Indoor Environment Mapping Research Based On SLAM Three-Dimensional Reconstruction

With the steady development of today's smart technology,people are increasingly demanding three-dimensional modeling of indoor scenes.How to efficiently collect indoor environment data has become a research hotspot in the computer field,the traditional data acquisition method is to acquire data through 3D laser scanning technology,the 3D laser scanning technology can accurately locate the 3D coordinate values of the scene surface and obtain the spatial information of the scene.Therefore,3D laser scanning technology has been widely used in the field of mapping.However,high-precision mapping tasks challenge the positioning of hardware,and it is necessary to have accurate pose data to complete high-precision measurement.In the mapping task of indoor scenes,laser scanning technology can't use INS and GPS to obtain the pose data of data acquisition equipment.The SLAM project of the navigation system is the core technology to solve this problem,the location of the hardware platform and the construction of the external environment are realized by using the scene data of the laser scanner.The indoor environment of human society is numerous and varied,the travel route is narrow and variable,and the light and dark changes are numerous,which leads to the poor mobility of the traditional laser scanning technology in the indoor environment.The collected data has many noises and low precision,and the redundant data cannot be identified.Aiming at these problems,this paper designs a mobile data acquisition platform suitable for indoor environment.Firstly,it performs a series of tasks such as initial point cloud preprocessing,feature point cloud extraction,and 3D point cloud solution calculation in the data acquisition platform.Then,the laser SLAM method in the robot field is introduced into the indoor mapping system to solve the problem of determining the posture and determining the position of the data acquisition platform.Finally,the 3D reconstruction technology in the SLAM project is applied to the model reconstruction of the indoor scene to ensure the accuracy and speed of the reconstruction.Using the three-dimensional digital model of the scene,the real geometric data of the indoor scene is further mapped,and a complete indoor environment mapping system is constructed.For 3D reconstruction technology,the core is the point cloud registration module.Through the exact matching of the point cloud,the point clouds collected in different directions and different directions are transformed into spatial coordinates,so that all the point clouds are combined into one whole,and a three-dimensional model of the indoor scene is generated.In order to improve the matching precision of point cloud,an iterative Levenberg-Marquardt point cloud registration method is constructed.On the basis of solving the problem of hardware platform pose,the precision and speed of point cloud matching are greatly improved.The mapping system proposed in this paper has been tested and verified in the actual indoor environment.The length,width and height errors of the indoor scene are maintained within 3 cm,and the flatness and verticality of the indoor plane are maintained within 8 mm.The measurement error reaches the accuracy requirement of the actual project,which proves the feasibility of this paper's the scheme.