低成本三维激光扫描仪系统关键技术研究-控制科学与工程专业论文.docx

Classified Index: TH113.2 U.D.C: 621 Dissertation for the Master Degree in Engineering STUDY TO THE KEY ISSUES OF THE LOW-COST 3D LASER SCANNER Candidate: Supervisor: Academic Degree Applied for: Specialty: Affiliation: Date of Defence: Degree-Conferring-Institution: Fu Pei Associate Prof. Wu Xiaojun Master of Engineering Control Science and Engineering Shenzhen Graduate School December, 2010 Harbin Institute of Technology 哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 - - I - 摘要 在计算机中对现实世界中的客观景物进行三维重建一直都是计算机视觉的研 究热点之一。三维激光扫描仪可以快速获得扫描对象表面每个采样点的三维坐标 的集合，它的兴起极大的促进了三维重建的发展和应用。 目前传统的三维激光扫描仪过高的价格极大地限制了其应用和普及。本文介 绍并分析了一种低成本的激光扫描仪的扫描原理，提出研制这种激光扫描仪系统 需要解决两大关键技术问题：摄像机的标定和图像中激光光条中心的提取，同时 给出了相应的解决算法与结果分析，并实现了这种低成本的三维激光扫描仪系 统。通过实验进一步说明本文提出的算法可以取得良好的效果，并与国外同类型 的低成本三维激光扫描仪 DAVID 软件进行对比，得到的结果相近，但本文的结果 完整性较佳，而且对于环境要求较低，不要求在黑暗环境中扫描，可直接在室内 正常的光照环境下进行扫描，可进行彩色扫描。 扫描仪系统的硬件组成部分是：线激光发射器、摄像头、两块平面板。整个 系统总的成本很低廉，而且方便组装使用。软件处理部分采用 Visual C++与 OpenCV 开源函数库来编写。本激光扫描仪系统主要适用于室内环境。 关键词 低成本；激光扫描仪；三维重建；相机标定；光条中心提取 - - II - Abstract Three-dimensional (3D) reconstruction of the real world in computer is always one of the hot research topics in the field of computer vision. 3D laser scanner can quickly scan the object and obtain 3D coordinates set of the object surfaces. The rise of 3D laser scanning technology promotes the 3D reconstruction to the rapid development and wide applications. Generally, the market price of 3D laser scanner is very expensive. The high price is greatly restricted the application and popularization of 3D laser scanner. In order to reduce the cost of 3D laser scanner greatly, while keeping its precision still meet certain requirements, this paper presents and analyzes the principle of a low-cost laser scanner, declared that there are two key technical problems need to be solved, which are camera calibration and laser stripe center extraction in images, so that this low-cost laser scanner system can be developed. Then this paper proposed the corresponding solution algorithms to develop the