数据采集与处理2025，Vol.40Issue(6)：1505-1517,13.DOI:10.16337/j.1004-9037.2025.06.010
基于二维激光雷达和多视角相机数据级融合的3D-RGB点云成像
3D-RGB Point Cloud Imaging Based on Data-Level Fusion of 2D LiDAR and Multi-view Camera
田明昊 1李攀 1阎肃 1吴学良 1许录平 1阎博1
作者信息
- 1. 西安电子科技大学空间科学与技术学院,西安 710126
- 折叠
摘要
Abstract
Currently,LiDAR-and vision-based 3D reconstruction technologies are widely used in terrain scene measurement.Although various 3D imaging methods based on LiDAR and cameras have been developed,each has limitations.RGB-D cameras can capture both color and depth information but often have lower accuracy than LiDAR,while 3D LiDAR provides high-precision spatial data but lacks color information and is typically expensive.This paper proposes a 3D-RGB imaging method based on data-level fusion of a 2D LiDAR and multi-view cameras,integrating 3D-RGB point cloud data from a 2D LiDAR and four cameras from different viewpoints.The method achieves accurate and dense 3D-RGB imaging through 3D-RGB point enhancement,feature plane detection and extraction,and global consistency alignment.First,fusing RGB and point cloud data enhances data quality,while feature plane detection optimizes geometric structure representation.Then,a global consistency alignment strategy reduces accumulated errors and improves overall imaging accuracy.Experimental results show that compared with multi-line LiDAR solutions,the proposed method offers advantages in imaging density and accuracy,with an overall error of less than 0.15 m,demonstrating its potential for 3D reconstruction and environmental surveying in complex environments.关键词
3D-RGB成像设备/低成本/3D激光雷达/点云着色/室内场景重建Key words
3D-RGB imaging device/low-cost/3D LiDAR/point cloud coloring/indoor scenario reconstruction分类
信息技术与安全科学引用本文复制引用
田明昊,李攀,阎肃,吴学良,许录平,阎博..基于二维激光雷达和多视角相机数据级融合的3D-RGB点云成像[J].数据采集与处理,2025,40(6):1505-1517,13.
