【正文】 the ability of realtime, pletely driven by itself and no matter the temporal and spatial restrains, it works all the time. Compared with conventional touching measurement, it can collect the surface information of the objects without any contact, the existence of highdensity scanning data of surface information is called “Points Cloud”. Reflecting on the clouding point, it is an absolute hightech way which can indicate the general situation objectively and really for reconstructing the real world with 3D model. With the rapid development of 3D Laser Scanning technology and its interrelated data processing, the extensive prospect, in Reverse Engineering, Protection of cultural relics, Pattern Recognition and Digital Recreation and so on, are taken into consideration. As for this paper, we introduce the native and foreign public understanding about 3D Laser Scanning technology at first and sum up its characteristics and application domain for explaining the working principle simply and classifying the kinds of hardware device. Secondly, introducing the RIEGL Laser Scanning system and RISCA PRO software, and then presenting the preprocessing of points cloud for scanning data and search a method to reconstruction by Geomagic Studio software which include 3D surface modeling, mending model hole and fitting the surface. This paper utilizes 3D laser scanner to scan digital the fossil in China University of Geosciences fossil forest, and focuses on deep data registration which is based on multiviewpoint and model building. Below is the main work of the paper. According to the features of laser scanning data, the paper introduces the characteristic of percise registration of ICP algorithm based on coarse registration, If the initial pose do not choose accurate in ICP algorithm, ICP algorithm is likely to fall into the local convergence, rather than the overall convergence. So in this paper, the indirect adjustment of the ICP algorithm was proposed based on the initial pose. That not only can guarantee the global convergence, but also can reduce timeconsuming, It is improvement and optimization traditional ICP algorithm. The laser scan data can reconstruct after Points Clound registration. Currently, the methods of 3D reconstruction mostly base on Delaunay Triangulation, so this paper attempts to rebuild Delaunay Triangulation to reconstruct 3D surface models, then I use Geomagic Studio 10 software and manmachine interactive to reconstructe 3D model with Points Clound . Based on the above method, the paper takes fossil as scanning object, and tests on its scanning data. The experiment result proves that we have got goal on Points Cloud data registration and 3D reconstruction. Key Words： 3D Reconstruction, Points Cloud, Registration, 3D Model 目 錄 摘 要 ........................................................................ 5 ABSTRACT ...................................................................... 6 目 錄 ........................................................................ 8 第一章 緒論 .................................................................. 1 167。 對(duì)于以上論述的方法，本文以化石林中化石為掃描對(duì)像，對(duì)掃描數(shù)據(jù)進(jìn)行實(shí)驗(yàn)。 對(duì)于配準(zhǔn)后的深度數(shù)據(jù)進(jìn)行三維表面模型重建。在 ICP 算法中如果初始位姿選擇不準(zhǔn)確， ICP 算法很有可能陷入局部收斂，而不是全局收斂。 本文利用三維激光掃描儀對(duì)中國(guó)地質(zhì)大學(xué)化石林中的化石進(jìn)行數(shù)字化掃描，重點(diǎn)研究工程應(yīng)用中多視點(diǎn)深度數(shù)據(jù)配準(zhǔn)方案以及模型構(gòu)建兩項(xiàng)關(guān)鍵技術(shù)。 本文首先介紹三維激光掃描技術(shù)國(guó)內(nèi)外研究現(xiàn)狀，總結(jié)該技術(shù)特點(diǎn)及 應(yīng)用領(lǐng)域，簡(jiǎn)要闡述了三維激光掃描系統(tǒng)工作原理，并對(duì)硬件設(shè)備的種類(lèi)進(jìn)行劃分。與傳統(tǒng)接觸式測(cè)量相比，他可以在不接觸物體的情況下，獲取目標(biāo)物體表面信息，表面信息以高密度的掃描數(shù)據(jù)稱(chēng)為點(diǎn)云數(shù)據(jù)形式存在，點(diǎn)云數(shù)據(jù)可以真實(shí)地反映客觀場(chǎng)景的現(xiàn)狀，為快速對(duì)現(xiàn)實(shí)世界進(jìn)行三維重建提供了一種全新技術(shù)手段。三維激光掃描測(cè)量技術(shù)是繼 GPS 全球定位系統(tǒng)之后又一項(xiàng)測(cè)繪領(lǐng)域全新技術(shù)。 本人所呈交的碩士學(xué)位論文沒(méi)有違反學(xué)術(shù)道德和學(xué)術(shù)規(guī)范，沒(méi)有侵權(quán)行為，并愿意承擔(dān)由此而產(chǎn)生的法律責(zé)任和法律后果。 分類(lèi)號(hào)： 密 級(jí)： UDC： 地質(zhì)大學(xué) 碩士學(xué)位論文 基于三維激光掃描數(shù)據(jù)的三維模型重建技術(shù)研究 碩士生 ： 學(xué)科專(zhuān)業(yè)：測(cè)繪工程 指導(dǎo)教師： 教授 所在學(xué)院：信息工程學(xué)院 二○一一年五月 學(xué)校代碼： 研究生學(xué)號(hào)： 地質(zhì)大學(xué) 碩士學(xué)位論文 基于三維激光掃描數(shù)據(jù)的三維模型重建技術(shù)研究 碩 士 生： 學(xué)科專(zhuān)業(yè)：測(cè)繪工程 指導(dǎo)教師： 教授 二○一一年五月 A Dissertation Submitted to China University of Geosciences for the Master Degree of Engineering The Reseach of 3D Reconstruction from Laser Scan Data Master Candidate： Major： Surveying and Mapping Engineering Supervisor： China University of Geosciences Wuhan 430074 P. R. China 地質(zhì)大學(xué)（武漢）研究生學(xué)位論文原創(chuàng)性聲明 本人鄭重聲明：本人所呈交的碩士學(xué)位論文 《基于三維激光掃描數(shù)據(jù)的三維模型重建技術(shù)研究 》，是本人在導(dǎo)師的指導(dǎo)下，在中國(guó)地質(zhì)大學(xué)（武漢）攻讀碩士學(xué)位期間獨(dú)立進(jìn)行研究工作所取得的成果。論文中除已注明部分外不包含他人已發(fā)表或撰寫(xiě)過(guò)的研究成果，對(duì)論文的完成提供過(guò)幫助的有關(guān)人員已在文中說(shuō)明并致以謝 意。 學(xué)位論文作者（簽字）： 日期： 年 月 日 基于三維激光掃描數(shù)據(jù)的三維模型重建技術(shù)研究 碩士生： 導(dǎo)師： 教授 摘 要 科技的進(jìn)步，讓測(cè)量方法和手段日新月異，由古老準(zhǔn)、繩、規(guī)、矩，發(fā)展到當(dāng)今三維激光掃描系統(tǒng)。該技術(shù) 優(yōu)點(diǎn)是：掃描數(shù)據(jù)量大，掃描精度高，數(shù)據(jù)采集速度快、實(shí)時(shí)性強(qiáng)、主動(dòng)性強(qiáng)，不受時(shí)間與空間影響，能全天候工作。 隨著三維激光掃描及相關(guān)數(shù)據(jù)建模技術(shù)迅速的發(fā)展，重建后的模型在逆向工程、文物藝術(shù)品保護(hù)、模式識(shí)別、數(shù)字娛樂(lè)等諸多領(lǐng)域體現(xiàn)出廣泛的應(yīng)用前景。之后介紹了本文使用的 RIEGL 激光掃描系統(tǒng)以及后處理軟件 RISCAN PRO，然后針對(duì)掃描點(diǎn)云數(shù)據(jù)，介紹了點(diǎn)云預(yù)處理過(guò)程，以及對(duì) Geomagic Studio 軟件的建模方法進(jìn)行了全面研究，其中包括三維表面模型建模，模型漏洞修補(bǔ)以及曲面擬合等。本文的重點(diǎn)工作包括以下幾部分： 針對(duì)三維激光掃描數(shù) 據(jù)的特點(diǎn)，提出在同名點(diǎn)粗配準(zhǔn)的基礎(chǔ)上進(jìn)行 ICP 算法的精配準(zhǔn)。所以本文在給出初始位姿的基礎(chǔ)上，提出基于間接平差的 ICP 算法，這樣不但可以保障 ICP 算法全局收斂，而且可以減少算法耗時(shí)，提高算法效率，優(yōu)化傳統(tǒng) ICP 算法。目前基于離散點(diǎn)云的三維表面重建，大多是基于 Delaunay 三角網(wǎng)剖分的 三維表面網(wǎng)格模型重建 ， 所以本文嘗試基于 Delaunay三角網(wǎng)剖分的 三維表面網(wǎng)格模型重建 ，然后在 Geomagic Studio 系統(tǒng)中以人機(jī)交互的方式構(gòu)造出三維模型，實(shí)現(xiàn)點(diǎn)云數(shù)據(jù)三維重建。實(shí)驗(yàn)結(jié)果證明，在點(diǎn)云數(shù)據(jù)配準(zhǔn)以及三維模型的構(gòu)造方面取得一定成果。 選題背景、目的及意義 .................................................. 1 選題背景 ........................................................... 1 選題目的及意義 ..................................................... 2 167。 本文研究目標(biāo)與主要內(nèi)容 ................................................ 3 167。 點(diǎn)云數(shù)據(jù)獲取 .......................................................... 5 三維激光掃描工作原理 ............................................... 5 常用 三維激光掃描系統(tǒng)分類(lèi) ..........................................