基于二维激光雷达和多视角相机数据级融合的3D-RGB点云成像
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西安电子科技大学空间科学与技术学院,陕西 710126

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3D-RGB Point Cloud Imaging Based on Data-level Fusion of 2D LiDAR and Multi-view Camera
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School of Space Science and Technology, Xi'an University of Electronics and Technology, Shaanxi 710126, China

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    摘要:

    当前,基于激光和视觉的三维重建技术在地形场景的测量中具有广泛的应用。尽管目前已经开发出多种基于激光雷达和相机的三维成像方法,但它们各自存在一定的局限性。具体而言,RGB-D相机虽然能够同时捕获颜色和深度信息,但其精度往往低于LiDAR,而3D 激光雷达虽然能够提供高精度的空间信息,却缺乏颜色信息,且其成本通常较高。本文提出了一种基于二维激光雷达与多视角相机数据级融合的3D-RGB成像方法,通过采用二维激光雷达与四组不同视角相机得到的3D-RGB点云数据,通过3D-RGB点增强、特征平面检测提取与全局一致对齐技术实现准确,稠密的3D-RGB成像。首先,通过RGB与点云信息融合提升数据质量,并利用特征平面检测优化几何结构表达。随后,结合全局一致对齐策略,降低累积误差,提高整体成像精度。实验结果表明,该方法相比多线激光雷达方案在成像密度和精度上具有优势,整体误差小于0.15米,验证了其在复杂环境下的三维重建与环境勘测应用潜力。

    Abstract:

    Currently, LiDAR- and vision-based 3D reconstruction technologies are widely used in terrain scene measurement. Although various 3D imaging methods based on LiDAR and cameras have been developed, each has limitations. RGB-D cameras can capture both color and depth information but often have lower accuracy than LiDAR, while 3D LiDAR provides high-precision spatial data but lacks color information and is typically expensive. This paper proposes a 3D-RGB imaging method based on data-level fusion of a 2D LiDAR and multi-view cameras, integrating 3D-RGB point cloud data from a 2D LiDAR and four cameras from different viewpoints. The method achieves accurate and dense 3D-RGB imaging through 3D-RGB point enhancement, feature plane detection and extraction, and global consistency alignment. First, fusing RGB and point cloud data enhances data quality, while feature plane detection optimizes geometric structure representation. Then, a global consistency alignment strategy reduces accumulated errors and improves overall imaging accuracy. Experimental results show that compared with multi-line LiDAR solutions, the proposed method offers advantages in imaging density and accuracy, with an overall error of less than 0.15 meters, demonstrating its potential for 3D reconstruction and environmental surveying in complex environments.

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田明昊,李 攀,阎 肃,吴学良,许录平,阎博.基于二维激光雷达和多视角相机数据级融合的3D-RGB点云成像[J].数据采集与处理,,():

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  • 在线发布日期: 2025-07-04