Mixed Media 3D Scanning

混合媒体3D扫描

• 批准号: 453829987
• 负责人: Professor Dr. Andreas Nüchter
• 金额: --
• 依托单位: Informatik für Informatik XVII - Robotik
• 依托单位国家: 德国
• 项目类别: Research Grants
• 资助国家: 德国
• 项目状态: 未结题
• 来源: https://gepris.dfg.de/gepris/projekt/453829987?language=en
• 关键词: Mixed; Media; 3D; Scanning

In the proposed project, the refraction at the water surface under the influence of waves in triangulation-based 3D laser scanning is examined and methods for modeling and correction are developed. First, we aim at a highly-robust detection and classification of the laser lines in the recorded images. Then the actual refraction is studied and examined under the influence of waves on the water surface. The intent to find a model that enables the errors in the resulting scans to be eliminated. An explicit approach by the concrete modeling of the waves and an implicit approach in which the errors are optimized by the expansion of a SLAM algorithm are developed in the following.In an existing test environment, a wave generator is integrated and a test system is set up to create repeatable conditions and to validate the developed methods through tests.Another goal is to record static scans through the water surface and to correct errors caused by waves and to extend the methods to mobile scanning. It is also used to create scans while the scanner is moving. An external, already developed system for recording the initial trajectory and a SLAM procedure developed in advance and adapted as part of the project are used.

研究了基于三角剖分的三维激光扫描中波浪对水面折射的影响，并提出了相应的建模和校正方法。首先，我们的目标是对记录图像中的激光线条进行高度稳健的检测和分类。然后对波浪作用下的实际折射进行了研究和检验。目的是找到一种能够消除结果扫描中的错误的模型。通过对海浪的具体模拟，提出了一种显式方法和一种通过扩展SLAM算法优化误差的隐式方法；在现有的测试环境中，集成了一个波浪发生器，并建立了测试系统，以创造可重复的条件，并通过测试验证所开发的方法；另一个目标是记录通过水面的静态扫描并校正波浪引起的误差，并将该方法扩展到移动扫描。它还用于在扫描仪移动时创建扫描。使用已经开发的用于记录初始轨迹的外部系统和预先开发并作为该项目的一部分进行调整的SLAM程序。