基于激光与可见光同步数据的室外场景三维重建  

3D Reconstruction of Outdoor Scenes from Synchronized Laser Range Data and Visual Image Data

作　　者：张爱武[1] 胡少兴[2] 孙卫东[3] 李风亭[3] 

机构地区：[1]首都师范大学三维空间信息获取与地学应用教育部重点实验室,北京100037 [2]北京航空航天大学机械工程余自动化学院,北京100083 [3]清华大学电子工程系,北京100084

出　　处：《电子学报》2005年第5期810-815,共6页Acta Electronica Sinica

基　　金：国家863计划(No.2001AA131021);教育部科学技术研究重点项目(No.03008);三维空间信息获取与地学应用教育部重点实验室开放基金

摘　　要：　本文根据TH 3DLCS 2001三维成像扫描仪可同步扫描激光与可见光数据的特点,提出了室外场景三维重建的系统方法.推导了激光与可见光采样点的配准关系,给出了每一激光采样点的RGB值;引入马氏距离,提出了基于反向投影的多机位三维数据快速配准算法,将多机位三维数据无缝拼合在同一坐标系内;依据Hough变换和模糊子集,划分室外三维数据场为房顶、墙面、窗户、地面、树木、其他物体等6类,并给出了网格剖分方法.实验证明本文所提出的方法有效地解决了室外场景三维重建的基本问题.We propose an engineering approach to creating 3D models of outdoor scenes from laser range data and visual image data. According to the features of TH-3DLCS-2001 Scanner which can capture the 3D geometry and texture data synchronously, we deduce the formulas of registration between laser points and visual points, and give the RGB values of each laser points. We propose a fast registration algorithm of multiple range images based on the reverse projections, and all range images are aligned into a common coordinate system. Using the Hough Transform and Fuzzy theory, we classify the outdoor scene into six major groups including roof, wall, window, ground, tree, and others, and give a triangulation algorithm. This proposed method has been applied to the 3D reconstruction of some outdoor scenes, the results show that this method can be able to solve the basic problems of 3D reconstruction of outdoor scenes from laser range data and visual image data.

关 键 词：激光与可见光同步数据 配准 分割 纹理映射 三维建模 

分 类 号：TN1391[电子电信—物理电子学]