二维激光雷达的实时三维重建方法

doi:10.13474/j.cnki.11-2246.2023.0297

摘要/Abstract

摘要： 激光雷达测距技术的发展为三维空间数据的获取提供了一种全新的技术手段,可以实现从传统的人工单点数据获取到连续自动数据获取的转变,大大提高了测量的速度和精度。然而,三维激光雷达数据获取设备具有价格昂贵、机动性较差、数据量过大及三维重建耗时过长等缺点,本文提出由二维激光扫描仪通过空间坐标变换算法实现三维点云获取,通过四元数算法将点云配准所得旋转平移矩阵优化,多次迭代取最优旋转平移矩阵,从而提高点云配准速度与精度。试验应用与分析结果表明,本文提出的二维激光雷达实时三维重建的方法,具有低成本、精度高、三维重建速度快的特点,满足现场低成本、实时、精确三维重建的测绘需求。

关键词: 二维激光雷达, 三维点云, 点云配准, 四元数, 三维重建

Abstract: The development of LiDAR ranging technology provides a new technical means for the acquisition of 3D spatial data, which enables people to realize the transformation from traditional manual single-point data acquisition to continuous automatic data acquisition, greatly improving the speed and accuracy of measurement. However, the current 3D LiDAR data acquisition equipment has the disadvantages of expensive price, poor mobility, large data volume and long time for 3D reconstruction. In this paper, a two-dimensional laser scanner is proposed to obtain the three-dimensional point cloud through the spatial coordinate transformation alg orithm. The rotation and translation matrix obtained from the point cloud registration is optimized through the quaternion algorithm, and the optimal rotation and translation matrix is obtained through multiple iterations, so as to improve the speed and accuracy of point cloud registration. The experimental application analysis results show that the real-time 3D reconstruction method of two-dimensional laser radar proposed in this paper has the characteristics of low cost, high accuracy and fast 3D reconstruction, and meets the mapping requirements of on-site low-cost, real-time and accurate 3D reconstruction.

Key words: 2D laser radar, 3D point cloud, point cloud registration, quaternion, 3D reconstruction

中图分类号:

P237

陈恬宇, 孙立双, 车德福. 二维激光雷达的实时三维重建方法[J]. 测绘通报, 2023, 0(10): 67-73.

CHEN Tianyu, SUN Lishuang, CHE Defu. Real-time 3D reconstructive techniques for 2D LiDAR[J]. Bulletin of Surveying and Mapping, 2023, 0(10): 67-73.

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