移动机器人对其工作环境的有效辨识、感知与重构，是其自主导航与环境探索的基

础和前提条件。为实现非结构化环境的三维场景重构，本文在自主移动机器人平台上构

建了三维激光测距系统，设计和开发了三维场景重构软件 采用基于线段端点的ICP算

法准确快速的实现不同视点下的场景匹配 提出了基于核心场景的多场景重构策略，并

采用栅格划分法对重合区域进行数据精简，从而实现大范围三维场景重构。本文通过对

算法的实现和实验数据的比较分析，尝试对非结构化环境三维场景重构问题进行创新性

的探索与研究。

-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.