3D Reconstruction System Based on 2D Laser Radar, Rotary Platform and Cameras

Aiming at realizing low-cost, large-range and true color three-dimensional (3D) reconstruction, a novel 3D reconstruction method which employs 2D laser radar, rotary platform and cameras is proposed. The 2D laser radar is fixed on the rotary platform, and the 3D coordinates of the scene are achieved by establishing the mathematics relationship between the rotation angle of the rotary platform and the distance between scene surface and the laser radar. Using the centers of standard balls as the control points, both visual coordinate system and radar coordinate system are alimented by SVD algorithm. Then, 3D point cloud in radar coordinate system is re-projected onto the image plane of the camera for acquiring the color information of the point cloud. Finally, the results of indoor and outdoor experiments show that the 3D shape and the color of large-scale scene can be reconstructed vividly.