Research On 3D Reconstruction Technology Of Laser Point Cloud Based On Multi-Core DSP

3D reconstruction is the core technology of three-dimensional intelligent information processing,which has a broad application background in the fields of digital city,intelligent transportation,reverse engineering,cultural relics restoration and medical image processing and others.The traditional 3D reconstruction of laser point cloud is mainly based on PC platform,which is not only inefficient,but also its weight and volume cannot meet the current application of the UAV imaging LIDAR system and other occasions.With the development of electronic technology,the application of multi-core DSP has replaced the function of PC in many occasions.Compared with PC platform,it has more outstanding advantages in terms of dominant frequency,power consumption,volume and computing power,and has powerful parallel processing capability,which is very suitable for large-scale point cloud processing.Therefore,the research on 3D parallel reconstruction technology based on multi-core DSP platform can not only significantly improve the efficiency of point cloud data processing and surface reconstruction,but also enhance the flexibility of imaging system.which is of great significance for the development and application of 3D real-time reconstruction technology.In view of this,this paper takes the laser point cloud as the research object,and the parallel processing of key technologies such as de-noising,registration and surface reconstruction of point cloud in 3D reconstruction is in-depth researched.The main research contents include the following three aspects:1)A technology of the outliers of Point cloud parallel removed based on multi-core DSP platform is implemented.The algorithm of the outliers of Point cloud removed based on k-means clustering is deeply studied,and the simulation experiments of the algorithm was carried out in MATLAB software based on PC platform to verify its feasibility.A scheme of point cloud parallel removed based on multi-core DSP platform is proposed.which adopted master-slave mode to process tasks,realized inter-core communication by IPC MessageQ,and the simulation experiments in CCS software based on multi-core DSP platform was carried out.Finally,the results of simulation experiments were compared with those based on PC platform.2)A technology of parallel registration of point cloud based on multi-core DSP platform is implemented.The key techniques of the detection of feature point,the calculation of feature descriptor and the matching of the feature point in the process of point cloud registration were deeply studied.The ICP registration algorithm based on the improved matching of feature point is researched.The simulation experiments of the algorithm were carried out on PC platform to verify its feasibility.A scheme of the parallel registration of point cloud based on multi-core DSP is proposed.The simulation experiments of parallel registration of point cloud based on the multi-core DSP platform were carried out.Finally,the results of simulation experiments were compared with those based on PC platform.3)A technology of surface parallel reconstruction of point cloud based on multi-core DSP platform is implemented.The algorithm of Delaunay triangular mesh reconstruction based on growth method is deeply studied.The simulation experiments of algorithm were carried out on PC platform to verify the feasibility of the algorithm.A scheme of parallel reconstruction of point cloud based on multi-core DSP is proposed,and the simulation experiments of the parallel reconstruction of point cloud based on the multi-core DSP platform were carried out.Finally,the results of simulation experiments were compared with those based on PC platform.