Research On The Three-Dimensional Reconstruction Technology Based On Vehicle LIDAR

With the rapid development of IT (Information Technology), the three-dimensional modeling of the scene has been widely applied in urban land-use planning, digital city, virtual museum, protection of ancient cultural relics and other important areas. Vehicle-based three-dimensional reconstruction of the LIDAR, which is gathering fast, modeling quickly and accurately, low cost, is valued in the three-dimensional scene reconstruction of the field and developing rapidly.In this paper, laser sensor is applied to measure distance and mobile robot position and attitude through the indoor vehicle LIDAR collecting system, calculated by3D point cloud data of the indoor scenes after the conversion; directly to the outdoor scene3D point cloud data acquisition system through the outdoor vehicle LIDAR. The data processing of the point cloud flow is as follows:Firstly, indoor vehicle LIDAR data filtering through the method based on sensor accuracy and the point cloud geometric characteristics and the scan line to filter the indoor stacked debris, benches and other objects; Outdoor vehicle LIDAR data is filtered by the filtering method based on the projection point density and spatial geometric features to filter out the noise of pedestrians, trees and other point cloud.Subsequently, the facade of the point cloud segmentation complete noise filtering indoor and outdoor vehicle LIDAR data using the algorithm based on the local plane fitting in this paper, plane are all collected in the scene to separate out and place in which different point of collection, the purpose of the point represents a point in the collection of points on a plane.And finally, the paper get the model of each plan through the two methods based on similar three-dimensional reconstruction of single plane and three-dimensional reconstruction of the Delaunay Triangulation, and further integrate all of the plane model to fulfill the reconstruction of the whole three-dimensional scene. At the same time, the paper collected scene geometry model as well as the comparison of two different three-dimensional reconstruction methods from graphics rendering speed, data storage, description scene details to find out the characteristics of each method.