摘要
针对室内场景的三维重建问题,采用激光测距的方法并结合传感器及电机控制等技术设计了三维重建系统。该系统以树莓派卡片电脑为控制核心,以四轮模型小车为移动平台,搭载了RPLIAR A2激光雷达、MPU-6050惯性元件、测速码盘、电机及电机驱动。本文首先搭建了硬件系统。其次进行了软件系统设计,分别设计并实现了设计了系统的人机交互界面、传感器数据传输功能、多传感器数据融合功能以及三维重建功能。最后进行测试,证明系统能够实现室内空间的三维重建,具有良好的精度。
An indoor 3D reconstruction system was designed using laser ranging method combined with sensors and motor control techniques in this thesis.The system uses the Raspberry Pi as the core controller,and a four-wheel model car as the mobile platform.It is equipped with RPLIAR A2 laser radar,MPU-6050,speed measuring code wheel,motor and motor drive.Firstly,the hardware system is built.Secondly,the software system design was carried out,and the human-computer interaction interface,sensor data transmission function,multi-sensor data fusion function and 3D reconstruction function of the system were designed and implemented.Finally,the test proves that the system can realize the three-dimensional reconstruction of indoor space with good precision.
作者
张明
王铉
陈柯颖
ZHANG Ming;WANG Xuan;CHEN Ke⁃ying(Sino⁃European Institute of Aviation Engineering,Civil Aviation University of China,Tianjin 300300,China)
出处
《电子设计工程》
2019年第24期181-184,189,共5页
Electronic Design Engineering
基金
大学生创新创业训练计划项目资助(201710059091)
