The Key Technology Study Of 3D Reconstruction Based On Laser Range Finder And CCD

The key technology of 3D model reconstruction based on laser range finder and CCD image has been researched in this paper, including the laser data acquisition platform establishment and data processing, camera calibration, the theory and the method of an improve extrinsic calibration technology of laser and CCD, point cloud data regions segmentation based on optical flow, the theory and method of 3D model reconstruction and color mapping of point cloud.Firstly, C++ language has been used to compile based on the radar principle laser data acquisition platform and laser data real-time gathering.Filter is used to process the laser data and has reduced the error of data in this paper.A new extrinsic calibration method for laser ranger finder and CCD has been proposed in this paper.It solving the rotation matrix and the translation vector base on the constraint condition that the laser points on the calibration cube's three edges should satisfy the linear equation of cube's three edges in image coordinate. At the precondition of keep precision the way simplifies the calibration algorithm and calibration process.The method of point cloud data regions segmentation was researched based on improve optical flow.A series of consecutive images,with stationary background and moving object ,were calculated by an improved optical flow algorithm,to detect the motion object.And then the laser points on the moving object can be obtained.Lastly, the method of Delaunay triangularization was used to form 3D grid reconstruction. Then the RGB information of the CCD image were mapped onto the point cloud by the improved laser and CCD calibration method, which will provide the assurance of exact location between point cloud and image texture for 3D model texture mapping.