基于二维激光传感器的三维环境表面三角网格构建方法 | |
康文杰; 王洪光; 王慧刚; 姜勇; 王志利; 罗永勤; 刘澈; 何鹏杰; 孙金云 | |
2017-09-01 | |
专利国别 | 中国 |
专利号 | CN107123162A |
专利类型 | 发明 |
产权排序 | 1 |
权利人 | 中国科学院沈阳自动化研究所 ; 国网山西省电力公司检修分公司 |
其他题名 | Based on two-dimensional laser sensor the three-dimensional environmental surface of triangular mesh construction method |
中文摘要 | 本发明涉及一种基于二维激光传感器的三维环境表面三角网格构建方法,二维激光传感器采集三维环境扫描的扫描数据,并发送到上位机;将采集到的扫描数据转换为笛卡尔空间坐标下的三维激光点云矩阵;将得到的三维激光点云矩阵根据均匀采样法进行数据压缩,得到三维激光点云数据;对三维激光点云数据进行三角网格构建。本发明适用范围广,能够适用于多数的三维激光点云数据的环境建模;针对性强,能够很好的处理激光点云数据的不均匀或者扫描面不连续的情况;处理效果好,能够很好的重构出于原扫描环境拓扑结构相近的三角网格;原理简单,处理速度快。 |
是否PCT专利 | 否 |
英文摘要 | This invention claims a method and device based on two-dimensional laser sensor the three-dimensional environmental surface of triangular mesh construction method of two-dimensional laser sensor is used for collecting environmental three-dimensional scanning a scanning data and sends it to upper location machine; The collected the scanning data is converted into cartesian space coordinate of point cloud three-dimensional laser matrix; To obtain three-dimensional laser point cloud matrix according to uniform sampling method for data compression to obtain the three-dimensional laser point cloud data; For three-dimensional laser point cloud data triangular mesh construction. This invention can be used widely it can be used in a three-dimensional laser point cloud data the environment of modelling; Has strong pertinence and it can greatly the processing of the laser point cloud data is not even or scanning surface discontinuous the condition of; Processing effect is good and it can greatly the weight of the original scan environment topological structure is similar to triangle mesh; Principle is simple and fast processing speed. |
申请日期 | 2016-02-24 |
语种 | 中文 |
专利申请号 | CN201610101813.9 |
专利代理 | 沈阳科苑专利商标代理有限公司 21002 |
内容类型 | 专利 |
源URL | [http://ir.sia.cn/handle/173321/20936] |
专题 | 沈阳自动化研究所_空间自动化技术研究室 |
推荐引用方式 GB/T 7714 | 康文杰,王洪光,王慧刚,等. 基于二维激光传感器的三维环境表面三角网格构建方法. CN107123162A. 2017-09-01. |
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