基于三维激光雷达的井下巷道场景漫游系统设计

摘要

In order to achieve the underground tunnel internal roaming function ,the whole path roaming system used for the trajectory of the camera during roaming was designed .This system used the 3D laser radar to obtain three‐dimension‐al point cloud data ,first through point cloud processing ,then by determining the next sampling point in the neighborhood and calculated value ,and established centerline branch and extension and connection ,the neighborhood radius extraction roadway centerline was expanded gradually ,according to the user given initial nodes and target nodes ,A * algorithm was used to search the shortest roaming path ,scene roaming was realized .The results showed that ,based on underground tunnel scene roaming of this system meet the large mining roadway internal three‐dimensional scene fast inspection function .%为了实现井下巷道内部漫游功能，设计一种全路径漫游系统，作为快速漫游时视点运动的路径。此系统采用三维激光雷达获取井下三维点云数据，首先经过点云处理，然后经过确定下采样点邻域及计算 L1中值、中线分支的建立和延展及连接，逐渐扩大邻域半径提取巷道的中心线，根据用户给定的初始结点和目标结点利用 A 倡算法搜索最短漫游路径，实现场景漫游。结果表明，基于此系统的巷道场景漫游功能满足了大型矿山三维场景中巷道内部快速巡检的功能。