Research On Mobile Robot3D Environment Information Acquiring And Visualization With TOF Camera

In recent years, it has become a new development direction to analyse and understand a scene and make a decision by utilizing the acquired3D information of environment. With the mobile robert extending to various specific environments for complicated assignments such as exploration, rescue and so on, it has accordingly made higher requirements to the acquisition and management of3D information of the mobile robert. Therefore, the present paper has done some research about critical technological problems of true time, high precision and dealing of3D information of environment.This paper has firstly analysed the theory of the TOF3D camera’s acquirement of3D information. On this basis, by analyzing the TOF3Dcamera’s gray-level properties, a method of secondary gray-level enhancement has been proposed to deal with its acquisition of poor contrasts of gray images. A camera model is constructed to get the relevant parameters of TOF3Dcamera by demarcating a camera. Thus the correspondence relationship is constructed from image coordinate system to world coordinate system then3D reconstruction is completed. Experimental results from different scenes indicates that this method can meet requirements of mobile robert navigation.The thesis proceeds from pecularities of point cloud data collected by the TOF3D camera and carries out research about how to realizing point cloud matching on account of ICP algorithm. In order to guarantee matching precision and enhance real time of algorithm, KD tree algorithm is introduce to accelerate search speed. The experimentral results show that the method can be able to decrease calculation mistakes under the same conditions so as to effectively increase the speed of calculation.On the basis of the above theories research, the paper makes use of VC. net development platform to exploit the3D information acquisition of the mobile robert and visual software combined with Open CV computer vision processing library and3D visual library realizing the true time acquisition of3D environmental information, information pretreatment,3D reconstruction, visualization and other functions of the mobile robert.In the final part of this thesis, it summaries the content of research and the next researching direction.