The Research Of Indoor Mobile 3D Laser Scanning Based On SLAM

With the development of human society,the demand for indoor 3D scene modeling is increasing.How to effectively and accurately collect Indoor 3D data has become a hot issue in the field of surveying and mapping.Three dimensional laser scanning technology has been proposed and developed in recent years.It can quickly and accurately obtain the 3D coordinates of the surface of the object.While the traditional 3D laser scanner is more cumbersome while collecting indoor information.Simultaneous localization and map building(SLAM)is the core issue in the field of mobile robotics.In recent decades,world-wide scholars have been studying and exploring in this field.SLAM algorithm solve the positioning problem of mobile robot,it can also rebuild environmental two-dimensional map.This paper will introduce SLAM algorithm of intelligent robots in the field of Surveying and mapping,combined with the technology of 3D laser scanning with the traditional SLAM algorithm,put forward a set of mobile 3D laser scanning system,complete the rapid acquisition of 3D data of indoor.SLAM algorithm provide position and attitude information to three-dimensional laser scanner and then get the actual coordinates of three-dimensional laser points,complete three-dimensional data acquisition.The main contents of this paper include: 1.Introduce the indoor three-dimensional data acquisition status,find the shortcomings of the current acquisition methods.2.Introduce SLAM algorithm and its application field,explain how to combine it with 3D laser scanning system.3.An indoor moving 3D laser scanning system is proposed,including structural design and theoretical design.4.We complete the indoor three-dimensional point cloud data collection through the experiment.