Laser Point Cloud And Image Information Fusion For 3D Scene Reconstruction

In several methods of obtaining 3D scene information, it is difficult to be widely used in practical research and engineering because of the restriction of acquisition precision, equipment cost and scope of application. The method which using 3D laser scanner and monocular camera combined to collect the data to obtain the depth and color information of targets in the scene, can accurately get the distance information of the object in the scene due to the laser scanner is not affected by the external environment constraints, and the acquisition of visual information is relatively simple, so this acquisition method become the focus of research in this field.Firstly, in view of the current situation for the study of 3D scene reconstruction, this paper have designed a acquisition system which combined of a 3D laser range finder, monocular camera, rotary table, a motor and a conductive slip ring, and detailed introduced each equipment in the collection system, equipment selection type number, connection mode, working principle, many advantages, and collaborative work between devices.This paper has designed a software system based on the frame of MFC corresponding data acquisition system. It take the laser data and image capturing real-time display in the interface, and use the software trigger mode to collect 3D laser date and monocular camera's picture, at the same time the software system get this two data algorithm fusion and display in real time, it is convenient to Real time view and monitor the acquisition process and fusion processing.The acquisition of mapping relation between the laser point cloud and image information is prerequisite to realize the 3D scene reconstruction, in order to find the mapping relationship between them, this experiment made a special calibration board and proposed a calibration method which was suitable for this collection system to calibrate the two kinds of data. According to the acquisition system of the actual situation and the transformation principle in different coordinate system, determined some groups of corresponding feature points, then find out the mapping relationship between them and fuse the date(rgb-d information). Use of such method, this paper can achieve the goal of 3D scene reconstruction.This paper use the independent design of the acquisition system and the software system to collect data, find out the data fusion algorithm and make the experiment and simulation, to achieve three-dimensional scene reconstruction.