【摘要】：激光雷達(dá)掃描系統(tǒng)通過激光主動(dòng)探測,可以快速獲取目標(biāo)物體表面的三維空間信息數(shù)據(jù),是現(xiàn)代測量技術(shù)的新手段。激光雷達(dá)點(diǎn)云數(shù)據(jù)的三維重建在逆向工程、城市規(guī)劃、古建筑物保護(hù)、變形監(jiān)測、虛擬化等領(lǐng)域的應(yīng)用越來越頻繁,對(duì)點(diǎn)云數(shù)據(jù)的三維重建也已成為研究熱點(diǎn)。但是市場上的激光雷達(dá)系統(tǒng)普遍價(jià)格高昂,激光雷達(dá)的普及率依然較低。針對(duì)這一現(xiàn)狀,本文以自行研制的地面激光雷達(dá)硬件設(shè)備為依托,設(shè)計(jì)了一套軟件系統(tǒng)并實(shí)現(xiàn)完成了點(diǎn)云數(shù)據(jù)的采集和三維重建。本文首先研究了地面激光雷達(dá)系統(tǒng)的結(jié)構(gòu)組成、測距系統(tǒng)的原理和掃描儀的掃描方式,對(duì)激光雷達(dá)硬件系統(tǒng)進(jìn)行了分析。然后結(jié)合點(diǎn)云數(shù)據(jù)的結(jié)構(gòu)特點(diǎn),對(duì)點(diǎn)云數(shù)據(jù)的處理流程進(jìn)行了介紹,并對(duì)點(diǎn)云數(shù)據(jù)的三維重建涉及到的數(shù)據(jù)處理進(jìn)行了研究。接下來,在Window操作系統(tǒng)下,利用Visual Studio2010集成開發(fā)環(huán)境設(shè)計(jì)了采集軟件,實(shí)現(xiàn)了軟硬件間的USB數(shù)據(jù)通信,激光雷達(dá)掃描儀的自檢、掃描控制和狀態(tài)監(jiān)視,完成了點(diǎn)云數(shù)據(jù)的采集和保存,利用OpenG L實(shí)現(xiàn)了點(diǎn)云數(shù)據(jù)的實(shí)時(shí)三維顯示。最后,設(shè)計(jì)了三維重建軟件,以地面激光雷達(dá)點(diǎn)云數(shù)據(jù)為處理對(duì)象,主要實(shí)現(xiàn)了：點(diǎn)云數(shù)據(jù)文件的讀取和存儲(chǔ),對(duì)點(diǎn)云數(shù)據(jù)進(jìn)行搜索,估計(jì)點(diǎn)云數(shù)據(jù)的表面幾何特征,根據(jù)法向量和曲率變化對(duì)點(diǎn)云數(shù)據(jù)進(jìn)行關(guān)鍵點(diǎn)提取,根據(jù)關(guān)鍵點(diǎn)的點(diǎn)特征直方圖信息進(jìn)行點(diǎn)云配準(zhǔn),對(duì)點(diǎn)云數(shù)據(jù)進(jìn)行去除離群點(diǎn)和下采樣濾波,點(diǎn)云數(shù)據(jù)的三維重建和可視化的功能。
[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.
【學(xué)位授予單位】：西安電子科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TP391.41;TN958.98

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本文編號(hào)：2385979