Object 3D surface reconstruction approach using portable laser scanner

3rd International Conference on Advances in Energy, Environment and Chemical Engineering

能源学;生态环境科学;化学工业

Xu, Ning^1 ; Zhang, Wei^2 ; Zhu, Liye^1 ; Li, Changqing^1 ; Wang, Shifeng^1

Changchun University of Science and Technology, Changchun, Jilin

130022, China^1

Shanghai Key Laboratory of Deep Space Exploration Technology, Shanghai

201109, China^2

关键词: 3D surface reconstruction;    Bilateral filtering;    Environment perceptions;    Mechanical components;    Point cloud data;    Projection algorithms;    Real-time registration;    Triangular mesh generation;   

Others  :  https://iopscience.iop.org/article/10.1088/1755-1315/69/1/012119/pdf
DOI  :  10.1088/1755-1315/69/1/012119

学科分类：环境科学（综合）

来源: IOP

【 摘 要 】

The environment perception plays the key role for a robot system. The 3D surface of the objects can provide essential information for the robot to recognize objects. This paper present an approach to reconstruct objects' 3D surfaces using a portable laser scanner we designed which consists of a single-layer laser scanner, an encoder, a motor, power supply and mechanical components. The captured point cloud data is processed to remove the discrete points, denoise filtering, stitching and registration. Then the triangular mesh generation of point cloud is accomplished by using Gaussian bilateral filtering, ICP real-time registration and greedy triangle projection algorithm. The experiment result shows the feasibility of the device designed and the algorithm proposed.