基于三维激光扫描仪的点云配准

【作者】 高珊珊；

【导师】 郭玲；

【作者基本信息】 南京理工大学 ， 系统工程， 2008， 硕士

【摘要】 随着现代信息技术的飞速发展及图形图像应用领域的扩大,如何快速、准确的对现实世界中的三维实体进行数字化已成为急待解决的问题。而三维扫描技术的出现为该问题的解决提供了新的技术手段。该技术能快速、精确、无接触地获取复杂物体表面的三维信息(点云),进而完成实体三维重建。由于该技术的自身特点,要获得实体完整的点云数据,必须进行多视点数据采集。因而,多视点点云的配准成为基于三维扫描三维重建的一项关键技术,对模型重建的精度有重要影响。本文针对点云配准问题进行了研究,主要工作包括以下几方面:(1)从实验室现有设备及其功能出发,提出了基于反射体配准技术路线的数据采集流程,利用反射体进行了点云的配准,并结合实际工作中遇到的问题分析了基于反射体配准的缺点及局限性,明确了点云配准算法研究的重要性。(2)通过对三维激光扫描仪的配套软件Riscan Pro的数据组织结构及所存储参数的分析,阐明了Riscan Pro参数解析工作对于点云配准及三维重建的重要性。鉴于RiscanPro的工程文件project.rsp是符合W3C标准的XML文档,本文概述了XML文档的语法基础,并利用SAX解析技术对Riscan Pro文档进行解析及参数获取。(3)分析了ICP算法的优缺点及其改进算法的实现思路,提出了基于近邻搜索的多分辨率ICP改进算法,并结合Riscan Pro软件提供的手动配准功能,提出了一种改进的点云配准流程。上述算法均在VC++平台下进行了实现,并以本实验室的三维激光扫描设备采集实验数据,对算法进行了实验,验证了上述算法的有效性。更多还原

【Abstract】 With the rapid development of modern information technology and the expanding applications of computer graphics, how to quickly and accurately digitalize 3D entities in real world has become an urgent issue. The 3D laser scanner provides a new technology to deal with this problem, whicn can acquire pointclouds of complex object surface fast and precisely without contact and then completes the 3D reconstruction of entities. Because of its own feature, pointclouds must be acquired from several positions to complete point cloud model. So the registration of multi-view point clouds has become a key technology of 3D reconstrution based on 3D scanning,which has great effect to the precision of model reconstruction.The above-mentioned issue is studied in this paper,and the main contributions are as follows:(1) With the equipment of the laboratory, a flow of data acquiration base on registration via tiepoints is proposed and the pointclouds are registered. The advantages and disadvantages of registration via tiepoints are analysed.The importance of the research of pointcloud registration algorithm is emphasized.(2) The data organization structure and saved parameters of Riscan Pro are analyzed. The importance of Riscan Pro parameter analysis to the point cloud registration and 3D reconstruction is clarified. As the project file of Riscan Pro is a XML file conforming to W3C the standard, this paper summarized XML document grammar foundations.And analyzed Riscan Pro file and acquired parameters with the technology of SAX.(3) The advantages and disadvantages of ICP algorithm are analyzed. The improved ICP algorithm of neighbor searching multi-resolution is proposed and a registration flow based on Riscan Pro are also proposed.The algorithms are all implemented under the platform of VC++ and carried on the experiment to the algorithm with datas acquired by 3D laser scanner. The validity is also confirmed.更多还原