Fast triangulation and local optimization for scan data of laser radar
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1.
School of Mechanical Engineering, Shanghai JiaoTong University, Shanghai 200240, China;
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2.
State Key Laboratory of Mechanical System and Vibration, Shanghai JiaoTong University, Shanghai 200240, China
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Corresponding author:
DU Zheng-chun, zcdu@sjtu.edu.cn
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Received Date:
2008-09-02
Accepted Date:
2008-10-20
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Abstract
In order to study the triangulation for the point cloud data collected by a three-dimension laser radar,in accordance with the line-by-line characteristics of laser radar scanning,an improved Delaunay triangulation method was proposed to mesh the point cloud data as an irregular triangulation network.Based on the geometric topology location information among radar point cloud data,focusing on the position relationship between adjacent scanning line of the point data,a preliminary match network was obtained according to their geometric relationship.A reasonable triangulation network for the object surface was acquired by means of local optimization on initial mesh by Delaunay rule.Meanwhile,a new judging rule was proposed to contrast the triangulation before and after the optimization on the network.The result shows that triangulation for point cloud with full use of its own characteristics can improve the speed of the algorithm obviously,and the rule for judging the triangulation can be used to evaluate the quality of network.
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