高性能便携式激光扫描仪的研究

发布时间：2018-01-12 20:00

本文关键词：高性能便携式激光扫描仪的研究　出处：《哈尔滨工业大学》2013年硕士论文　论文类型：学位论文

【摘要】：随着三维激光扫描仪技术的不断发展，三维激光扫描仪在文物保护、3D打印、3D游戏、医学成像、逆向工程等领域得到了广泛的应用。当前，三维重建技术仍然是计算机视觉领域的研究热点。针对市场上现有的三维激光扫描仪体积大不便于携带、价格高等问题，从提高扫描仪精度和效率的角度出发，设计并完成了两套便携式三维激光扫描仪系统。一套是转台式三维激光扫描仪，另一套是手持式三维激光扫描仪。本文完成的这两套系统是基于主动测量的三角测量原理的，通过深入分析研究三维激光扫描仪系统实现的关键技术包括：摄像机标定、激光光条中心提取、三维点坐标变换、三维点云匹配，实现了实时在线重建物体的三维模型。本文提出了一种全新的三维点坐标变换模型用于解决转台式扫描仪中点云变换问题。转台式3D激光扫描仪中引入了转台，物体会在转台上围绕转轴做旋转运动，，本文提出的方案中将物体的旋转运动等效为物体静止而相机围绕物体做旋转运动，通过转台的标定参数可以一次性完成整个变换模型的建立，提高了扫描仪的效率。实验结果表明本文提出的两套扫描仪系统具有较好的扫描效果，并且操作方便、便于携带、成本低廉，实现了实时在线重建出物体的三维模型。
[Abstract]:With the development of 3D laser scanner technology, 3D laser scanner has been widely used in the field of 3D printing game, medical imaging, reverse engineering and so on. 3D reconstruction is still a hot topic in the field of computer vision. Aiming at the problems of large volume and high price of 3D laser scanner in the market, the paper starts from the point of view of improving the accuracy and efficiency of scanner. Two sets of portable 3D laser scanner system are designed and completed. The other is the hand-held 3D laser scanner. The two systems are based on the principle of active measurement of triangulation. The key technologies of 3D laser scanner system are: camera calibration, laser beam center extraction, 3D point coordinate transformation, 3D point cloud matching. The 3D model of real-time on-line reconstruction is realized. In this paper, a new 3D point coordinate transformation model is proposed to solve the problem of point cloud transformation in the turntable scanner, which is introduced into the rotary table 3D laser scanner. The object rotates around the rotating axis on the turntable. In this paper, the rotating motion of the object is equivalent to the static motion of the object and the camera rotates around the object. The whole transformation model can be built by calibrating parameters of turntable, and the efficiency of scanner can be improved. The experimental results show that the two scanners presented in this paper have good scanning effect, and are easy to operate, easy to carry and low in cost. The 3D model of the object can be reconstructed online in real time.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TP334.22

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