Triangular Mesh Construction Based on Point Cloud Matrix and Edge Feature Extraction
This paper builds a 3D laser scanner by a one-dimensional pitching rotation pan-tilt and a 2D laser range finder to get the 3D laser point cloud data from the motion environment.Depends on this data,a triangular mesh construction algorithm based on the point cloud matrix is proposed to construct the triangular mesh of the motion environment.Then a triangular plane normal vector clustering algorithm is used to extract the edge feature from the triangular mesh and the mean square deviation is employed as further process to make the edge feature more accurately.The experiment results show that the triangular mesh of motion environment can be constructed effectively and edge feature can be exacted accurately by the algorithms applied above.It lays the foundation of mobile robot autonomous movement in unknown complex environments.
point cloud data 2D laser range finder point cloud matrix triangular mesh edge feature extraction
Jinyun Sun Yong Jiang Jing Jiang Xiaobao Bai
College of Automation and Electrical Engineering,Shenyang Ligong University the State Key Laboratory College of Automation and Electrical Engineering,Shenyang Ligong University Shenyang,China State Grid Shanxi Electric Power Company Taiyuan,China
国际会议
重庆
英文
275-279
2016-03-20（万方平台首次上网日期，不代表论文的发表时间）