摘要
针对机器人和自主车辆仿真系统开发的需要,提出了一种利用激光雷达采集的点云数据进行场景重建的算法。该算法根据激光雷达的点云数据生成多边形网格,能够对场景进行有效分割,并在此基础上对多边形网格进行有效简化,从而满足实时仿真系统的需要。在最后给出了仿真实验的结果,实验证明该算法简明有效。
A new method of Scene Reconstruction was proposed based on laser scan ranger data.This method generates polygon mesh based on scan ranger data.It could divide the scene into several independent faces,based on which polygon meshes could be simplified.In the end,full experiments were given.The result shows that this method is efficient.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2009年第18期5659-5663,5667,共6页
Journal of System Simulation
基金
国家自然科学基金(60705020)
关键词
计算机仿真
虚拟试验
计算机图形学
激光雷达
三维重建
多边形简化
computer simulation
virtual experiment
computer graphic
laser scan ranger
3D reconstruction
polygon mesh simplification
