本文選題：D激光掃描 + SFM��； 參考：《儀器儀表學(xué)報》2016年05期

【摘要】：室外場景具有測量數(shù)據(jù)量大、掃描數(shù)據(jù)易重疊及建筑物表面信息復(fù)雜等特點,單靠激光掃描方法能夠獲得場景精確的深度信息,但缺乏顏色和紋理信息,利用從運動中恢復(fù)結(jié)構(gòu)(SFM)方法可獲得豐富的彩色信息,但重構(gòu)精度不高,若將兩種設(shè)備固定進(jìn)行在線實時同步測量,易受到測量環(huán)境和系統(tǒng)制約不易實現(xiàn)。針對此問題,提出了一種基于激光掃描和SFM結(jié)合的非同步點云數(shù)據(jù)融合的三維重構(gòu)方法。首先,提出利用手動選擇控制點進(jìn)行7自由度初始配準(zhǔn),再利用迭代最近點(ICP)算法對初始配準(zhǔn)結(jié)果進(jìn)行精確配準(zhǔn),最后利用最近點搜索算法將分布在經(jīng)基于面片的多視圖立體視覺(PMVS)算法優(yōu)化后的SFM數(shù)據(jù)中的顏色信息與激光掃描的點云坐標(biāo)進(jìn)行融合。實驗結(jié)果和數(shù)據(jù)分析顯示,本文的方法能有效地將激光掃描與SFM點云數(shù)據(jù)進(jìn)行融合,實現(xiàn)了室外大場景的三維彩色重構(gòu)。
[Abstract]:Outdoor scene is characterized by large amount of measurement data, easy overlap of scanning data and complex information on building surface. Laser scanning method alone can obtain accurate depth information of scene, but lack of color and texture information. The method of recovering structure from motion (SFM) can obtain rich color information, but the reconstruction accuracy is not high. If two kinds of equipment are fixed for on-line real-time synchronous measurement, it is easy to be restricted by measurement environment and system. To solve this problem, a 3D reconstruction method based on the combination of laser scanning and SFM is proposed. First of all, it is proposed to use manual selection of control points for 7 degrees of freedom initial registration, and then iterative nearest point (ICP) algorithm is used to accurately match the initial registration results. Finally, the nearest point search algorithm is used to fuse the color information distributed in the optimized SFM data based on multi-view stereo vision (PMVS) algorithm and the point cloud coordinates of laser scanning. Experimental results and data analysis show that the method proposed in this paper can effectively fuse laser scanning with SFM point cloud data and realize 3D color reconstruction of outdoor large scenes.
【作者單位】： 上海電力學(xué)院自動化工程學(xué)院;上海大學(xué)機電工程與自動化學(xué)院;德國維爾茨堡大學(xué)計算機科學(xué)學(xué)院;
【基金】：國家自然科學(xué)基金(61171145) 上海市自然科學(xué)基金(16ZR1413400) 上海電力學(xué)院人才引進(jìn)基金(K2015-016)項目資助
【分類號】：TN249

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