光学精密工程2025，Vol.33Issue(16)：2491-2501,11.DOI:10.37188/OPE.20253316.2491
动态扫描激光视觉三维测量系统及标定方法
Dynamic scanning laser vision three-dimensional measurement system and calibration method
摘要
Abstract
Single-layer LIDAR offers advantages such as simple structure,low cost,and low power con-sumption;however,its sensing capability is limited to planar scanning,rendering it incapable of indepen-dently achieving three-dimensional 3D reconstruction.Although visual sensors provide rich image informa-tion,they suffer from limitations in geometric measurement accuracy and robustness against environmental interference.To address the inability of single-layer LIDAR to directly acquire 3D spatial information and the low reconstruction accuracy of single-sensor systems,this paper presented a LIDAR-camera fusion-based 3D reconstruction system.The system employed a lead screw and roller mechanism to drive the sin-gle-line LIDAR in vertical motion,enabling spatial 3D data acquisition.Simultaneously,the RGB-D cam-era captured color and texture information to enhance reconstruction quality.The system architecture and scanning measurement principles were first established,followed by a detailed analysis of the 3D recon-struction pipeline.Intrinsic and extrinsic calibration between the LIDAR and the camera was performed to enable accurate point cloud registration and fusion,significantly improving the precision and completeness of the reconstruction.A simulated tunnel-like environment was constructed for validation.Using the cali-brated system,point cloud coordinates were computed frame-by-frame for the reconstruction of 11 target objects.Experimental results show a registration error of 6.8 mm,with fused point cloud deviations not exceeding 5.5 mm within a 500 mm measurement range.Furthermore,a large-scale indoor floor recon-struction experiment demonstrates an overall reconstruction error within 12 mm over a 2 600 mm measure-ment range.关键词
激光雷达/深度相机/垂直运动/联合标定/三维重构Key words
LIDAR/depth camera/vertical motion/joint calibration/3D reconstruction分类
信息技术与安全科学引用本文复制引用
杨洪涛,黄昌九,庞好男,范瑞琳,梁光磊..动态扫描激光视觉三维测量系统及标定方法[J].光学精密工程,2025,33(16):2491-2501,11.基金项目
安徽省重点研究与开发计划(No.202004a07020046) （No.202004a07020046）
