基于激光雷达点云数据的虚拟室内场景搭建研究
Research on virtual indoor scene construction based on lidar point cloud data
刘龙1
作者信息
摘要
通过搭建虚拟室内场景实现室内视景重构,提出基于激光雷达点云数据的虚拟室内场景搭建技术,采用三维光学面扫描设备采集激光雷达点云数据,采用融合卡尔曼滤波方法实现对虚拟室内场景激光雷达点云数据滤波处理,减少点云数据干扰,提取虚拟室内场景的空间分布域特征量,获取虚拟室内场景中被测量物体的全局标志点,通过逆向设计和三维边界轮廓特征点重构的方法实现对虚拟室内场景散乱点云重组和稀疏性特征点拟合,在拟合曲面采用纹理渲染方法实现对虚拟室内场景重构.仿真结果表明,采用该方法进行虚拟室内场景搭建的激光雷达点云数据重建能力较好,保留原始点云的特征信息较为饱满,能满足较好地重建几何精度场合,重建精度达到了 0.98,并且重建时间仅为4.5 h.
Abstract
The virtual indoor scene is reconstructed by building a virtual indoor scene,and a virtual indoor scene construction technology based on lidar point cloud data is proposed.The lidar point cloud data is collected by using a three-dimensional optical surface scanning device,and the lidar point cloud data of the virtual indoor scene is filtered by using a fusion Kalman filtering method to reduce the interference of the point cloud data,extract the spatial distribu-tion domain features of the virtual indoor scene,and obtain the global mark points of the measured objects in the virtual indoor scene.Through reverse design and reconstruction of 3D boundary contour feature points,the scattered point cloud of virtual indoor scene is reconstructed and sparse feature points are fitted,and the virtual indoor scene is recon-structed by texture rendering on the fitting surface.The simulation results show that the lidar point cloud data recon-structed by this method is better,and the feature information of the original point cloud is more abundant,which can meet the needs of better reconstruction geometric accuracy,the reconstruction accuracy reached 0.98,and the recon-struction efficiency reached 4.5 h.
关键词
激光雷达/点云数据/虚拟/室内场景/搭建Key words
lidar/point cloud data/virtual/indoor scene/put up引用本文复制引用
基金项目
河南省自然科学基金(22300350371)
河南理工大学项目(GSKY2019-03)
理工大学项目(SKND2019-25)
出版年
2024
NETL
NSTL
万方数据