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FasFast Triangulation and Local Optimization for Scan Data of Laser Radar

FasFast Triangulation and Local Optimization for Scan Data of Laser Radar
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摘要 In order to study the triangulation for the point cloud data collected by three-dimensional laser radar,in accordance with the line-by-line characteristics of laser radar scanning,an improved Delaunay triangulation method is proposed to mesh the point cloud data as a triangulation irregular network.Based on the geometric topology location information among radar point cloud data,focusing on the position relationship between adjacent scanning line of the point data,a preliminary match network is obtained according to their geometric relationship.A reasonable triangulation network for the object surface is acquired after the use of local optimization on initial mesh by Delaunay rule.Meanwhile,a new judging rule is proposed to contrast the triangulation before and after the optimization on the network.The result shows that triangulation for point cloud with full use of its own characteristics can improve the speed of the algorithm obviously,and the rule for judging the triangulation can evaluate the quality of network. In order to study the triangulation for the point cloud data collected by three-dimensional laser radar, in accordance with the line-by-line characteristics of laser radar scanning, an improved Delaunay triangulation method is proposed to mesh the point cloud data as a triangulation irregular network. Based on the geometric topology location information among radar point cloud data, focusing on the position relationship between adjacent scanning line of the point data, a preliminary match network is obtained according to their geometric relationship. A reasonable triangulation network for the object surface is acquired after the use of local optimization on initial mesh by Delaunay rule. Meanwhile, a new judging rule is proposed to contrast the triangulation before and after the optimization on the network. The result shows that triangulation for point cloud with full use of its own characteristics can improve the speed of the algorithm obviously, and the rule for judging the triangulation can evaluate the quality of network.
出处 《Journal of Shanghai Jiaotong university(Science)》 EI 2010年第1期1-5,共5页 上海交通大学学报(英文版)
基金 the National Natural Science Foundation of China (No. 50805094) the National Basic Research Program (973) of China (No. 2006CB705400)
关键词 TRIANGULATION local optimization point cloud data laser radar 局部优化 雷达数据 扫描激光 Delaunay三角网 三角测量 点云数据 激光雷达 规则网络
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