CN207924743U - A kind of three-dimensional reconstruction system based on single line laser radar Yu PCL point clouds library - Google Patents
A kind of three-dimensional reconstruction system based on single line laser radar Yu PCL point clouds library Download PDFInfo
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- CN207924743U CN207924743U CN201820355308.1U CN201820355308U CN207924743U CN 207924743 U CN207924743 U CN 207924743U CN 201820355308 U CN201820355308 U CN 201820355308U CN 207924743 U CN207924743 U CN 207924743U
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- single line
- laser radar
- line laser
- dimensional reconstruction
- point cloud
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Abstract
The utility model discloses a kind of three-dimensional reconstruction system based on single line laser radar Yu PCL point clouds library, including space exploration unit and Point Cloud Processing unit, space exploration unit is used to space detect and will generate point cloud data, space exploration unit is wirelessly connect with Point Cloud Processing unit, for point cloud data to be sent to Point Cloud Processing unit, Point Cloud Processing unit is used to carry out three-dimensional reconstruction according to the data received.The utility model three-dimensional reconstruction system reconstruction precision is higher, and cost is relatively low, can be applied to city three-dimensional reconstruction.
Description
Technical field
The utility model belongs to technical field of computer vision, and in particular to one kind is based on single line laser radar and PCL points
The three-dimensional reconstruction system of Yun Ku can be used for city three-dimensional reconstruction.
Background technology
With the construction of modern city, the fields such as urban planning, reconstruction of the old city town, digital city, architectural design, to three-dimensional
Reconstruction produces huge demand.However there are many deficiencies for traditional three-dimensional reconstruction means.It is existing to disclose a kind of three-dimensional
Reconstructing system comprising the first calibration target, photographic device, projection arrangement and computer, photographic device and projection arrangement with
Mechatronics are calculated, the first calibration target, photographic device and projection arrangement may be contained on workbench, and photographic device and first
It calibrates target to correspond to, the first rectangle frame and the second rectangle frame, and the first rectangle frame and the second square is provided on the first calibration target
Shape frame and table vertical, is calibrated three-dimensional reconstruction system by the first calibration target.The reconstructing system can be to object
Three-dimensional reconstruction is carried out, but reconstruction precision is relatively low.
With micro-sensor technologies, the development and raising of Electromechanical Control technology, digital image data treatment technology, laser thunder
It is applied up to beginning in space exploration, unmanned etc..To objective emission detectable signal (laser beam), then laser radar is
The reflected signal of slave target (target echo) received is compared with transmitting signal, after making proper treatment, so that it may
Target is obtained for information about, such as target range, orientation, height, speed, posture, even shape parameter, to which target carries out
Detection, tracking and identification.It is with high distance resolution, angular resolution and velocity resolution；Detection accuracy is high；Detect model
It encloses wide；Strong antijamming capability；The informative of acquisition can directly acquire distance, angle, reflected intensity, speed of target etc.
Information；Energy round-the-clock work, the radiation characteristic independent of extraneous illumination condition or target itself.
Laser radar is divided into single line laser radar and multi-line laser radar.Single line laser radar price is relatively low, but it only has
One scan line is only capable of obtaining the depth information on a line, and the data volume of acquisition is smaller, so being only capable of carrying out two-dimentional modeling.
Multi-line laser radar can obtain the depth information on a plurality of line, gathered data amount is big, Ke Yijin compared with single line laser radar
Row three-dimensional modeling, but it is expensive, it cannot extensive use.
Utility model content
The technical problem to be solved by the utility model is to the deficiencies in for the above-mentioned prior art, provide one kind and are based on
The three-dimensional reconstruction system of single line laser radar and PCL point clouds library rebuilds essence for solving present in existing three-dimensional reconstruction system
The problem of spending the relatively low selling at exorbitant prices with reconstruction.
The utility model uses following technical scheme：
A kind of three-dimensional reconstruction system based on single line laser radar Yu PCL point clouds library, including space exploration unit and point cloud
Data processing unit, for space exploration unit for point cloud data to be detected and generated to space, space exploration unit passes through nothing
Line mode is connect with Point Cloud Processing unit, for point cloud data to be sent to Point Cloud Processing unit, at point cloud data
Reason unit is used to carry out three-dimensional reconstruction according to the data received.
Specifically, space exploration unit includes turntable and single line laser radar, single line laser radar is arranged on turntable, and
The method of revolution surface vector of single line laser radar is vertical with the method for revolution surface of turntable vector.
Further, single line laser radar includes laser ranging unit and rotary unit, and rotary unit is arranged on turntable,
Laser ranging unit is arranged on rotary unit, the rotation center of rotary unit and the rotation overlapping of axles of turntable.
Further, laser ranging unit is used as transmitting light source using the infrared emission laser of power ＜ 5mW, and passes through
Pulse mode driving is modulated, ranging acts 2000 times/second of ＞.
Further, rotary unit is driven by the brushless motor of rotating speed 300r/min.
Specifically, turntable is electronic horizontal revolving stage, it is connect with 12V DC decelerating motor for driving, decelerating through motor ratio is
1:300, motor speed 1500r/min, turntable horizontally rotate ranging from 360 °.
Specifically, Point Cloud Processing unit includes the PC machine for being provided with PCL point clouds library, be provided in PC machine 2.4GHz without
Line unit is used to be wirelessly connected with the 2.4GHz radio-cells being arranged on space exploration unit.
Compared with prior art, the utility model at least has the advantages that：
The utility model adds using laser radar the structure of turntable due to space exploration unit, can obtain with pole
High-precision point cloud data also has the characteristics that wide investigative range, strong antijamming capability, independent of extraneous illumination condition.With
The prior art is compared, and the precision of three-dimensional modeling is improved.
Further, space exploration unit is made of turntable and single line laser radar, and the method for revolution surface of line laser radar
Vector is vertical with the method for revolution surface of turntable vector so that laser ranging unit can be visited on any direction in space
It surveys, the cost of system is effectively reduced using single line laser radar.
Further, single line laser radar includes laser ranging unit and rotary unit, and the rotation center of rotary unit
With the rotation overlapping of axles of turntable so that intersection point of the laser ranging unit always around rotation center and rotary shaft in space exists
Rotation ensure that the laser ranging unit consistency that different directions detect in space.
Further, laser ranging unit uses low-power infrared emission laser, ranging to act 2000 times/second of ＞, because
And may insure the safety to the mankind and pet, the laser safety standard of Class I ranks can be reached.
Further, turntable is 360 ° of electronic horizontal revolving stages, is driven by 12V DC decelerating motor, and decelerating through motor ratio is 1:
300, motor speed 1500r/min, turntable rotating speed are 5r/min, lower rotating speed so that single line laser radar can turn
Enough points are detected in one swing circle (rotating a circle) of platform.
Further, since Point Cloud Processing unit is using PCL (Dian Yunku), thus can to point cloud data into
Row filtering, segmentation, registration, retrieval, feature extraction, curve reestablishing, visualization processing, improve the effect of three-dimensional reconstruction.
In conclusion the utility model three-dimensional reconstruction system reconstruction precision is higher, cost is relatively low, can be applied to city three-dimensional
It rebuilds.
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is that the workflow of the utility model realizes block diagram.
Specific implementation mode
The utility model provides a kind of three-dimensional reconstruction system based on single line laser radar Yu PCL point clouds library, for solving
Reconstruction precision present in certainly existing three-dimensional reconstruction system is low, the high problem of reconstructed cost；Including the space exploration being sequentially connected
Unit, Point Cloud Processing unit；Space exploration unit includes single line laser radar and turntable, single line laser radar rotation direction
It is vertical with turntable rotation direction；Point Cloud Processing unit is passed through using PC by PCL (Dian Yunku) to Point Cloud Processing
Decision-making process carries out Analysis of Policy Making to reconstruction precision.
Referring to Fig. 1, the utility model discloses a kind of three-dimensional reconstruction system based on single line laser radar Yu PCL point clouds library
System, including space exploration unit and Point Cloud Processing unit, space exploration unit wirelessly with Point Cloud Processing
Unit connects, and space exploration unit is used to carry out detection to space and is sent to Point Cloud Processing list by point cloud data is generated
Member.
Space exploration unit includes single line laser radar and turntable, and single line laser radar is divided into laser ranging core and makes
The high-speed rotating mechanical part of laser ranging core.
Laser ranging core is used as transmitting light source using the infrared emission laser of low-power (power ＜ 5mW), using sharp
Light range of triangle technology, and using modulation pulse mode driving, ranging acts 2000 times/second of ＞.
Mechanical part drives laser ranging core to be rotated using brushless motor, rotating speed 300r/min.Turntable uses 12V
DC speed-reducing, reduction ratio 1:300, motor speed 1500r/min, power of motor 25W.
The rotation center of single line laser radar will be with the rotation overlapping of axles of turntable, and the method for the single line laser radar surfaces of revolution
Vector is vertical with the normal vector of the turntable surfaces of revolution.
Point Cloud Processing unit includes PC machine, and PC machine to Point Cloud Processing, passes through decision journey by PCL (Dian Yunku)
Ordered pair reconstruction precision carries out Analysis of Policy Making.
Space exploration unit is carried out data transmission with Point Cloud Processing unit by 2.4GHz radio-cells, space exploration
Unit is each provided with a 2.4GHz radio-cell with Point Cloud Processing unit, is connected with respective serial ports.
Referring to Fig. 2, the utility model is worked based on single line laser radar and the three-dimensional reconstruction system in PCL point clouds library
Journey is specific as follows：
S1, reconstructing system PC machine assign initial order, the single line laser radar in space exploration unit and turntable are simultaneously
Start to rotate, when turntable is rotated by 360 °, complete the primary detection to surrounding space, obtains putting cloud file accordingly；
S2 and then the data of detection are transferred to PC machine by 2.4GHz radio-cells, PC machine is to the point cloud text that receives
Part carries out availability judgement, and variance is calculated to the rotary speed data of single line laser radar in cloud file, if variance is greater than the set value,
Then judge that data are unavailable；
If S201, data are unavailable, point cloud data is resurveyed；
If S202, data are available, PCL (Dian Yunku) is called to be filtered, be registrated to point cloud data, retrieving, feature
Extraction, curve reestablishing, visualization processing.
Libpcl I/O units are called, point cloud data is read in；
Libpcl filters units are called, the outlier in point cloud data is removed using bilateral filtering algorithm；
Libpcl register units are called, point cloud registering is realized using ICP (iterative closest point algorithm)；
Libpcl filters units are called again, and feature extraction is carried out to point cloud data；
Libpcl surface units are called, a cloud are smoothed using least square method, then in areal model
Upper convex (recessed) polygon of extraction, finally carries out trigonometric ratio to oriented cloud；
Pcl viewer units are called, point cloud data includes on the screen of PC machine by treated.
A three-dimensional reconstruction is completed after the completion of S3, step S2, carrying out precision to reconstructed results by decision-making process sentences
It is disconnected；
If reconstruction precision is insufficient, three-dimensional reconstruction is carried out again, and the reconstructed results obtained twice are overlapped place
Reason, again judges reconstruction precision.
If reconstruction precision is enough, reconstructed results are preserved.
The above content is only to illustrate the technological thought of the utility model, and the protection model of the utility model cannot be limited with this
Enclose, it is every according to the utility model proposes technological thought, any change done on the basis of technical solution each falls within this reality
Within protection domain with novel claims.
Claims (7)
1. a kind of three-dimensional reconstruction system based on single line laser radar Yu PCL point clouds library, which is characterized in that including space exploration list
Member and Point Cloud Processing unit, space exploration unit is for detecting space and being generated point cloud data, space exploration list
Member is wirelessly connect with Point Cloud Processing unit, for point cloud data to be sent to Point Cloud Processing unit, point
Cloud data processing unit is used to carry out three-dimensional reconstruction according to the data received.
2. a kind of three-dimensional reconstruction system based on single line laser radar Yu PCL point clouds library according to claim 1, feature
It is, space exploration unit includes turntable and single line laser radar, and single line laser radar is arranged on turntable, and single line laser thunder
The method of revolution surface vector reached is vertical with the method for revolution surface of turntable vector.
3. a kind of three-dimensional reconstruction system based on single line laser radar Yu PCL point clouds library according to claim 2, feature
It is, single line laser radar includes laser ranging unit and rotary unit, and rotary unit is arranged on turntable, laser ranging unit
It is arranged on rotary unit, the rotation center of rotary unit and the rotation overlapping of axles of turntable.
4. a kind of three-dimensional reconstruction system based on single line laser radar Yu PCL point clouds library according to claim 3, feature
It is, laser ranging unit is used as transmitting light source using the infrared emission laser of power ＜ 5mW, and passes through and modulate pulse mode
Driving, ranging act 2000 times/second of ＞.
5. a kind of three-dimensional reconstruction system based on single line laser radar Yu PCL point clouds library according to claim 3, feature
It is, rotary unit is driven by the brushless motor of rotating speed 300r/min.
6. a kind of three-dimensional reconstruction system based on single line laser radar Yu PCL point clouds library according to claim 1, feature
It is, turntable is electronic horizontal revolving stage, is connect with 12V DC decelerating motor for driving, and decelerating through motor ratio is 1:300, motor
Rotating speed is 1500r/min, and turntable horizontally rotates ranging from 360 °.
7. a kind of three-dimensional reconstruction system based on single line laser radar Yu PCL point clouds library according to claim 1, feature
It is, Point Cloud Processing unit includes the PC machine for being provided with PCL point clouds library, and being provided with 2.4GHz radio-cells in PC machine is used for
It is wirelessly connected with the 2.4GHz radio-cells being arranged on space exploration unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820355308.1U CN207924743U (en) | 2018-03-15 | 2018-03-15 | A kind of three-dimensional reconstruction system based on single line laser radar Yu PCL point clouds library |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820355308.1U CN207924743U (en) | 2018-03-15 | 2018-03-15 | A kind of three-dimensional reconstruction system based on single line laser radar Yu PCL point clouds library |
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| CN207924743U true CN207924743U (en) | 2018-09-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109584294A (en) * | 2018-11-23 | 2019-04-05 | 武汉中海庭数据技术有限公司 | A kind of road surface data reduction method and apparatus based on laser point cloud |
-
2018
- 2018-03-15 CN CN201820355308.1U patent/CN207924743U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109584294A (en) * | 2018-11-23 | 2019-04-05 | 武汉中海庭数据技术有限公司 | A kind of road surface data reduction method and apparatus based on laser point cloud |
| CN109584294B (en) * | 2018-11-23 | 2020-08-28 | 武汉中海庭数据技术有限公司 | Pavement point cloud extraction method and device based on laser point cloud |
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Granted publication date: 20180928 Termination date: 20190315 |