基于无人机和LIDAR的三维场景建模研究

doi:10.16182/j.issn1004731x.joss.201709006

系统仿真学报 ›› 2017, Vol. 29 ›› Issue (9): 1914-1920.doi: 10.16182/j.issn1004731x.joss.201709006

基于无人机和LIDAR的三维场景建模研究

张航, 陈彬, 薛含章, 朱正秋, 王戎骁

国防科学技术大学信息系统与管理学院,湖南长沙 410073

收稿日期:2017-06-11 发布日期:2020-06-02
作者简介:张航(1995-),男,河南洛阳,硕士生,研究方向为系统仿真。
基金资助:
国家自然科学基金(71673292,61503402),国家重点研发计划重点专项资金(2017YFC0803300),上海市软件和集成电路产业发展专项资金(150312),; 广东省舆情大数据分析与仿真重点实验室基金

Research on 3D Scene Modeling Based on UAV and LIDAR

Zhang Hang, Chen Bin, Xue Hanzhang, Zhu Zhengqiu, Wang Rongxiao

College of Information System and Management, National University of Defense Technology, Changsha 410073, China

Received:2017-06-11 Published:2020-06-02

摘要/Abstract

摘要： 仿真方法是应急管理的重要研究手段,仿真研究对真实场景的数据采集提出了需求。以无人机为载体、搭载激光雷达、惯性测量单元等硬件设备,集成设计了机载点云数据采集平台。利用该平台采集实际场景点云数据,使用SLAM方法实时建立点云地图,对点云地图进行三维重建。解决了真实场景三维模型的构建问题,设计并实现了一个点云处理和三维建模软件,最后通过实验对算法与软件进行了有效性和稳定性验证。

关键词: 无人机, 三维激光雷达, SLAM, 点云三维重建, 点云处理软件

Abstract: Simulation is a significant method of emergency management research which demands the digital data of real scenes. Hardware was integrated to design the air borne point cloud data acquisition platform by using UAV as carrier, picking up the laser radar, IMU, etc. Furthermore, the platform was used to collect point cloud data and SLAM algorithm was used to establish real-time point cloud map. Moreover, point cloud map was utilized to establish 3D model. The problem of real scene 3D model construction was solved, designing and realizing point cloud processing and 3D modeling software, and a lot of experiments were carried out to verify the algorithm and software.

Key words: Unmanned Aerial Vehicle, 3D LIDAR, SLAM, three-dimensional reconstruction, point cloud processing software

中图分类号:

TP391.9

张航, 陈彬, 薛含章, 朱正秋, 王戎骁. 基于无人机和LIDAR的三维场景建模研究[J]. 系统仿真学报, 2017, 29(9): 1914-1920.

Zhang Hang, Chen Bin, Xue Hanzhang, Zhu Zhengqiu, Wang Rongxiao. Research on 3D Scene Modeling Based on UAV and LIDAR[J]. Journal of System Simulation, 2017, 29(9): 1914-1920.

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基于无人机和LIDAR的三维场景建模研究

Research on 3D Scene Modeling Based on UAV and LIDAR

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