Irregular object measurement method based on fusion of laser radar and camera

Abstract

The invention discloses a laser radar and camera fused irregular object measurement method. The measurement method comprises the following steps: step 1, carrying out joint calibration on a laser radar and a monocular camera module; step 2, the laser radar and the monocular camera perform synchronous execution, respectively acquire laser point cloud data and sequence images of the irregular object, and respectively generate a laser point cloud model and image point cloud data of the irregular object through respective data fusion processing; 3, performing registration fusion of multi-source point cloud data on the laser point cloud model and the image point cloud data to generate a multi-source point cloud model; 4, performing geometric and texture reconstruction on the multi-source point cloud model to generate a three-dimensional reconstruction model; and 5, carrying out volume measurement on the three-dimensional reconstruction model. According to the measurement method, the laser radar point cloud data and the camera shooting point cloud data are fused, the defects of independent use of the laser radar point cloud data and the camera shooting point cloud data are overcome, and the three-dimensional reconstruction effect and the measurement precision are improved.

Description

technical field [0001] The invention relates to the technical field of volume measurement of workpieces, in particular to a method for measuring irregular objects by fusion of laser radar and camera. Background technique [0002] Irregular objects, as important parts widely used in various fields of industry, have important uses in the fields of vehicles, petroleum, chemical industry, navigation, aviation and nuclear industry, and their quality may directly affect whether the entire machine or equipment can safe operation. Therefore, in the actual production of irregular objects, it is of great significance to be able to efficiently and accurately measure various dimensional parameters of irregular objects. [0003] At present, laser radar and camera measurement are the most efficient means of acquiring 3D data. Both of these methods have their own inevitable defects when used alone. For example, laser radar measurement has the problem of low data processing efficiency, and...

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Problems solved by technology

[0003] At present, laser radar and camera measurement are the most efficient means of acquiring 3D data. Both of these methods have their own inevitable defects when used alone. For example, laser radar measurement has the problem of low data processing efficiency, and the 3D model formed by camera measurement is easy. There are problems such as pulling, blurring, holes, and poor accuracy

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