CN103729883A - Three-dimensional environmental information collection and reconstitution system and method - Google Patents
Three-dimensional environmental information collection and reconstitution system and method Download PDFInfo
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Abstract
The invention discloses a three-dimensional environmental information collection and reconstitution system and method. The three-dimensional environmental information collection and reconstitution system comprises two-dimensional laser range finders, a panorama camera, a rotating platform, an airborne processor, a power supply, a base, a wire sliding rail, a signal collector, a motor, a speed reduction gear set, a panorama camera supporting frame and a connecting rod. The connecting rod, the airborne processor and the power supply are arranged on the base, the connecting rod is sequentially sleeved with the speed reduction gear set, the wire sliding rail and the rotating platform from bottom to top. The panorama camera supporting frame and the panorama camera are sequentially arranged on the top of the connecting rod from bottom to top. The signal collector is fixed to the lower surface of the rotating platform, one or more two-dimensional laser range finders are fixed to the upper surface of the rotating platform, the two-dimensional laser range finders are located below the panorama camera supporting frame, and the motor is arranged on the speed reduction gear set. The three-dimensional environmental information collection and reconstitution system is large in measurement view angle and long in measurement distance, and accurate and abundant in information, a generated model has a very good view angle effect, abundant original environmental information can be provided, and the cost is relatively low.
Description
Technical field
The present invention relates to three-dimensional environment reconstruction field, relate in particular to a kind of three-dimensional environment information acquisition and reconfiguration system and method.
Background technology
Traditional environment information acquisition and reconstructing method generally obtain by artificial mapping or simple two-dimensional laser sensor, and its result exists information not accurately complete, strongly professional, the shortcoming of the inadequate hommization of man-machine interaction.Along with the development of computer technology and numerical map technology and universal, the three-dimensional scenic of high fidelity also will enter into our life gradually.The information acquisition of three-dimensional environment and reconstruct are to the extraordinary application such as geographical mapping, military detection, robot and unmanned plane application, environmental structure monitoring, disaster and scene of the accident rescue important in inhibiting.The information acquisition of three-dimensional environment and reconfiguration technique will produce huge economic and social benefit.
Aspect three-dimensional environment information acquisition and reconstruct equipment, the type of current main-stream has:
(1) take product Velodyne HDL 64E(U.S. Patent number 7969558) be the face battle array laser of representative, it can obtain horizontal direction 360 degree, the depth data of vertical direction 26 degree left and right narrowband region scopes, this type systematic observation scope is limited, be only applicable to open smooth scene, and do not comprise true picture information.
(2) take the degree of depth-vision system based on single scanning laser range finder and single camera that product Leica ScanStation C10 and Riegl be representative, scanning laser range finder and camera together rotate, scanning three-dimensional environment.Its horizontal direction observed efficiency is lower, and acquisition time is slower.And because camera moves and need to overcome image blurring problem in not stall, to camera apparatus, require high.Similar domestic patent has: patent No. CN201562075U.Only being easy to the domestic patent that scanning laser range finder carries out 3-D scanning has: patent No. CN302466240S, patent No. CN102393516A, patent No. CN201858962U, patent No. CN1970894A.
(3) take the degree of depth-vision system based on structured light that product Microsoft Kinect is representative, it utilizes structured light principle measurement environment depth map, and is equipped with color camera and increases colouring information.Its observation visual angle effective range less and depth data is only between 0.5～4 meter.Similar domestic patent has: patent No. CN103162643A, patent No. CN201583258U.
(4) take the pure vision system that patent No. CN202875336U is representative: using camera or video camera is basic equipment, utilizes various visual angles reconfiguration principle to carry out three-dimensional environment reconstruct.Its visual angle is less, and depth information precision is not high and easy existence is empty, and for the environmental structure of color homogeneous, error probability is higher.Similar domestic patent also has: patent No. CN101726257A.
In sum, existing equipment there is no an efficient system at aspects such as observation scope, work efficiency, reconstruction accuracy, real-textures and can realize whole functions.The present invention is based on the three-dimensional environment information acquisition reconfiguration system that this has proposed the scanning laser range finder data based on panorama camera and rotation, can realize around three-dimensional environment information acquisition and the reconstruct of full field range, system is simple to operate, operational efficiency is high, the three-dimensional scenic around can accurately truly reducing.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, a kind of three-dimensional environment information acquisition and reconfiguration system are provided
andmethod.
Three-dimensional environment information acquisition and reconfiguration system comprise scanning laser range finder, panorama camera, rotation platform, airborne processor, power supply, base, wire slide rail, signal picker, motor, train of reduction gears, panorama camera bracing frame, connecting rod;
Base is provided with connecting rod, airborne processor, power supply, on connecting rod, cover has train of reduction gears, wire slide rail, rotation platform in turn from top to bottom, connecting rod top is provided with panorama camera bracing frame, panorama camera from top to bottom in turn, rotation platform lower surface is fixed with signal picker, rotation platform upper surface is fixed with one or more scanning laser range finder, scanning laser range finder is positioned at the below of panorama camera bracing frame, and motor is located in train of reduction gears.
The internal hardware module annexation of described airborne processor is:
In the pci bus being connected with central processing unit carry internal memory, network controller, CAN controller, serial ports, video collector, network controller provides radio network interface and the wired network interface of RJ45, CAN controller is by CAN bus carry motor driver, and serial ports is by 232 bus carry code-disc signal pickers.
The three-dimensional environment information acquisition of three-dimensional environment information acquisition and reconfiguration system and the step of reconstructing method are as follows:
1) equipment clock is synchronous: the clock synchronous of one or more scanning laser range finder, panorama camera, rotatable platform, under airborne processor clock, and is carried out revising in real time online, so that distinct device is in the correct correspondence of the data that do not gather in the same time;
2) laser range finder-camera relative pose is demarcated: demarcate the relative pose between one or more scanning laser range finder, rotation platform, panorama camera, and online correction in real time, so that the image of the data of scanning laser range finder collection and panorama camera collection can carry out correct locus correspondence;
3) single frames point cloud strengthens: the some cloud that scanning laser range finder is collected resamples to remove noise and makes a distribution more even, carries out surface grid model structure, and map image texture, obtains having the surface grid model of color texture;
4) multiframe data splicing: the surface grid model that diverse location is collected splices, and is transformed into unified global coordinate system, to recover the relative pose relation between multiframe data from the local coordinate system at each frame place;
5) merge on multiframe surface: the surface grid model that unified diverse location under global coordinate system collects is carried out to surface and merge, with overcome by noise, caused and multiframe data splicings after the geometric configuration of the model lap that still exists misfit, obtain geometrically and consistent view picture environmental surfaces grid model with color texture continuously all in data structure.
Described step 1) is: the data of scanning laser range finder are read in by laser data read module, the image of panorama camera reads in by image reading module, the code-disc data code-disc data read module that rotation platform passes through reads in, the request of data timestamp that clock synchronization module sends by system and corresponding data receiver timestamp, the network equipment line clock generator synchronous method of utilization based on packet timestamp, the timestamp of each packet is corresponded under system clock, realize the clock synchronous of a plurality of device datas, data after these update of time stamp are stored in shared drive by data bus successively, clock synchronization module is issued the address of clock synchronous settling signal and up-to-date synchrodata simultaneously by messaging bus.
Described step 2) be: first mechanical parameter estimation module according to clock synchronous settling signal and the up-to-date synchrodata address of clock synchronization module issue, reads in the data after update of time stamp, i.e. laser data after clock synchronous, code-disc data, image; The interval module of choosing of laser data stream determines that according to the timestamp of image corresponding laser data is interval; Turntable attitude estimation module is according to the timestamp sequence in the laser data interval selecting
, in conjunction with the angle-data in code-disc data
and correspondent time
, calculate attitude sequence
,
Wherein
with
be on time shaft from
two nearest code-disc data time stamps; Laser data stream coordinate transformation module is changed to the laser data circulation selecting under unified three-dimensional system of coordinate according to this attitude sequence, forms a frame point cloud; Data reduction module, immediately to this frame data reduction edge contour, obtains representing the three-dimensional point set of three-dimensional edges
, and according to the error model of the performance parameter of laser range finder, error model and some cloud Boundary extracting algorithm, obtain the probability distribution of three-dimensional edges point set
; Meanwhile, Edge extraction module is extracted the edge contour of image, obtains representing the pixel set at two-dimentional edge
, and according to the error model of the performance parameter of camera, error model and Edge extraction algorithm, obtain the probability distribution of two-dimentional edge pixel
; Relative attitude and displacement estimation module comprises rotation matrix with one group
and translation matrix
coordinate conversion matrix be the relative pose of laser range finder and camera, by three-dimensional point set
project under camera coordinates system, obtain two-dimentional edge point set
, and according to the probability distribution of three-dimensional edges point set
obtain two-dimentional edge point set with projection relation
probability distribution
, by calculating two-dimentional edge point set
probability distribution
probability distribution with two-dimentional edge pixel
between symmetry
kLdistance
,
With
,
for parameter, minimize
, try to achieve optimum laser range finder and panorama camera relative pose transition matrix
,
Mechanical parameter estimation module calculates after the relative pose transition matrix of scanning laser range finder and panorama camera, by data bus, this relative pose parameter, some cloud edge contour data, image border outline data are stored in shared drive, and by messaging bus, issue the storage address of mechanical parameter estimation settling signal and up-to-date relative pose parameter, some cloud edge contour data, image border outline data.
Described step 3) is: first put cloud resampling module according to the clock synchronous settling signal of clock synchronization module issue, the mechanical parameter of mechanical parameter estimation module issue is estimated settling signal, read laser data, utilize region growing algorithm, the indicated surperficial single order of a cloud of take continuously and Second Order Continuous be condition, a cloud is cut apart, obtain some subsets of a cloud, utilize each subset that Moving Least Squares algorithm is cut apart a cloud separately to resample, after completing, the some cloud subset after all resamplings is merged into new some cloud C ', and by data bus, the some cloud after resampling is stored in shared drive, the storage address of the some cloud by messaging bus publishing point cloud resampling settling signal and after resampling, then, surface mesh generation module is according to a some cloud resampling settling signal for cloud resampling module issue, the two-dimentional Triangulation Algorithm of utilization based on partial projection builds the triangle grid model T of some cloud C ', after completing, by data bus, the triangle grid model obtaining is stored into shared drive, and generate settling signal and triangle grid model storage address by messaging bus publishing table surface grids, finally, texture module generates settling signal according to the surface mesh of surface mesh generation module issue, it is under Coor_C that each summit in triangle grid model T is projected to camera coordinates, find image pixel corresponding to this summit, for each triangular facet in triangle grid model, according to the corresponding image pixel in each summit of this triangular facet, cutting image and by the image mapped after cutting to triangle gridding, obtain having the triangle grid model of color texture, by data bus, the data texturing in the triangle grid model with color texture obtaining is stored in shared drive, and issue texture settling signal by messaging bus.
Described step 4) is: multiframe concatenation module is according to the texture settling signal of texture module issue, read triangle grid model and corresponding some cloud edge point set that a new frame has color texture, by the intersection that the some cloud edge point set of a new frame is put cloud edge point set with existing history, carrying out three-dimensional curve mates, the triangle grid model that obtains, after pose transformation matrices, a new frame is had to color texture transforms under global coordinate system, by data bus, store the triangle gridding surface model with color texture under global coordinate system, and the storage address of issuing the triangle gridding surface model with color texture under multiframe splicing settling signal and global coordinate system by messaging bus.
Described step 5) is: multiframe surface Fusion Module is according to the multiframe splicing settling signal of multiframe concatenation module issue, read the triangle gridding surface model with color texture under the global coordinate system of a new frame, according to sensor device characteristic and data acquisition modes, estimate each triangle gridding vertex position in triangle gridding surface model data
uncertainty; The model newly reading and existing historical block mold form two frame data, for each the triangle gridding summit in these two frame data, whether neighbour's situation of assessing this place, summit local surfaces and another frame is overlapping in this position to confirm two frame data, and all triangle gridding summits in overlapping region in mark two frame data; To each the triangle gridding summit in overlapping region
, search triangle gridding summit
a corresponding triangular facet of all adjacent triangular facet in these frame data and the arest neighbors in another frame, uncertain according to the position on these triangular facet summits, estimate triangle gridding summit
in " the hidden surface " of this regional area upper projection
,
，
Wherein
,
be respectively triangle gridding summit
the variance of the normal vector of the some adjacent triangular facets in these frame data and plane intercept,
,
be respectively triangle gridding summit
the normal vector of an adjacent triangular facet in another frame data and the variance of plane intercept; Reconnect the summit after the reorientation of overlapping region, form consistent triangle grid model, i.e. new block mold continuously; By data bus, newly-increased summit and annexation are inserted to the storage area of block mold, and upgraded existing triangle grid model vertex position and summit annexation, finally by messaging bus, issue multiframe and merge settling signal.
The present invention compared with prior art, the beneficial effect having:
1. measure visual angle large, 360 ° of horizontal view angles, 135 ° of verticals angle of view, far measuring distance, reaches 50m simultaneously, therefore utilizes the present invention to carry out the efficiency of environment information acquisition and structure high;
2. information is accurate, abundant, and laser data provides accurate geological information, and panoramic picture provides abundant color and texture information, and the existing good view effect of model after both fusions, can provide again abundant environment raw information.
3. cost is relatively low.Compare with the equipment of same class of the same type, the present invention, by the maximized components and parts performance of utilizing, has realized systemic-function with limited cost.
Accompanying drawing explanation
Fig. 1 is three-dimensional environment information acquisition and reconfiguration system structural representation;
Fig. 2 is three-dimensional environment information acquisition and reconfiguration system side view;
Fig. 3 is airborne processor internal hardware module logic connection layout;
Fig. 4 is airborne processor software module logic connection layout;
Fig. 5 is mechanical parameter estimation module internal structure figure;
Fig. 6 is three-dimensional environment information acquisition and reconstructing method process flow diagram;
Fig. 7 is the single frames colour point clouds sample of three-dimensional environment information acquisition and reconfiguration system and method structure;
Fig. 8 is the single frames band color texture polygonal mesh surface model sample of three-dimensional environment information acquisition and reconfiguration system and method structure;
Fig. 9 is the band color texture triangle gridding surface model sample that the multiframe of three-dimensional environment information acquisition and reconfiguration system and method structure merges;
In figure, scanning laser range finder 1, panorama camera 2, rotation platform 3, airborne processor 4, power supply 5, band connecting rod base 6, wire slide rail 7, signal picker 8, motor 9, train of reduction gears 10, panorama camera bracing frame 11, connecting rod 12.
Embodiment
As shown in Figure 1, 2, three-dimensional environment information acquisition and reconfiguration system comprise scanning laser range finder 1, panorama camera 2, rotation platform 3, airborne processor 4, power supply 5, base 6, wire slide rail 7, signal picker 8, motor 9, train of reduction gears 10, panorama camera bracing frame 11, connecting rod 12;
As shown in Figure 3, the internal hardware module annexation of described airborne processor 4 is:
In the pci bus being connected with central processing unit carry internal memory, network controller, CAN controller, serial ports, video collector, network controller provides radio network interface and the wired network interface of RJ45, CAN controller is by CAN bus carry motor driver, and serial ports is by 232 bus carry code-disc signal pickers.
A kind of typical case's application of the present invention is the three-dimensional model of automatic constructing environment, this three-dimensional model is with triangle gridding surface model formal output and demonstration with color texture, the triangle gridding surface model with color texture of input as shown in Figure 8, can accurately represent environment geometry, and meticulous surface color texture is provided, therefore can allow user easily scene be observed, distinguished and measures.
During structure, by three-dimensional environment information acquisition of the present invention and reconfiguration system successively in the diverse location image data of environment, after having gathered, each place can manually this system be moved to the next position collection, also this system can be arranged on the mobile platforms such as automobile, allow system gather in different positions.When every new position gathers, the code-disc of laser range finder, panorama camera, rotation platform is image data respectively.
The three-dimensional environment information acquisition of three-dimensional environment information acquisition and reconfiguration system and the step of reconstructing method are as follows:
1) equipment clock is synchronous: the clock synchronous of one or more scanning laser range finder 1, panorama camera 2, rotatable platform 3 is arrived under airborne processor 4 clocks, and carry out online correction in real time, so that distinct device can be correctly corresponding in the data that do not gather in the same time;
2) laser range finder-camera relative pose is demarcated: demarcate the relative pose between one or more scanning laser range finder 1, rotation platform 3, panorama camera 2, and revise in real time online, so that the image that the data that scanning laser range finder 1 gathers and panorama camera 2 gather can carry out correct locus correspondence;
3) single frames point cloud strengthens: the some cloud that scanning laser range finder 1 is collected resamples to remove noise and makes a distribution more even, carries out surface grid model structure, and map image texture, obtains having the surface grid model of color texture;
4) multiframe data splicing: the surface grid model that diverse location is collected splices, and is transformed into unified global coordinate system, to recover the relative pose relation between multiframe data from the local coordinate system at each frame place;
5) merge on multiframe surface: the surface grid model that unified diverse location under global coordinate system collects is carried out to surface and merge, with overcome by noise, caused and multiframe data splicings after the geometric configuration of the model lap that still exists misfit, obtain geometrically and consistent view picture environmental surfaces grid model with color texture continuously all in data structure, the resulting view picture environmental surfaces grid model with color texture as shown in Figure 9.
Described step 1) is: the data of scanning laser range finder 1 are read in by laser data read module, the image of panorama camera 2 reads in by image reading module, the code-disc data code-disc data read module that rotation platform 3 passes through reads in, the request of data timestamp that clock synchronization module sends by system and corresponding data receiver timestamp, network equipment line clock generator synchronous method (the TICSync:Knowing When Things Happened. IEEE International Conference on Robotics and Automation of utilization based on packet timestamp, 2011), the timestamp of each packet is corresponded under system clock, realize the clock synchronous of a plurality of device datas, data after these update of time stamp are stored in shared drive by data bus successively, clock synchronization module is issued the address of clock synchronous settling signal and up-to-date synchrodata simultaneously by messaging bus.
Described step 2) be: first mechanical parameter estimation module according to clock synchronous settling signal and the up-to-date synchrodata address of clock synchronization module issue, reads in the data after update of time stamp, i.e. laser data after clock synchronous, code-disc data, image; The interval module of choosing of laser data stream determines that according to the timestamp of image corresponding laser data is interval; Turntable attitude estimation module is according to the timestamp sequence in the laser data interval selecting
, in conjunction with the angle-data in code-disc data
and correspondent time
, calculate attitude sequence
,
Wherein
with
be on time shaft from
two nearest code-disc data time stamps; Laser data stream coordinate transformation module is changed to the laser data circulation selecting under unified three-dimensional system of coordinate according to this attitude sequence, forms a frame point cloud; Data reduction module, immediately to this frame data reduction edge contour, obtains representing the three-dimensional point set of three-dimensional edges
, and according to the error model of the performance parameter of laser range finder, error model and some cloud Boundary extracting algorithm, obtain the probability distribution of three-dimensional edges point set
; Meanwhile, the edge contour of Edge extraction module extraction image (Canny J. A computational approach to edge detection[J]. Pattern Analysis and Machine Intelligence, IEEE Transactions on, 1986 (6): 679-698.), obtain representing the pixel set at two-dimentional edge
, and according to the error model of the performance parameter of camera, error model and Edge extraction algorithm, obtain the probability distribution of two-dimentional edge pixel
; Relative attitude and displacement estimation module comprises rotation matrix with one group
and translation matrix
coordinate conversion matrix be the relative pose of laser range finder and camera, by three-dimensional point set
project under camera coordinates system, obtain two-dimentional edge point set
, and according to the probability distribution of three-dimensional edges point set
obtain two-dimentional edge point set with projection relation
probability distribution
, by calculating two-dimentional edge point set
probability distribution
probability distribution with two-dimentional edge pixel
between symmetry
kLdistance
,
With
,
for parameter, minimize
, try to achieve optimum laser range finder and panorama camera relative pose transition matrix
,
Mechanical parameter estimation module calculates after the relative pose transition matrix of scanning laser range finder 1 and panorama camera 2, by data bus, this relative pose parameter, some cloud edge contour data, image border outline data are stored in shared drive, and by messaging bus, issue the storage address of mechanical parameter estimation settling signal and up-to-date relative pose parameter, some cloud edge contour data, image border outline data.
Described step 3) is: first put cloud resampling module according to the clock synchronous settling signal of clock synchronization module issue, the mechanical parameter of mechanical parameter estimation module issue is estimated settling signal, read laser data, utilize region growing algorithm (Adams R, Bischof L. Seeded region growing. Pattern Analysis and Machine Intelligence, IEEE Transactions on, 1994, 16 (6): 641-647), the indicated surperficial single order of a cloud of take continuously and Second Order Continuous be condition, a cloud is cut apart, obtain some subsets of a cloud, utilize each subset that Moving Least Squares algorithm is cut apart a cloud separately to resample, after completing, the some cloud subset after all resamplings is merged into new some cloud C ', and by data bus, the some cloud after resampling is stored in shared drive, the storage address of the some cloud by messaging bus publishing point cloud resampling settling signal and after resampling, then, surface mesh generation module is according to a some cloud resampling settling signal for cloud resampling module issue, two-dimentional Triangulation Algorithm (the Hardwick J C. Nested parallel 2D Delaunay triangulation method:U.S. Patent 6 of utilization based on partial projection, 088, 511[P]. 2000-7-11) build the triangle grid model T of some cloud C ', after completing, by data bus, the triangle grid model obtaining is stored into shared drive, and generate settling signal and triangle grid model storage address by messaging bus publishing table surface grids, finally, texture module generates settling signal according to the surface mesh of surface mesh generation module issue, it is under Coor_C that each summit in triangle grid model T is projected to camera coordinates, find image pixel corresponding to this summit, for each triangular facet in triangle grid model, according to the corresponding image pixel in each summit of this triangular facet, cutting image and by the image mapped after cutting to triangle gridding, obtain having the triangle grid model of color texture, by data bus, the data texturing in the triangle grid model with color texture obtaining is stored in shared drive, and issue texture settling signal by messaging bus.
Described step 4) is: multiframe concatenation module is according to the texture settling signal of texture module issue, read triangle grid model and corresponding some cloud edge point set that a new frame has color texture, by the intersection that the some cloud edge point set of a new frame is put cloud edge point set with existing history, carrying out three-dimensional curve mates, the triangle grid model that obtains, after pose transformation matrices, a new frame is had to color texture transforms under global coordinate system, by data bus, store the triangle gridding surface model with color texture under global coordinate system, and the storage address of issuing the triangle gridding surface model with color texture under multiframe splicing settling signal and global coordinate system by messaging bus.
Described step 5) is: multiframe surface Fusion Module is according to the multiframe splicing settling signal of multiframe concatenation module issue, read the triangle gridding surface model with color texture under the global coordinate system of a new frame, according to sensor device characteristic and data acquisition modes, estimate each triangle gridding vertex position in triangle gridding surface model data
uncertainty; The model newly reading and existing historical block mold form two frame data, for each the triangle gridding summit in these two frame data, whether neighbour's situation of assessing this place, summit local surfaces and another frame is overlapping in this position to confirm two frame data, and all triangle gridding summits in overlapping region in mark two frame data; To each the triangle gridding summit in overlapping region
, search triangle gridding summit
a corresponding triangular facet of all adjacent triangular facet in these frame data and the arest neighbors in another frame, uncertain according to the position on these triangular facet summits, estimate triangle gridding summit
in " the hidden surface " of this regional area upper projection
,
Wherein
,
be respectively triangle gridding summit
the variance of the normal vector of the some adjacent triangular facets in these frame data and plane intercept,
,
be respectively triangle gridding summit
the normal vector of an adjacent triangular facet in another frame data and the variance of plane intercept; Reconnect the summit after the reorientation of overlapping region, form consistent triangle grid model, i.e. new block mold continuously; By data bus, newly-increased summit and annexation are inserted to the storage area of block mold, and upgraded existing triangle grid model vertex position and summit annexation, finally by messaging bus, issue multiframe and merge settling signal.
Claims (8)
1. three-dimensional environment information acquisition and a reconfiguration system, is characterized in that comprising scanning laser range finder (1), panorama camera (2), rotation platform (3), airborne processor (4), power supply (5), base (6), wire slide rail (7), signal picker (8), motor (9), train of reduction gears (10), panorama camera bracing frame (11), connecting rod (12);
Base (6) is provided with connecting rod (12), airborne processor (4), power supply (5), on connecting rod (12), cover has train of reduction gears (10) in turn from top to bottom, wire slide rail (7), rotation platform (3), connecting rod (12) top is provided with panorama camera bracing frame (11) from top to bottom in turn, panorama camera (2), rotation platform (3) lower surface is fixed with signal picker (8), rotation platform (3) upper surface is fixed with one or more scanning laser range finder (1), scanning laser range finder (1) is positioned at the below of panorama camera bracing frame (11), motor (9) is located in train of reduction gears (10).
2. a kind of three-dimensional environment information acquisition according to claim 1 and reconfiguration system, is characterized in that the internal hardware module annexation of described airborne processor (4) is:
In the pci bus being connected with central processing unit carry internal memory, network controller, CAN controller, serial ports, video collector, network controller provides radio network interface and the wired network interface of RJ45, CAN controller is by CAN bus carry motor driver, and serial ports is by 232 bus carry code-disc signal pickers.
3. use three-dimensional environment information acquisition and the reconstructing method of three-dimensional environment information acquisition as claimed in claim 1 and reconfiguration system, it is characterized in that its step is as follows:
1) equipment clock is synchronous: the clock synchronous of one or more scanning laser range finder (1), panorama camera (2), rotatable platform (3) is arrived under airborne processor (4) clock, and carry out online correction in real time, so that distinct device can be correctly corresponding in the data that do not gather in the same time;
2) laser range finder-camera relative pose is demarcated: demarcate the relative pose between one or more scanning laser range finder (1), rotation platform (3), panorama camera (2), and revise in real time online, so that the image that the data that scanning laser range finder (1) gathers and panorama camera (2) gather can carry out correct locus correspondence;
3) single frames point cloud strengthens: the some cloud that scanning laser range finder (1) is collected resamples to remove noise and makes a distribution more even, carries out surface grid model structure, and map image texture, obtains having the surface grid model of color texture;
4) multiframe data splicing: the surface grid model that diverse location is collected splices, and is transformed into unified global coordinate system, to recover the relative pose relation between multiframe data from the local coordinate system at each frame place;
5) merge on multiframe surface: the surface grid model that unified diverse location under global coordinate system collects is carried out to surface and merge, with overcome by noise, caused and multiframe data splicings after the geometric configuration of the model lap that still exists misfit, obtain geometrically and consistent view picture environmental surfaces grid model with color texture continuously all in data structure.
4. a kind of three-dimensional environment information acquisition and reconstructing method according to claim 3, it is characterized in that, described step 1) is: the data of scanning laser range finder (1) are read in by laser data read module, the image of panorama camera (2) reads in by image reading module, the code-disc data code-disc data read module that rotation platform (3) passes through reads in, the request of data timestamp that clock synchronization module sends by system and corresponding data receiver timestamp, the network equipment line clock generator synchronous method of utilization based on packet timestamp, the timestamp of each packet is corresponded under system clock, realize the clock synchronous of a plurality of device datas, data after these update of time stamp are stored in shared drive by data bus successively, clock synchronization module is issued the address of clock synchronous settling signal and up-to-date synchrodata simultaneously by messaging bus.
5. a kind of three-dimensional environment information acquisition and reconstructing method according to claim 3, it is characterized in that, described step 2) be: mechanical parameter estimation module is first according to clock synchronous settling signal and the up-to-date synchrodata address of clock synchronization module issue, read in the data after update of time stamp, i.e. laser data after clock synchronous, code-disc data, image; The interval module of choosing of laser data stream determines that according to the timestamp of image corresponding laser data is interval; Turntable attitude estimation module is according to the timestamp sequence in the laser data interval selecting
, in conjunction with the angle-data in code-disc data
and correspondent time
, calculate attitude sequence
,
,
Wherein
with
be on time shaft from
two nearest code-disc data time stamps; Laser data stream coordinate transformation module is changed to the laser data circulation selecting under unified three-dimensional system of coordinate according to this attitude sequence, forms a frame point cloud; Data reduction module, immediately to this frame data reduction edge contour, obtains representing the three-dimensional point set of three-dimensional edges
, and according to the error model of the performance parameter of laser range finder, error model and some cloud Boundary extracting algorithm, obtain the probability distribution of three-dimensional edges point set
; Meanwhile, Edge extraction module is extracted the edge contour of image, obtains representing the pixel set at two-dimentional edge
, and according to the error model of the performance parameter of camera, error model and Edge extraction algorithm, obtain the probability distribution of two-dimentional edge pixel
; Relative attitude and displacement estimation module comprises rotation matrix with one group
and translation matrix
coordinate conversion matrix be the relative pose of laser range finder and camera, by three-dimensional point set
project under camera coordinates system, obtain two-dimentional edge point set
, and according to the probability distribution of three-dimensional edges point set
obtain two-dimentional edge point set with projection relation
probability distribution
, by calculating two-dimentional edge point set
probability distribution
probability distribution with two-dimentional edge pixel
between symmetry
kLdistance
,
With
,
for parameter, minimize
, try to achieve optimum laser range finder and panorama camera relative pose transition matrix
,
Mechanical parameter estimation module calculates after the relative pose transition matrix of scanning laser range finder (1) and panorama camera (2), by data bus, this relative pose parameter, some cloud edge contour data, image border outline data are stored in shared drive, and by messaging bus, issue the storage address of mechanical parameter estimation settling signal and up-to-date relative pose parameter, some cloud edge contour data, image border outline data.
6. a kind of three-dimensional environment information acquisition and reconstructing method according to claim 3, it is characterized in that, described step 3) is: first put cloud resampling module according to the clock synchronous settling signal of clock synchronization module issue, the mechanical parameter of mechanical parameter estimation module issue is estimated settling signal, read laser data, utilize region growing algorithm, the indicated surperficial single order of a cloud of take continuously and Second Order Continuous be condition, a cloud is cut apart, obtain some subsets of a cloud, utilize each subset that Moving Least Squares algorithm is cut apart a cloud separately to resample, after completing, the some cloud subset after all resamplings is merged into new some cloud C ', and by data bus, the some cloud after resampling is stored in shared drive, the storage address of the some cloud by messaging bus publishing point cloud resampling settling signal and after resampling, then, surface mesh generation module is according to a some cloud resampling settling signal for cloud resampling module issue, the two-dimentional Triangulation Algorithm of utilization based on partial projection builds the triangle grid model T of some cloud C ', after completing, by data bus, the triangle grid model obtaining is stored into shared drive, and generate settling signal and triangle grid model storage address by messaging bus publishing table surface grids, finally, texture module generates settling signal according to the surface mesh of surface mesh generation module issue, it is under Coor_C that each summit in triangle grid model T is projected to camera coordinates, find image pixel corresponding to this summit, for each triangular facet in triangle grid model, according to the corresponding image pixel in each summit of this triangular facet, cutting image and by the image mapped after cutting to triangle gridding, obtain having the triangle grid model of color texture, by data bus, the data texturing in the triangle grid model with color texture obtaining is stored in shared drive, and issue texture settling signal by messaging bus.
7. a kind of three-dimensional environment information acquisition and reconstructing method according to claim 3, it is characterized in that, described step 4) is: multiframe concatenation module is according to the texture settling signal of texture module issue, read triangle grid model and corresponding some cloud edge point set that a new frame has color texture, by the intersection that the some cloud edge point set of a new frame is put cloud edge point set with existing history, carrying out three-dimensional curve mates, the triangle grid model that obtains, after pose transformation matrices, a new frame is had to color texture transforms under global coordinate system, by data bus, store the triangle gridding surface model with color texture under global coordinate system, and the storage address of issuing the triangle gridding surface model with color texture under multiframe splicing settling signal and global coordinate system by messaging bus.
8. a kind of three-dimensional environment information acquisition and reconstructing method according to claim 3, it is characterized in that, described step 5) is: multiframe surface Fusion Module is according to the multiframe splicing settling signal of multiframe concatenation module issue, read the triangle gridding surface model with color texture under the global coordinate system of a new frame, according to sensor device characteristic and data acquisition modes, estimate each triangle gridding vertex position in triangle gridding surface model data
uncertainty; The model newly reading and existing historical block mold form two frame data, for each the triangle gridding summit in these two frame data, whether neighbour's situation of assessing this place, summit local surfaces and another frame is overlapping in this position to confirm two frame data, and all triangle gridding summits in overlapping region in mark two frame data; To each the triangle gridding summit in overlapping region
, search triangle gridding summit
a corresponding triangular facet of all adjacent triangular facet in these frame data and the arest neighbors in another frame, uncertain according to the position on these triangular facet summits, estimate triangle gridding summit
in " the hidden surface " of this regional area upper projection
,
，
Wherein
,
be respectively triangle gridding summit
the variance of the normal vector of the some adjacent triangular facets in these frame data and plane intercept,
,
be respectively triangle gridding summit
the normal vector of an adjacent triangular facet in another frame data and the variance of plane intercept; Reconnect the summit after the reorientation of overlapping region, form consistent triangle grid model, i.e. new block mold continuously; By data bus, newly-increased summit and annexation are inserted to the storage area of block mold, and upgraded existing triangle grid model vertex position and summit annexation, finally by messaging bus, issue multiframe and merge settling signal.
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