【摘要】 三维信息快速采集是真实场景建模与三维虚拟现实技术的关键。本文提出了一种基于激光扫描仪、线/面阵CCD相机及GPS与IMU等多种传感器融合的车载移动式数据快速采集系统。各传感器安置在车内稳定平台上并随车保持一致的运动姿态。通过对GPS和IMU数据进行卡尔曼(Kalman)滤波,可推测出整个系统及各传感器的位置和最佳姿态估计;从扫描仪点云数据可提取出街道场景中事物的三维几何信息;线阵CCD相机用于获取路面带状地物等线性特征;面阵CCD采集街道两侧面状纹理信息,从而快速获得城市目标的地理坐标和三维建模信息,由此可重建城市路面街道的三维真实场景。更多还原

【Abstract】 Fast collection of three-dimension information is the key technique in three-dimension real scene modeling and Virtual Reality.A moving mobile data fast collection system based on CCD camera,laser scanner,GPS and IMU is proposed in this paper.All sensors are tightly fixed to a stable platform in the mobile and are synchronized with movement or attitude of the platform.Through Kalman filter,an optimal estimate of position and attitude of the whole system composed by all sensors can be evaluated from GPS and IMU.Objects’ three-dimension geometrical information is extracted from point cloud data from laser scanner.Linear or strip shape in road surface are acquired through linear CCD camera,while planar texture information in both side of the street are obtained from 2D CCD camera.Accordingly,geographic coordinates and three-dimensional modeling information of object in city are fast gathered.As a result,three-dimension actual city road surface and street scene are reconstructed.更多还原