Sparse Point Cloud Generation Based on Turntable 2D Lidar and Point Cloud Assembly in Augmented Reality Environment

3D surface contour measurement is an important means to obtain the morphological characteristics of objects. By registration the actual 3D surface contour with the 3D model in the computer, the accurate position of the scanned object can be obtained. In view of the shortcomings of other object contour scanning devices based on 2D Lidar, this paper present a turntable whose axis of rotation passes through the scanning center of 2D Lidar. In order to solve the problem of missing the profile information of an object, an object profile measurement system based on turntable 2D Lidar is proposed. Aiming at the problem of insufficient matching precision between the point cloud created by 3D model and the actual scanning point cloud, the method of using the actual scanning point cloud to create the point cloud model library was proposed. Based on this method, the actual assembly simulation is carried out in the augmented reality environment.