3D城市模型:使用激光雷达技术的制图方法

D. Hernandez-Garcia, José-Joel González-Barbosa, J. Hurtado-Ramos, F. Ornelas-Rodriguez, E. C. Castañeda, Alfonso Ramírez-Pedraza, Angel Ivan Garcia, Ricardo Gonzalez-Barbosa, J. Aviña-Cervantes
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引用次数: 5

摘要

我们提出了一种地图构建系统,用于使用配备激光雷达(光探测和测距)技术的车辆生成3D城市模型,该系统每秒能够获得超过一百万个点。该方法基于平面分割和局部地图构建两种方法。第一种方法介绍了一种快速提取地平面的方法。其余的点用于使用一般平面提取来提取平面。对于一般的平面提取过程,采用随机选取一个点及其相邻点来计算平面的方法;这个平面是根据内层数来计算的,最好的平面是包含最多点的平面。最后,使用平面,我们构建一个环境地图。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
3D city models: Mapping approach using LIDAR technology
We propose a map building system for generation of 3D city models using a vehicle equipped with LIDAR (Light Detection And Ranging) technology, which is capable of obtaining more than one million points per second. This approach is based in two methods: plane segmentation and local map construction. The First method introduces a fast method to extract the ground plane. The rest of the points are used to extract planes using a general plane extraction. For the general plane extraction process, is used a method that choose a random point and its neighbor in order to compute a plane; this plane is evaluated with respect to the inliers number, and the best plane is the one containing the biggest number of points. Finally, using the planes, we construct an environment map.
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