D laser sensor

A triangular grid and two-dimensional laser technology, applied in the field of laser point cloud-based environmental modeling, can solve problems such as difficult to construct triangular elements, affect the effect of triangular grids, and uneven point cloud data, and achieve processing Fast speed, easy handling, and wide application range

Active Publication Date: 2017-09-01
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI +1
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Problems solved by technology

[0004] These classic 3D surface reconstruction algorithms are more effective in processing uniform and consistent 3D laser point cloud data. However, due to reasons such as laser scanning angle and scanning distance, 3D laser point cloud data may appear inhomogeneous or have certain irregularities in the scanned surface. In a discontinuous situation, it is difficult for the above-mentioned classical algorithm to construct ideal triangulated elements, and may even introduce some disturbing triangulated elements, which will seriously affect the effect of triangular mesh construction

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  • 3D environment surface triangular mesh constructing method based on 2D laser sensor
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  • 3D environment surface triangular mesh constructing method based on 2D laser sensor

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Embodiment Construction

[0036] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0037] The realization principle of the present invention is as follows: firstly, a three-dimensional laser scanner is built by using a one-dimensional pitch-rotating pan-tilt and a two-dimensional laser sensor, and a Cartesian coordinate system is established. Use the host computer software to record the scanning data of the two-dimensional sensor and the rotation angle value of the one-dimensional pitch-rotating head. Then through coordinate transformation, the distance value, deflection angle value and pitch angle value recorded by the host computer are converted to the three-dimensional space Cartesian coordinate system, and the uniform sampling method is used to realize the compression of the three-dimensional point cloud data. Number the compressed 3D point cloud data to turn it into a point cloud matrix. In order to realize the triangul...

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Abstract

The invention relates to a 3D environment surface triangular mesh constructing method based on a 2D laser sensor, comprising the following steps: a 2D laser sensor collects scanning data of 3D environment scanning, and sends the scanning data to a principal computer; the scanning data collected is converted into a 3D laser point cloud matrix under Descartes space coordinates; the data of the 3D laser point cloud matrix obtained is compressed to get 3D laser point cloud data; and triangular mesh construction is carried out based on the 3D laser point cloud data. The method has a wide range of applications, and is applicable to environment modeling of most of 3D laser point cloud data. The method is highly targeted, and can help to handle uneven laser point cloud data or a continuous scanning plane. The method has a good processing effect, and can be used to reconstruct a triangular mesh similar to the topology of an original scanning environment. The method is based on a simple principle, and is of high processing speed.

Description

technical field [0001] The invention relates to the field of environment modeling based on laser point cloud, in particular to a three-dimensional environment surface triangular mesh construction method based on two-dimensional laser sensors. Background technique [0002] Three-dimensional laser scanning technology is a high-tech technology that began to appear in the mid-1990s. It uses high-speed laser scanning and measurement methods to quickly obtain three-dimensional coordinate data on the surface of the measured object in a large area and high resolution, providing spatial information. Acquisition provides a completely new technical means. The original 3D laser point cloud data lacks sufficient structural features and semantic information, so how to reconstruct an environment model that is closer to the original laser scanning environment topology has become a focus of attention. Mesh construction is a method for people to realize the reconstruction of 3D environmental...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/20G06T7/521
CPCG06T17/20G06T2207/10028
Inventor 姜勇王慧刚王洪光康文杰孙金云何鹏杰刘澈罗永勤王志利
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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