Three-dimensional reconstruction method of substation scene based on visual-lidar-inertial fusion

Abstract

Aiming at the complex scene characteristics of dense substation equipment, metal reflection, and strong electromagnetic interference, and the problems of insufficient accuracy, texture loss, and poor robustness of traditional single or double sensor 3D reconstruction, this paper proposes a 3D reconstruction method of visual Lidar inertial fusion. This method develops a handheld multi-sensor acquisition device suitable for substation scenes to realize the spatial-time synchronization and tightly coupled fusion optimization of lidar, camera, and inertial data, and improves the pose estimation accuracy through factor graph optimization and error smoothing. The actual substation experiment shows that the proposed method can generate a three-dimensional model with high-precision geometric structure and real texture.