基于轻量型移动测量系统的地外熔岩管3D探测与地表验证  

3D Detection of Extraterrestrial Lava Tunnels Based on Lightweight Mobile Measurement System and Surface Verification on Earth

作　　者：赵昕[1] 梁福逊[2] 李健平[2] 陈一平 杨必胜[2] ZHAO Xin;LIANG Fuxun;LI Jianping;Chen Yiping;Yang Bisheng(School of Computer Science,Wuhan University,Wuhan 430072,China;State Key Laboratory of Information Engineering in Surveying,Mapping and Remote Sensing,Wuhan University,Wuhan 430079,China;School of Geospatial Engineering and Science,Sun Yat-Sen University,Zhuhai 519082,China)

机构地区：[1]武汉大学计算机学院,武汉430072 [2]武汉大学测绘遥感信息工程国家重点实验室,武汉430079 [3]中山大学测绘科学与技术学院,珠海519082

出　　处：《深空探测学报（中英文）》2024年第4期385-393,共9页Journal Of Deep Space Exploration

基　　金：国家自然科学基金重点项目(42130105);国家重点研发计划(2022YFB3904102)。

摘　　要：熔岩管广泛存在于地球及地外天体,可为人类未来登陆地外天体提供天然庇护,地外熔岩管探测具有重要意义。然而,熔岩管探测存在许多挑战,已有的地球熔岩管探测方案设备不便携、自动化程度和工作效率低,难以用于地外熔岩管探测。针对上述问题,提出一种基于轻量型移动测量系统的熔岩管3D探测方法,利用穿戴式设备实现高效精细的地图构建和三维形态表达,并通过地球熔岩管探测进行验证。首先利用激光扫描高效获取熔岩管内点云,并基于迭代卡尔曼滤波算法生成熔岩管3D点云实时地图。然后结合地面滤波、管道壁提取、法向量估计等点云智能处理方法,实现熔岩管的三维智能化重建,并作形态学分析。选取海南省海口市的仙人洞及七十二洞作为地外熔岩管的模拟场景进行实验,结果表明,所提方法实现了熔岩管3D实时自主测图,生成的点云地图及3D模型相比于已有研究结果更精准、地貌形态细节信息更多,可更好地满足熔岩管的形态分析需求,有望为地外熔岩管探测提供基础。Lava tunnels widely exist on planets and satellites,which can provide natural shelter for humans to land on in the future.Research on lava tunnels is of great significance.However,there are many challenges in extraterrestrial lava tunnel detection.Existing terrestrial lava tunnel detection schemes have devices that are not portable,with low levels of automation and work efficiency,and cannot be directly applied to the detection of extraterrestrial lava tunnels.To address the above problems,this paper proposes a 3D detection method for extraterrestrial lava tunnels based on the lightweight mobile measurement system,achieving efficient and detailed mapping as well as 3D morphology of lava tunnels,and carries out the verification in Earth lava tunnels.First,laser scanning is used to obtain the point cloud in the lava tunnel efficiently,and the 3D point cloud map of the tunnel is generated based on the iterative Kalman filtering algorithm.Subsequently,through point cloud processing methods such as ground filtering,tunnel wall extraction,and normal vector estimation,the 3D reconstruction of lava tunnels is achieved,followed by morphological analysis.This paper selects the Xianren Cave and Qishier Cave in Haikou,Hainan Province,as simulation scenarios for extraterrestrial lava tunnels to conduct experiments.Experiments indicate that the proposed method realizes real-time autonomous 3D mapping of lava tunnels.The generated point cloud maps and 3D models are more accurate and contain more detailed terrain information compared to existing research results.These indicate the proposed method better meets the morphological analysis needs of lava tunnels and provides a foundation for the in-depth study of extraterrestrial lava tunnels.

关 键 词：熔岩管 轻量型移动测量系统 激光点云 三维建模 形态学分析 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]