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大型三維重建之模型對齊－使用Velodyne雷射掃描儀 = Large ...

國立高雄大學資訊工程學系碩士班

大型三維重建之模型對齊－使用Velodyne雷射掃描儀 = Large scale 3D scene registration using data from Velodyne LIDAR

紀錄類型:	書目-語言資料,印刷品 : 單行本
並列題名:	Large scale 3D scene registration using data from Velodyne LIDAR
作者:	林映辰,
其他團體作者:	國立高雄大學
出版地:	[高雄市]
出版者:	撰者;
出版年:	民100
面頁冊數:	69葉部份彩圖，表格 : 30公分;
標題:	三維重建
標題:	3D reconstruction
電子資源:	http://handle.ncl.edu.tw/11296/ndltd/59811103132836913360
附註:	參考書目：葉59-60
摘要註:	隨著三維運算技術及其應用迅速的發展，對物件形體之數位化工作的需求與日俱增。相較於小型物件，大型物件的三維重建工作在資料量、精確性上都極具挑戰性。雷射測距掃瞄為一種快速而精確的三圍重建方法，其快速掃瞄大片面積、不易受環境影響的高精確性，使其成為大型物件三維重建工作的首選方法。本文使用一具高精度的Velodyne雷射掃瞄儀，配合ICP剛性對齊演算法，建立了一套快速有效的大型物件重建系統。ICP(Iterative Closest Point)演算法被廣泛的應用於三維重建和機器人定位工作上(SLAM)，是剛性對齊的主導性演算法。本文對原始ICP進行實作改良，使用最差忽略(Worst rejection) 、特徵擷取(Feature extraction)以及跳圈等方式，大幅降低ICP演算法的累積誤差，使其能夠有效的對雷射掃瞄取得的大量資料進行對齊，最終建立精準的大型物件模型。 With the rapid development of 3D computing technology, the acquisition of range data has become a necessary activity for numerous applications. Large scene reconstruction, which aims to gather depth information of the environment by the use of some range sensors, is a challenging problem. It is considered challenging because the scale of scanned data is relatively large than any regular sized object.Laser rangefinders are perhaps the most frequently used sensors in the applications of scene reconstruction. In our work a 3D reconstruction system that equips with a Velodyne LIDAR is built. In order to improve the range and the density of reconstruction the system implements a modified Iterative Closest Point (ICP) algorithm. The combination of various strategies such as worst rejection and feature extraction is proposed to achieve significant improvement. The experiment shows that the heuristic registering algorithm is capable to align multiple LIDAR scans that consist of large number of 3D coordinates in a faster and more accurate manner compared to conventional ICP algorithm.

大型三維重建之模型對齊－使用Velodyne雷射掃描儀 = Large scale 3D scene registration using data from Velodyne LIDAR
林, 映辰

大型三維重建之模型對齊－使用Velodyne雷射掃描儀 = Large scale 3D scene registration using data from Velodyne LIDAR / 林映辰撰 - [高雄市] : 撰者, 民100. - 69葉 ; 部份彩圖，表格 ; 30公分.
參考書目：葉59-60.
三維重建3D reconstruction

大型三維重建之模型對齊－使用Velodyne雷射掃描儀 = Large scale 3D scene registration using data from Velodyne LIDAR
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330 $a 隨著三維運算技術及其應用迅速的發展，對物件形體之數位化工作的需求與日俱增。相較於小型物件，大型物件的三維重建工作在資料量、精確性上都極具挑戰性。雷射測距掃瞄為一種快速而精確的三圍重建方法，其快速掃瞄大片面積、不易受環境影響的高精確性，使其成為大型物件三維重建工作的首選方法。本文使用一具高精度的Velodyne雷射掃瞄儀，配合ICP剛性對齊演算法，建立了一套快速有效的大型物件重建系統。ICP(Iterative Closest Point)演算法被廣泛的應用於三維重建和機器人定位工作上(SLAM)，是剛性對齊的主導性演算法。本文對原始ICP進行實作改良，使用最差忽略(Worst rejection) 、特徵擷取(Feature extraction)以及跳圈等方式，大幅降低ICP演算法的累積誤差，使其能夠有效的對雷射掃瞄取得的大量資料進行對齊，最終建立精準的大型物件模型。 With the rapid development of 3D computing technology, the acquisition of range data has become a necessary activity for numerous applications. Large scene reconstruction, which aims to gather depth information of the environment by the use of some range sensors, is a challenging problem. It is considered challenging because the scale of scanned data is relatively large than any regular sized object.Laser rangefinders are perhaps the most frequently used sensors in the applications of scene reconstruction. In our work a 3D reconstruction system that equips with a Velodyne LIDAR is built. In order to improve the range and the density of reconstruction the system implements a modified Iterative Closest Point (ICP) algorithm. The combination of various strategies such as worst rejection and feature extraction is proposed to achieve significant improvement. The experiment shows that the heuristic registering algorithm is capable to align multiple LIDAR scans that consist of large number of 3D coordinates in a faster and more accurate manner compared to conventional ICP algorithm.
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