Research For Mix Expression On The Scene Indoor Using Polygon And Grid

3D modeling reconstruction technology of real scenes based on range data acquired by laser radar scanners has broad applications in digitizing historic sites and digital amusement. 3-D environment reconstruction based on the data of laser radar , is an important subject in the research and applications of optical 3-D sensing , attracting more and more people recently.Through analyzing of data properties of the laser radar , this paper investigates thoroughly the theories and techniques of 3-D environment reconstruction using laser radar, and realization in indoor environment reconstruction. The problem is divided into five parts: data collection, data handling , data registration, reconstruct surface using triangle and grid, grid fusion. The research content are provided as followings:(A) A 2-D matrix can be obtained through laser radar scanning the environment around. Because of the influence of environment and machine, some measure errors will occur inevitably in the process. Considering the particularity of radar data, This paper comminute the area of distance using histogram and then wipe off yawp by median filter in different areas.(B) The traditional ICP algorithm is adopted in this paper to register all data from different viewpoints . Every range image should be aligned in a common frame of reference. In order to improve the speed of registration , this paper presents a new method to decreases the number of point pair, the times of iterative reduce as well. Adopting quaternion expression, this paper has computed the rotation parameter R and the translation parameter T to realized registration.(C) Considering the inherent structural information exists in laster radar data, this paper reconstruct the surface of all points based on triangle grid the redundant data in multi-angle image regulated should be eliminated and define a data structure for these triangles' memory. Then the images will be patched. It includes : determining the overlap region , deleting every viewpoint overlap region , determining the fusion algorithm.(D) The paper advances a new method: predigest the scene model making use of polygon grid and 3-D grid, expedite the pace of scene drawing, save the storage room.