基于激光点云的三维测量系统设计  

Design of 3D measurement system based on laser⁃point cloud

作　　者：张婧婧[1] 白晓 ZHANG Jingjing;BAI Xiao(College of Computer and Information Engineering,Xinjiang Agricultural University,Urumqi 830052,China)

机构地区：[1]新疆农业大学计算机与信息工程学院,新疆乌鲁木齐830052

出　　处：《现代电子技术》2020年第14期48-51,共4页Modern Electronics Technique

基　　金：新疆维吾尔自治区自然科学基金(2018D01A17)。

摘　　要：基于Matlab图像处理平台,以设计激光点云的三维测量系统为目标,展开激光束坐标获取、点云数据配准、测量距离校正等相关内容研究。通过激光测距原理,解析摄像头成像与物体表面信息之间的几何关系;采用Arduino微处理器完成扫描装置的舵机控制;运用Matlab提供的校正工具对相机定标,减小相机边缘畸变;利用灰度矩阵中的亮度最高的像素点,获取激光束的坐标;使用极坐标配准方法,实现不同视场中三维点云数据的配准;根据多组距离值的测算,得到系统测距的校正参数。最终完成了激光扫描、点云配准、三维数据成像的测量系统设计,为低成本、高速度的激光扫描装置研究提供典型范例。The relevant contents of laser beam coordinate acquisition,point cloud data registration and measurement distance correction are studied based on the image processing platform using Matlab to design the measurement system of laser point cloud.The geometric relationship between camera imaging and object′s surface information is analyzed by means of the principle of laser ranging.The rudder control of the scanning device is completed by using the Arduino microprocessor.The camera is calibrated by the aligning tool provided by Matlab to reduce the camera′s image edge distortion.The coordinates of the laser beam are obtained by using the pixels with the highest brightness in the gray matrix.The registration of 3D point cloud data in different field of view is realized by means of the polar coordinate registration method.The calibration parameters of ranging of the system are obtained according to the measurement and calculation of multi⁃group distance values.The design of the measurement system with laser scanning,point cloud registration and 3D data imaging are completed,which provides a typical example for the research on low⁃cost and high⁃speed laser scanning device.

关 键 词：三维测量 激光扫描 系统设计 点云配准 相机定标 参数校正 

分 类 号：TN206-34[电子电信—物理电子学] TP242.62[自动化与计算机技术—检测技术与自动化装置]