Mobile Robot effective recognition of their work environment, perception and reconstruction, is the autonomous navigation and environment-based exploration Foundation and prerequisite conditions. Unstructured environment for the realization of three-dimensional scene reconstruction, this paper, autonomous mobile robot platform structure Built a three-dimensional laser ranging system, designed and developed three-dimensional scene reconstruction software ICP-based operator segment endpoint Method to achieve fast and accurate under different point of view scene matching proposed based on multi-core scene scene reconstruction strategy, and Classification method using grid overlap region data reduction in order to achieve large-scale three-dimensional scene reconstruction. Based on the Algorithm comparison and analysis of experimental data to try to reconstruct three-dimensional scene on the unstructured environment, the issue of innovative Exploration and Research.

移动机器人基于激光测距的三维场景重构.nh

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