基于 RGB-D 传感器的车间三维场景建模

全思博 李伟光 郑少华

doi:10.3969/j.issn.1000-565X.2015.06.007

华南理工大学学报(自然科学版) >

2015 , Vol. 43 >Issue 6: 42 - 47

DOI: https://doi.org/10.3969/j.issn.1000-565X.2015.06.007

机械工程

基于 RGB-D 传感器的车间三维场景建模

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华南理工大学机械与汽车工程学院，广东广州 510640

全思博(1983-)，男，博士生，主要从事机器人视觉研究．

收稿日期: 2014-10-08

修回日期: 2015-02-13

网络出版日期: 2015-05-04

基金资助

广东省数控一代机械产品创新应用示范工程专项(2013B011301026);广东省教育部产学研结合项目(2012B091100311)

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Three-Dimension Modeling of Manufacturing Plant Scene Based on RGB-D Sensor

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School of Mechanical and Automotive Engineering，South China University of Technology，Guangzhou 510640，Guangdong，China

全思博(1983-)，男，博士生，主要从事机器人视觉研究．

Received date: 2014-10-08

Revised date: 2015-02-13

Online published: 2015-05-04

Supported by

Supported by the Guangdong“NC Generation”Mechanical Product Innovation Project(2013B011301026) and theProduction，Education and Ｒesearch Cooperative Project of Guangdong Province and the Ministry of Education(2012B091100311)

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摘要

感知车间环境是实现自动引导小车(AGV)智能化自主运行的基础．三维场景建模比二维地图更适于表达非结构化场景信息，然而已有的激光雷达技术和视觉技术实现方法都有其不足之处．文中利用ＲGB-D 深度传感器，结合移动机器人及开源机器人操作系统(ＲOS)建构了一套软硬件系统，用于制造车间环境的复杂大场景三维建模;介绍了该系统光机电硬件和ＲOS 软件的各模块功能与集成设计，以及相应的扫描策略，并用该集成系统进行了车间局部环境自动连续扫描、数据拼接、三维建模实验．结果表明用该系统可以较好地完成三维场景建模任务．

关键词： 移动机器人; 三维场景建模; ROS; 车间环境

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全思博李伟光郑少华 . 基于 RGB-D 传感器的车间三维场景建模[J]. 华南理工大学学报(自然科学版), 2015 , 43(6) : 42 -47 . DOI: 10.3969/j.issn.1000-565X.2015.06.007

Abstract

Environment perception is a prerequisite for the autonomous intelligent operation of automatic guided ve-hicles，and 3D maps are more suitable than the 2D ones for representing an unstructured scene． However，the existing laser radar-and vision-based methods both have some deficiencies． In this paper，a ＲGB-D sensor mounted on a mobile robot with open-source ＲOS framework is used to build an integrated system for the three-dimension modeling of large-scale and complex scenes in manufacturing plants，and the architecture of hardware and ＲOS software modules of the system as well as the scanning strategy is introduced． Moreover，an experiment is carried out to investigate the automatic continuous scanning of a region in a manufacturing plant scene，the data registration and the three-dimension modeling of the system． The results show that the proposed system meets the requirements of three-dimension scene modeling well．

Key words： mobile robot; three-dimension scene modeling; ROS; manufacturing plant scene

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