Laser Microwave Dual-Band Imaging Reconstruction Technology For Building Layout

The Building layout reconstruction technology is a technique that senses the surrounding environment through sensors,collects environmental information,and reproduces the map.This technology plays an important role in areas such as autonomous driving,unmanned vehicle and drone navigation,and fire safety.This thesis carries out research on laser microwave dual-band imaging reconstruction technology for building layout,and has achieved original results in simultaneous localization and mapping in indoor environment,and cooperative sensing and map building technology using Li DAR(Light detection and ranging)and ultrawideband radar.The main contents are as follows:1.Analyzed the ultra-wideband microwave radar mobile synthetic aperture detection mode,studied the multi-view building layout imaging principle and the morphologybased radar image optimization method.A detection system for ultra-wideband microwave radar carried by unmanned vehicle was built in an experimental building layout scene,and the building layout imaging was finally realized.2.A Li DAR simultaneous localization and mapping algorithm in indoor environment was proposed for the typical indoor building layout structural characteristics.The algorithm virtualizes the edge features through point cloud fitting and optimizes the matching model based on the edge features using indoor building layout structural information,thus improving the positioning accuracy.In the indoor building layout scene,the algorithm was proved to have higher simultaneous positioning and mapping accuracy compared to mainstream algorithms.3.A cooperative sensing and map building algorithm using Li DAR and ultrawideband radar was proposed to solve the problems of low imaging accuracy and low scene applicability of a single ultra-wideband microwave radar in the area of building layout reconstruction.First,a three-dimensional space transformation model between laser radar and ultra-wideband microwave radar was established.Then,based on the results of inter-frame positioning of Li DAR simultaneous localization and mapping algorithm,the posture estimation of the ultra-wideband microwave radar distributed subaperture was realized.Finally,a laser-microwave space-domain echo matching model was established,and the echo error of the ultra-wideband microwave radar during motion was corrected by matching the laser radar point cloud with the ultra-wideband microwave radar echo.Then,A laser-microwave collaborative detection system was built,and highprecision imaging of indoor building layout was achieved.The above-mentioned building layout reconstruction methods have been verified by actual measurements,proving the feasibility of laser microwave dual-band imaging reconstruction technology for building layout.