线阵激光雷达成像数据恢复与实验研究+Matlab程序
时间:2019-12-08 15:14 来源:毕业论文 作者:毕业论文 点击:次
| 摘要随着激光雷达技术的日趋成熟，其在交通测绘、环境监测、地理测绘等领域有着广泛的应用，对激光雷达点云数据进行处理是其中的一项重要内容。本文主要对激光雷达点云数据恢复的过程进行研究。 在深度资料调研的基础上， 利用课题组研发的线阵激光雷达进行了大量的外场实验，获取多组点云数据。在Matlab 软件平台上编写程序，依次对点云数据进行三维坐标变换、 噪声去除和三角网格构建操作。处理后的点云数据可恢复成较为直观的三维图像。实验结果表明，弦高差检查法、均值滤波法可以较好的去除点云数据的噪声。而点云数据三角网格的构建过程运算量巨大，短时间内未能达到预期最佳的效果。本次研究实现了激光雷达成像数据的恢复，其处理结果可为后续进一步的工作（如路径规划等）提供数据源。 42532 毕业论文关键词 线阵激光雷达 点云数据 Matlab 三角网格 Title Imaging data recovery experimental study of linear array laser radar Abstract With the maturing of the laser radar technology, it has been widely used in the fields of traffic mapping, environmental monitoring, geographic mapping and so on. The processing of point cloud data of laser radar is an important part of it. In this paper, the process of laser radar point cloud data recovery is studied. Based on the investigation of the depth data, a large number of field experiments are carried out by using the linear array laser radar, which is used in the research group. In the Matlab software platform for the preparation of the program. The program includes three dimensional transformation of point cloud data, noise removal and triangular mesh, etc. A more intuitive three-dimensional images can be restored after the processing of point cloud data. The experimental results show that the chord inspection method, mean filtering method can effectively remove the noise in point cloud data. Triangle mesh processing of point cloud data has a huge amount of computation, and failed to achieve the desired results in a short period of time. This research has achieved the recovery of the imaging data of the laser radar, and the results can provide the data source for the further work (such as path planning). Keywords linear array laser radar point cloud data Matlab triangular mesh 目录 1绪论.1 1.1激光雷达介绍.1 1.3本文主要研究内容.4 2激光雷达数据重建的基础理论.5 2.1三维变换.5 2.2点云数据的去噪处理.7 2.3点云数据的三维重建.9 3线阵激光雷达获取点云数据的实验11 3.1实验环境11 3.2数据采集结果分析13 4典型场景三维数据的重建与分析14 4.1数据处理流程14 4.2处理结果分析20 结论23 致谢24 参考文献25 附录A算法程序.26
1 绪论 1.1 激光雷达介绍 |