基于激光扫描的室内环境三维重建系统

发布时间：2018-06-07 04:36

本文选题：三维重建 + 激光扫描　；参考：《哈尔滨工业大学》2016年硕士论文

【摘要】：精确的室内环境三维模型重构在文物保护、公共服务、抢险救援等领域发挥着至关重要的作用,三维激光扫描系统因其测量距离远、精度高的优点在此领域有着广泛的应用。数据获取成本高、后期处理复杂是基于激光扫描的室内环境三维模型重构过程中主要存在的问题,本课题的目标是设计一套低价格、便携、测量快速的三维激光扫描系统,并对三维点云模型重构算法进行研究,以解决当前行业人工手动数据处理效率低下的问题。通过对三维激光扫描技术的研究,本文给出了一套三维激光扫描系统的设计方案,并将整个系统分为三维激光测量单元和交互模块两个部分,前者实现三维点云的获取功能,其核心为通过电机控制和激光脉冲测距原理完成空间三维信息的采集,后者实现点云显示、数据保存等人机交互功能,为基于Qt框架撰写的软件系统。最终实现的扫描系统具有价格低廉、测量快速、易于便携的特点,多次测量与实验分析也验证了整套系统的稳定性和可靠性,表明其已经具备三维激光点云采集的要求。对于三维点云模型重构算法,其核心是点云的匹配,也就是将不同角度不同位置采集的点云进行坐标转换使得所有的点云能够组成一个整体,生成三维点云模型,之后便可进行模型拟合等进一步处理。本文设计了一种基于球形标靶的点云匹配算法,同时介绍了点云处理过程中常使用的预处理算法以及特征提取算法,并给出了一套室内三维点云模型重构方案。良好的实验结果验证了整套方案的可行性和算法的有效性,数据处理的效率得到了明显的提高,重构的三维点云模型也达到了预期效果,具有一定的工程实际意义。
[Abstract]:The accurate 3D model reconstruction of indoor environment plays an important role in the fields of cultural relic protection, public service, emergency rescue and so on. The 3D laser scanning system has been widely used in this field because of its long measurement distance and high accuracy. The high cost of data acquisition and complex post-processing are the main problems in the reconstruction of 3D model of indoor environment based on laser scanning. The goal of this project is to design a low price portable and fast measuring 3D laser scanning system. The reconstruction algorithm of 3D point cloud model is studied to solve the problem of low efficiency of manual data processing. Through the research of 3D laser scanning technology, this paper gives a design scheme of 3D laser scanning system, and divides the whole system into three dimensional laser measurement unit and interactive module. The former realizes the function of acquiring 3D point cloud. The core of the system is the acquisition of 3D spatial information through the principle of motor control and laser pulse ranging. The latter realizes human-computer interaction functions such as point cloud display, data saving and so on. It is a software system based on QT framework. The scanning system is characterized by low cost, fast measurement and easy to carry. The stability and reliability of the whole system are verified by many measurements and experiments. It shows that the system has the requirement of 3D laser point cloud acquisition. For the reconstruction algorithm of 3D point cloud model, the core of the algorithm is point cloud matching, that is, coordinate transformation of point cloud collected from different angles and different positions makes all point clouds form a whole and generate 3D point cloud model. Then the model fitting can be further processed. In this paper, a point cloud matching algorithm based on spherical target is designed. At the same time, the preprocessing algorithm and feature extraction algorithm used in point cloud processing are introduced, and a set of indoor 3D point cloud model reconstruction scheme is presented. Good experimental results verify the feasibility of the whole scheme and the effectiveness of the algorithm, the efficiency of data processing has been significantly improved, the reconstructed 3D point cloud model has achieved the expected results, which has a certain engineering practical significance.
【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】：2016
【分类号】：TP391.41

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