三维点云与可见光图像融合方法及可视化  

Fusion and Visualization of Three-Dimensional Point Cloud and Optical Images

作　　者：张佳 唐义 卞子煜 孙天宇 钟凯杰 Zhang Jia;Tang Yi;Bian Ziyu;Sun Tianyu;Zhong Kaijie(Key Laboratory of Photoelectronic Imaging Technology and System,Ministry of Education,School of Optics and Photonics,Beijing Institute of Technology,Beijing 100081,China;Longrays Photoelectric Technology in Suzhou Co.,Ltd.,Suzhou 215300,Jiangsu,China)

机构地区：[1]北京理工大学光电学院光电成像技术与系统教育部重点实验室,北京100081 [2]苏州朗晖光电科技有限公司,江苏苏州215300

出　　处：《激光与光电子学进展》2023年第6期406-412,共7页Laser & Optoelectronics Progress

基　　金：预先研究基金(41415020205,61424080213)。

摘　　要：鉴于三维点云缺少颜色信息和光学图像缺少空间信息,提出一种基于激光雷达与相机自动标定的融合方法,融合后的数据兼有点云的空间信息和光学图像的颜色纹理信息.首先利用平面标定板对激光雷达和光学相机进行分步式自动标定,其次通过共线方程建立坐标关系,将光学图像的颜色纹理信息赋予点云进行融合并进行可视化.实验结果表明:所提方法在提高自动化程度的同时也在一定程度上提高了融合精度;与基于人工匹配的标定融合方法相比,所提方法的精度提升了 51.7%;与基于梯形棋盘格标定板的标定融合方法相比,所提方法的精度提升了 36.4%.从多角度观测可视化结果,所提方法都能从颜色和空间效果方面更好地还原真实场景.Due to the lack of color information of threedimensional point cloud and spatial information of optical images,a fusion method based on lidar and camera automatic calibration is proposed in this work.The fused data contains both the spatial information of the point cloud and color texture information of the optical images.First,the planar calibration plate was used to automatically calibrate the lidar and optical camera in steps.Second,the coordinate relationship was established through a collinear equation,and the color texture information of the optical image is given to the point cloud for fusion and visualization.The experimental results show that the fusion accuracy and the level of automation of the proposed method are improved.Compared to the calibration fusion method based on manual matching,the accuracy of the proposed method is improved by 51.7%.Compared to the calibration fusion method based on a trapezoidal checkerboard calibration board,the accuracy of the proposed method is improved by 36.4%.Considering the visualization results from multiple angles,the proposed method can better restore the color and spatial effects of real scenes.

关 键 词：激光雷达 光学相机 系统标定 点云与光学图像融合 

分 类 号：TH74[机械工程—光学工程]