雷达科学与技术2024，Vol.22Issue(5)：557-568,12.DOI:10.3969/j.issn.1672-2337.2024.05.011
基于轮廓和方位角的单线激光雷达旋转扫描快速空间构网
Rapid Spatial Mesh Construction by Rotational Scanning with Single-Line LiDAR Contour and Azimuth Information
摘要
Abstract
Traditional point cloud construction algorithms such as Poisson algorithm,Delaunay triangulation algo-rithm,Graph Cut(GC)algorithm,etc.,have strong universality and are suitable for processing point clouds obtained from various instruments.However,they all need to preprocess the point cloud,such as denoising,downsampling,nor-mal vector extraction,etc.The algorithms have high complexity and slow speed.In response to the above problems,in the case of laser radar rotation scanning,the initial information collected by the laser radar,such as scanning contour and azimuth,can be fully utilized to directly construct the network.Therefore,a fast spatial construction method based on the initial information of point cloud for single-line laser radar rotation scanning is proposed.This method uses the contour information formed by the laser radar rotation scanning and the azimuth information of each point in the contour,and directly constructs the network according to the azimuth order of the point cloud on the two adjacent contours.When a certain azimuth point is missing,the two contours skip this point at the same time,and then all the contours are con-structed in the order of resolution and the broken surface caused by the missing point is repaired.Experimental results show that the proposed method can show good three-dimensional reconstruction effects in cartons,rooms and corridors.The average error standard deviation(SD)index is better than traditional methods,the average error is increased by more than 50%,and the network construction speed and robustness are also significantly increased.关键词
激光雷达点云/方位角/轮廓/空间构网Key words
LiDAR point cloud/azimuth/contour/triangle mesh分类
信息技术与安全科学引用本文复制引用
陈文博,张代聪,李倩,余继龙,钟世龙..基于轮廓和方位角的单线激光雷达旋转扫描快速空间构网[J].雷达科学与技术,2024,22(5):557-568,12.基金项目
国家自然科学基金(No.52005380) （No.52005380）
