激光雷达和CCD外部标定方法的改进及其应用研究  

The Improvement of Extrinsic Calibration of Laser Rangefinder with CCD and its Applications

作　　者：陈远[1] 赵志敏[1] 陈震[2] 

机构地区：[1]南京航空航天大学,江苏南京210016 [2]南昌航空大学,江西南昌330034

出　　处：《应用激光》2008年第3期219-222,233,共5页Applied Laser

摘　　要：激光雷达和CCD各自都具有快速获取物体空间信息的能力,广泛应用在真实场景的三维建模中。本文结合激光雷达对空间三维数据采集的高速性以及CCD图像处理的快速和便利性,将激光雷达和CCD外部标定算法首次运用在物体三维建模中,提出了改进的外部标定算法,研究了基于外部标定算法的点云分割,并对分割后的点云进行三维重建和纹理映射,取得了较好效果。Laser rangefinder and CCD camera have the excellent ability of capturing information of object in environment respectively, and used for 3D modeling widely. In this paper, we integrate the high speed capturing of laser rangefinder with the fast processing of CCD image to research the 3D modeling method by introducing the algorithm of extrinsic calibration. The improved extrinsic calibration method was proposed, and then a novel method for point cloud segmentation was presented, and finally the 3D reconstruction and texture mapping was made by segmented point cloud, Experiments show the effectiveness of proposed method.

关 键 词：激光雷达 CCD 外部标定 点云分割 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]