The Key Technical Research On 3D Mapping Of Indoor Environment Based On Laser Lidar

With the accelerated progress of urbanization in China,the number of large public buildings is increasing and the pattern of indoor space is becoming more and more complex.The fields of emergency disaster relief,environmental monitoring,intelligent building,location services,urban combat and other fields have shown a strong dependence on the interior of the real space distribution.Compared with the traditional methods,the 3D data acquisition method based on laser lidar is the ideal way.Therefore,taking the laser radar technique for indoor 3D data,as the data source of the indoor 3D map layer,is convenient and significant.In this thesis,a case study of a particular floor and a particular room in it is used to discuss the workflow of the construction of 3D mapping of indoor environment based on laser lidar.The main research works are as follows:(1)The point cloud data acquisition and preprocessing: In this thesis,Leica ScanStation C10 3D laser scanner was used to capture the interior point cloud data,due to its scattered features,a series of methods should be taken to complete the preprocessing work,including point cloud data organizing and indexing,denoising,registering and mosaicking,resampling,etc.(2)We use Random Sample Consensus algorithm to realize the detection of interior point cloud data plane feature and extract the indoor main framework.Besides,we use the accurate segmentation of hierarchical clustering Euclidean to achieve the separate of indoor target objects based on distance.(3)The 3D grid reconstruction of each target object is realized by Delaunay triangulation.The mesh hole repair is completed by adding new triangles and the Laplacian smoothing algorithm is used to realize the smooth smoothing of the mesh model,which complete the target 3D grid Model optimization.Then,the shapefile files generated by ArcGIS.Besides,we create a geodatabase and connect with SQL Server 2008 by ArcSDE,and the shapefile files are all imported into the geodatabase after the connection is successful.Finally,we achieve the map visualization system by the ArcGIS Engine Secondary development.Then we mainly achieve the basic functions of 3D visualization,rotation,translation,and we can understand the overall pattern through the small map and query the target and make it highlighting in center through the large map,mark the point of interest and present the target's field attribute information and other basic functions.