欧建良，周乐恒，陈奎佑，连佳琪，周婷英

摘  要：激光扫描技术，从室内外地面架站到无人机机载，已经广泛应用在国土资源测量及基础设施检测各方面，具有实时生成三维数据、对作业平台稳定性要求高的特点。相比于激光扫描，结构光具有带状面阵同步观测能力，能降低自身移动振动对观测质量的干扰，但在室外环境作业方面受限明显。对此，在已有算法基础上，设计改进单线结构光投线仪，取得了“白天室外70米距离上投影线三维提取”的技术进展。

关键词：激光雷达；室外环境；结构光；投影线增强

中图分类号：TP391                       文献标志码：A                          文章编号：1672-5603（2023）03-105-04

Research on Outdoor Projection and Imaging with Single Projection Contour Structured-light

Ou Jianliang1，Zhou Leheng2， Chen Kuiyou1，Lian Jiaqi1，Zhou Tingying1

（1.College of Civil Engineering， Yango University， Fuzhou Fujian 350015;

2.College of Civil Engineering， Fuzhou University， Fuzhou Fujian 350116）

Abstract： Laser scanning technology （LiDAR）， ranging from indoor and outdoor surface stations to unmanned aerial vehicles， has been widely used in various aspects of land and resource measurement and infrastructure detection. It has the characteristics of real-time generation of three-dimensional data and high stability requirements for the work platform. Compared to laser scanning， structured-light has the ability to synchronously observe with a strip array， which can reduce the interference of its own moving vibration on the observation quality. However， it is significantly limited in outdoor environmental operations. In this regard， based on the existing algorithms， this article designs and improves a single contour structured-light projector， achieving technological progress in "3D extraction of projection contours at a distance of 70 meters outdoors during the day".

Keywords： LiDAR; outdoor environment; structured-light; projection contour enhancement

0 引言

激光雷達（light detecting and ranging， LiDAR）不依赖目标表面纹理特征，通过点扫描获取目标高密度三维点云，实现目标三维测量，以室内外地面架站与无人机搭载等方式，广泛应用在国土资源测量及基础设施检测各方面[1-3]。由于LiDAR以激光束稳定有效发射接收为基础，以及表面扫描需一定时间，对表面光滑平整、反射率较高物体的扫描效果很好，而对地表植被、堤坝边坡等削弱反射能力的情况，实际测量能力显著降低[4，5]。当LiDAR在车载、无人机连续移动平台上作业时，则因为光束扫描的时序性特点，受平台动态干扰产生点云丢失、整体精度降低等问题。

与激光雷达LiDAR不同，结构光测量将动态光学特征与瞬间静态二维图像相结合，具有投射特征精确提取、二维图像消减动态时序干扰等特点[6-8]，其基本工作模式为：立体图像测量中，以一定投影模式（如光刀）光学投射代替一个像机，对成像特征标定约束后，再以摄像方式解算待测对象表面投影特征的三维坐标[6-9]。……