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- 2018
低成本大视场深度相机阵列系统
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Abstract:
在测距传感器不断轻量化、小型化以及室内外地图一体化导航应用的驱动下，三维（3D）室内移动测量成为当今研究和应用的热点，在室内建模、室内定位等新兴领域中的应用越来越广泛。3D室内移动测量系统通常配备激光扫描仪、全景相机、惯性测量单元（inertial measurement unit，IMU）系统和里程计等传感器，虽能实现3D室内点云数据的采集，但其距离传感器-激光扫描仪价格昂贵且便携性较差。彩色深度（RGB depth，RGB-D）相机为低成本3D室内移动测量系统构建提供了新的距离成像传感器选择，但主流型号RGB-D相机视场角小，继而导致数据采集效率远低于传统激光扫描仪，难以做到点云数据的完整覆盖与稳健采集，且易造成同时定位与制图（simultaneous localization and mapping，SLAM）过程中跟踪失败。针对以上问题，构建了一种低成本室内3D移动测量系统采集设备，通过组合多台消费级RGB-D相机构成大视场RGB-D相机阵列，提出了一种阵列RGB-D相机内外参数标定方法，并通过实验检验了设计系统采集的点云数据的精度
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