激光雷达点云采集和三维重建软件系统实现
发布时间：2018-12-18 14:28
【摘要】：激光雷达扫描系统通过激光主动探测,可以快速获取目标物体表面的三维空间信息数据,是现代测量技术的新手段。激光雷达点云数据的三维重建在逆向工程、城市规划、古建筑物保护、变形监测、虚拟化等领域的应用越来越频繁,对点云数据的三维重建也已成为研究热点。但是市场上的激光雷达系统普遍价格高昂,激光雷达的普及率依然较低。针对这一现状,本文以自行研制的地面激光雷达硬件设备为依托,设计了一套软件系统并实现完成了点云数据的采集和三维重建。本文首先研究了地面激光雷达系统的结构组成、测距系统的原理和扫描仪的扫描方式,对激光雷达硬件系统进行了分析。然后结合点云数据的结构特点,对点云数据的处理流程进行了介绍,并对点云数据的三维重建涉及到的数据处理进行了研究。接下来,在Window操作系统下,利用Visual Studio2010集成开发环境设计了采集软件,实现了软硬件间的USB数据通信,激光雷达扫描仪的自检、扫描控制和状态监视,完成了点云数据的采集和保存,利用OpenG L实现了点云数据的实时三维显示。最后,设计了三维重建软件,以地面激光雷达点云数据为处理对象,主要实现了：点云数据文件的读取和存储,对点云数据进行搜索,估计点云数据的表面几何特征,根据法向量和曲率变化对点云数据进行关键点提取,根据关键点的点特征直方图信息进行点云配准,对点云数据进行去除离群点和下采样滤波,点云数据的三维重建和可视化的功能。
[Abstract]:The laser radar scanning system can acquire the 3D spatial information data of the object surface quickly by laser active detection. It is a new method of modern measurement technology. The 3D reconstruction of lidar point cloud data has been used more and more frequently in the fields of reverse engineering, urban planning, ancient building protection, deformation monitoring, virtualization and so on. But the lidar system in the market is generally expensive, and the penetration rate of lidar is still low. In view of this situation, based on the ground laser radar hardware equipment developed by ourselves, this paper designs a software system and realizes the acquisition of point cloud data and 3D reconstruction. In this paper, the structure of the ground lidar system, the principle of the ranging system and the scanning mode of the scanner are studied, and the hardware system of the laser radar is analyzed. Then, combining the structural characteristics of point cloud data, the processing process of point cloud data is introduced, and the data processing involved in 3D reconstruction of point cloud data is studied. Then, under the Window operating system, the acquisition software is designed by using the Visual Studio2010 integrated development environment, which realizes the USB data communication between hardware and software, the self-checking of the laser radar scanner, the scanning control and the state monitoring. The collection and storage of point cloud data are completed, and the real time 3D display of point cloud data is realized by using OpenG L. Finally, the 3D reconstruction software is designed, which takes the point cloud data of the ground lidar as the processing object. It mainly realizes the reading and storing of the point cloud data file, searching the point cloud data, estimating the surface geometric characteristics of the point cloud data. Point cloud data are extracted according to normal vector and curvature change, point cloud registration is carried out according to the point feature histogram information of key points, outliers are removed and downsampling filtering is carried out on point cloud data. Three-dimensional reconstruction and visualization of point cloud data.
【学位授予单位】：西安电子科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP391.41;TN958.98
本文编号：2385979
[Abstract]:The laser radar scanning system can acquire the 3D spatial information data of the object surface quickly by laser active detection. It is a new method of modern measurement technology. The 3D reconstruction of lidar point cloud data has been used more and more frequently in the fields of reverse engineering, urban planning, ancient building protection, deformation monitoring, virtualization and so on. But the lidar system in the market is generally expensive, and the penetration rate of lidar is still low. In view of this situation, based on the ground laser radar hardware equipment developed by ourselves, this paper designs a software system and realizes the acquisition of point cloud data and 3D reconstruction. In this paper, the structure of the ground lidar system, the principle of the ranging system and the scanning mode of the scanner are studied, and the hardware system of the laser radar is analyzed. Then, combining the structural characteristics of point cloud data, the processing process of point cloud data is introduced, and the data processing involved in 3D reconstruction of point cloud data is studied. Then, under the Window operating system, the acquisition software is designed by using the Visual Studio2010 integrated development environment, which realizes the USB data communication between hardware and software, the self-checking of the laser radar scanner, the scanning control and the state monitoring. The collection and storage of point cloud data are completed, and the real time 3D display of point cloud data is realized by using OpenG L. Finally, the 3D reconstruction software is designed, which takes the point cloud data of the ground lidar as the processing object. It mainly realizes the reading and storing of the point cloud data file, searching the point cloud data, estimating the surface geometric characteristics of the point cloud data. Point cloud data are extracted according to normal vector and curvature change, point cloud registration is carried out according to the point feature histogram information of key points, outliers are removed and downsampling filtering is carried out on point cloud data. Three-dimensional reconstruction and visualization of point cloud data.
【学位授予单位】：西安电子科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP391.41;TN958.98
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