Research On Data Acquisition And Three-dimensional Reconstruction Of Two-dimensional Galvanometer Lidar

The two-dimensional galvanometer scanning lidar has 3D imaging capability and has broad application prospects.Data real-time reception and 3D reconstruction display is one of the key contents of its research.To this end,based on the two-dimensional galvanometer lidar independently made by the research group,the paper designs a set of real-time data reception,storage and 3D reconstruction algorithms,and writes a lidar software that can perform 3D reconstruction and display in real time.Based on in-depth data research,the latest progress of lidar research and point cloud data 3D reconstruction algorithm is summarized.In theory,the mathematical expression of the optical distortion in the two-dimensional galvanometer scanning is deduced,and the computer simulation is carried out to provide a theoretical basis for eliminating the scanning distortion in the 3D reconstruction.The point cloud data quality evaluation standard based on the echo noise characteristics of laser radar is introduced.Based on the application conditions of the point cloud data filtering algorithm and the outlier elimination algorithm,the median filtering is applied to the point cloud data in the form of scan lines.For filtering,the chord difference culling outlier algorithm is suitable for flat building scenes,and the least squares culling outlier algorithm is suitable for scenes such as trees.A fast triangulation algorithm based on galvanometer lidar is proposed.The mathematical algorithm for two-dimensional galvanometer point cloud data preprocessing and 3D reconstruction is presented.On this basis,combined with the imaging scheme of two-dimensional galvanometer lidar,the real-time receiving,storing,reconstructing processing and real-time display algorithms and programs of lidar data based on serial communication are designed.In addition,the paper also established a two-dimensional galvanometer lidar scanning imaging experimental device,and for the corridor building,underground parking lot,outdoor environment and other scenarios,verified the 128 × 128 resolution,5-10 frame frequency design when working three-dimensional The effectiveness of the reconstruction algorithm is obtained,and a three-dimensional image that is in good agreement with the actual scene is obtained.In summary,the research results of this paper have certain reference value for the 3D reconstruction and display research of laser radar point cloud data.