针对三维激光雷达在国内有巨大的应用市场,而国外商业三维激光雷达十分昂贵的现状,开发了一种360°连续扫描的便携式三维激光雷达系统。采用一个二维激光扫描仪与高精度转台连接,通过步进电机控制形成三维激光扫描。在分析系统误差来源的基础上,提出了系统误差校正方法,给出了三维坐标精确计算公式。实验结果表明,系统测量精度高,数据质量好。系统作用距离80 m,测距精度可达6 mm,测量速度每秒7256点,可满足室内室外大规模场景三维数据快速获取的需求,而成本仅是国外同类商业三维激光雷达价格的四分之一左右,且重量轻体积小,携带方便。

3D LIDAR in China has a huge market, but foreign commercial 3D LIDAR is very expensive. So a 360° continuous scanning, portable 3D LIDAR system is developed. A 2D laser scanner (SICK LMS200) is selected to combine with an additional step drive to reach a 3D sensor. The sources of systemic errors are analyzed, a method of error correction is proposed, and the accurate calculation formulas of 3D coordinates are given. The experimental results show that the system has higher measuring accuracy and data quality. The maximum range of the system is 80 m, measurement accuracy can achieve 6 mm. It can collect 7256 points in a second to meet the needs of fast capturing 3D data from indoor and outdoor scene, and then its cost is only 4 times lower than that of current commercial 3D laser scanners. It is easy to carry for small size and light weight.