起重运输机械Issue(7)：31-37,7.
基于激光扫描的散货料堆实时三维重建与参数提取
摘要
Abstract
In this paper,for the three-dimensional reconstruction and parameter acquisition of port bulk cargo pile,the three-dimensional reconstruction method and parameter calculation method of bulk cargo pile in automatic grasping are studied.Firstly,the operation mode and environment of port bulk cargo pile were analyzed,and a three-dimensional reconstruction experimental platform was designed and built.Secondly,the point cloud data was rotated and transformed from two-dimensional point cloud to three-dimensional point cloud by using point cloud mosaic technology.Finally,the coordinates of the highest point were obtained by calculating the extreme value and using the extreme value index,and the length,width and other data of the pile were obtained through the AABB bounding box for the calculation of the floor area of the bulk cargo pile.关键词
激光雷达/三维重建/自动化/料堆参数Key words
lidar/3D reconstruction/automation/material pile parameters分类
机械制造引用本文复制引用
曹小华,侯文晟,韩红安,武超..基于激光扫描的散货料堆实时三维重建与参数提取[J].起重运输机械,2024,(7):31-37,7.基金项目
河南省科技研发计划联合基金项目(225101610079)、湖北省重点研发专项(2023BEB046) （225101610079）
