车载三维数据获取与处理系统设计与实现.DOCVIP

临床医学论文-车载三维数据获取与处理系统设计与实现 ?????????????? 作者：魏波 张爱武 李佑钢 冀翼 王瑶? 【摘要】? 为了实现对城市主干道及其两侧的街景等三维场景进行自动快速采集，车载三维数据获取与处理系统集成多种传感器：全球定位系统（GPS）、VECTOR、惯性测量单元 (IMU)、激光扫描测距仪（LS）、面阵CCD数码相机、线阵CCD数码相机等。该套系统通过对GPS/IMU组合系统导航解算、VECTOR和升降几何平台进行空间配准、时间同步处理，计算出系统精确可靠的空间时间和姿态航向信息，二维激光扫描仪数据经过滤波去噪、和其他传感器数据融合、三维空间计算，解算出道路和两侧街景的三维空间数据模型，对空间激光数据模型提取点线面特征值，结合CCD相机数据进行立体重建和可视化，实现了实时、主动、完整地获取和处理三维空间数据信息。 【关键词】? 多传感器数据融合； GPS/IMU组合导航； 三维立体重建 ???????? Abstract: In order to achieve a collection of information of the 3D scenes of main streets and their two sides in city automaticlly and quickly, a vehicle-borne system of 3D data acquisition and processing was developed by integrated with Global Positioning System (GPS), VECTOR, Inertia Measurement Unit (IMU), laser scanner (LS), planar charge coupled device digital camera, linear charge coupled device digital camera, etc. System computes combined navigation system of GPS/IMU, VECTOR and ascendable geometry stable platform, proceeds in space registration and time synchronization, calculates the systems accurate space, time, stance and? course. Planar laser scanning data was filtered, registered space-wisely and time synchronously and fuse computered with other sensors data, extracted to 3D solid model of characteristic information of the road and outside of street, continuously extracted to point, line and plane, reconstructed combined with CCD camera data and visualized to 3D model true scene, finally implement acquisition and process of 3D space data timely, initiatively and integrally. 牋?Key words:?data fusion of multi-sensor; combined navigation of GPS/IMU; 3D solid reconstruction ??? 为了有效地解决实时、快速、准确、完整的数据信息获取与处理问题，本课题集成差分全球定位系统(Differential Global Positioning System， DGPS)、Vector、惯性测量单元(IMU)、扫描式激光测距仪（2D Laser scanner，2D LS）、线阵CCD相机、面阵CCD相机(charge coupled device，CCD) 等传感器于开启天窗、对电源系统和桌椅改造过的汽车运载平台上，建立一套车载三维数据获取与处理系统，该系统能实时、主动、完整地获取和处理三维空间数据信息，实现城市街景快速建模。 ??? 1? 系统设计组成结构 ??? 完整的车载三维数据获取与处理系统由定位定姿模块和影像采集模块两部分组成，其中用于定位定姿态的传感器有DGPS、VECTOR、IMU等，用于扫描