| At present, there comes out a research focus in computer vision filed that is3Dmodel reconstruction of objects, environment in the real world. In high risk conditionsuch as coal mine, it’s important to monitor circumstance and reconstruct3D model.The main purpose of this thesis is to study3D laser scanning system applied to minerobot.In this thesis, firstly design a prototype of mine robot to display the mechanicaland electrical structure, and select the main devices used in the robot, and thenpropose the research goal of3D scanner. Complete the robot prototype machining,and the simple exercise test of the robot prototype indicated that the robot prototypemeets the design parameters. Next, introduce the structure of3D laser scanner, theoryof triangulation measurement and model of camera image. Realize camera calibrationwith Zhang’s calibration method, and propose the light strip center extractionalgorithm which combined Hessian matrix method and morphological method.Experimental results show that the efficiency of this algorithm has been effectivelyimproved, and the reflection of the light can effectively remove. Finally, use the3Dlaser scanner, at normal illumination, to redraw a3D map of the laboratory. By theexperiment, it demonstrates the algorithm proposed in this article achieves goodresults and has a wide environmental adaptation.Hardware of laser3D scanning system includes line laser emitter, camera, stepmotor and supporting structure. This system is cheap and easy to be assembled.Software is programmed by Visual C++and open source library of OpenCV andOpenGL. |
