CN102508258A - Three-dimensional imaging laser radar for obtaining surveying and mapping information - Google Patents
Three-dimensional imaging laser radar for obtaining surveying and mapping information Download PDFInfo
- Publication number
- CN102508258A CN102508258A CN2011103868807A CN201110386880A CN102508258A CN 102508258 A CN102508258 A CN 102508258A CN 2011103868807 A CN2011103868807 A CN 2011103868807A CN 201110386880 A CN201110386880 A CN 201110386880A CN 102508258 A CN102508258 A CN 102508258A
- Authority
- CN
- China
- Prior art keywords
- laser
- unit
- dimensional imaging
- mapping information
- radar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a three-dimensional imaging laser radar for obtaining surveying and mapping information. The three-dimensional imaging laser radar comprises a machine head, an integrated information processing computer, a laser detection unit, a polyhedral rotary drum, an optical receiving unit, a photoelectric receiving and processing unit and a distance detection unit, wherein a laser emission unit in the machine head is used for emitting double-path laser pulses; the laser detection unit is used for detecting a small part of the double-path laser pulses of the laser emission unit, processing the laser pulses and transmitting the processed laser pulses to a distance measurement unit so as to be utilized as a starting signal for distance measurement; the polyhedral rotary drum is used for controlling a light beam emitting direction and emitting a laser beam reflected by a target to the optical receiving unit; the optical receiving unit is used for converging reflected lights to the photoelectric receiving and processing unit; the photoelectric receiving and processing unit is used for carrying out photoelectric conversion and signal extraction on the received reflected lights and transmitting the processed reflected lights to the distance measurement unit so as to be utilized as a finishing signal for the distance measurement; and the distance detection unit is used for finishing the measurement of a target distance according to the starting signal of the distance measurement and the finishing signal of the distance measurement. According to the invention, high-precision three-dimensional data can be obtained; the three-dimensional imaging laser radar can be used for scanning any article without limitations on day and night, and rapidly converting the information of the real world into processible data.
Description
Technical field
The present invention relates to the laser radar technique field, particularly a kind of mapping information is obtained the laser three-dimensional imaging radar.
Background technology
The conventional floor surveying and mapping data obtains and utilizes GPS (Global Positioning System, GPS) (Real time kinematic's carrier phase dynamic real-time difference RTK) combines with total powerstation, obtains the single-point target information at every turn.Though simple to operation, be easy to left-hand seat because measuring speed slow, adopt dot density not enough, be prone to lose reason such as leakage, high in the ask for something precision, geomorphological features is just seemed unable to do what one wishes in the demanding engineering.
After camera work was come out, because this technology is the true reflection of objective object or target, abundant information, form were true to nature, therefrom can extract a large amount of geological information and the physical messages of the object of studying, be widely used in various aspects such as topographical surveying.In photogrammetric, utilizing the single width image generally speaking is to be not sure of locus on the object, can only confirm the direction in space at object point place.The locus that obtains object point generally need utilize two overlapped images to constitute stereogram, realizes obtaining three-dimensional information through Flame Image Process and characteristic matching, is difficult for carrying out automatic three-dimensional information extraction.Therefore, there are deficiencies such as follow-up data dealing with complicated, needs a large amount of manual work participation, operating efficiency be low in this pattern.
Summary of the invention
The objective of the invention is to; Provide a kind of mapping information to obtain the laser three-dimensional imaging radar, can obtain the high-precision three-dimensional data, arbitrary objects is scanned; And do not have the restriction at daytime and night, the information translation with real world becomes manageable data fast.
Mapping information is obtained the laser three-dimensional imaging radar, comprises head and integrated information process computer, it is characterized in that; In head; Include laser emission element, laser detection unit, polyhedron rotary drum, receive optical unit and photoelectricity reception processing unit, in the integrated information processor, comprise distance measuring unit; Wherein
Said laser emission element is used to launch the two-way laser pulse, and wherein, fraction two-way laser pulse is surveyed by the laser detection unit and received most of two-way laser pulse directive search coverage;
Said laser detection unit is used for giving the start signal of distance measuring unit as range observation after the processing with the fraction two-way laser pulse of surveying the reception laser emission element;
Said polyhedron rotary drum, be used to control Laser emission pulse directive search coverage and will be in search coverage the laser beam of detection of a target reflected back after protective glass arrives, reflect to receiving optical unit through drum surface;
Said reception optical unit converges to photoelectricity with reflected light and receives processing unit;
Said photoelectricity receives processing unit, and the reflected light that receives is carried out sending the termination signal of distance measuring unit as range observation after photoelectricity conversion and the signal extraction;
Said distance detecting unit is used for accomplishing according to the termination signal of the start signal of range observation and range observation the measurement of target range.
Wherein, further comprise the scanning positioning unit, be used for when the polyhedron rotary drum scans, confirm effective starting point of two-way scanning, and will scan effective start signal and send distance measuring unit, the every row of distance measuring unit carries out the processing and the storage of one group of range data.
Wherein, said laser emission element is used under the control of distance measuring unit, and emission two-way laser pulse, fraction laser are surveyed by the laser detection unit and received, and most of laser passes protective glass directive search coverage after reflecting through the polyhedron rotary drum.
Wherein, said laser emission element adopts the ultra narrow pulsewidth high repetition frequency fiber laser of eye-safe.
Wherein, said integrated information processor further comprises the time synchronized unit, is used to receive the time synchronizing signal of GPS, and the laser measurement point is carried out time-labeling.
Wherein, the integrated information processor further comprises Flame Image Process and display unit, is used for carrying out the mapping transformation of the time and space according to the measurement data of range unit storage, recovers the three-dimensional distance image.
In addition, when dynamic duty, Flame Image Process and display unit are accomplished the recovery of big regional scene image with the data fusion of laser scanning data and other sensor, and wherein, other sensor comprises GPS, IMU, CCD camera.
Further, can also comprise the calibration indicating member, be used for when laser radar mapping operation, laser radar being demarcated the installation site of other sensor relatively, comprise eccentric the demarcation and three anglecs of rotation demarcation; Wherein, other sensor comprises GPS, IMU, CCD camera.
Wherein, said calibration indicating member is further used for being provided with visible light source as the calibration reference light, and with the LASER Light Source coaxial design, when adopting dynamic mode work, the shooting angle and the direction of indication laser make things convenient for system calibrating.
The invention has the beneficial effects as follows: obtain the laser three-dimensional imaging radar according to mapping information of the present invention, initiatively metering system has been expanded the activity duration, can realize the operation of round-the-clock ground, does not receive the influence at dark background or night; Directly obtain the atural object three-dimensional information, and carry out automation data and handle, operating efficiency is high.
Description of drawings
Fig. 1 is the theory structure synoptic diagram of laser three-dimensional imaging radar installations;
Fig. 2 is a laser radar head front view;
Fig. 3 is a laser radar head right view;
Fig. 4 is a laser radar integrated information process computer layout;
Fig. 5 is a polyhedron rotary drum bilateral scanning synoptic diagram.
Embodiment
Below, describe mapping information of the present invention in detail with reference to accompanying drawing 1～5 and obtain the laser three-dimensional imaging radar.
Fig. 1 is the theory structure synoptic diagram of laser three-dimensional imaging radar installations of the present invention; The laser three-dimensional imaging radar is made up of head and integrated information process computer; In head; Include laser emission element, laser detection unit, polyhedron rotary drum, receive optical unit and photoelectricity reception processing unit, in the integrated information processor, comprise range observation and time synchronized unit.
Wherein, laser emission element is used to launch the two-way laser pulse, and wherein, fraction two-way laser pulse is surveyed by the laser detection unit and received most of two-way laser pulse directive search coverage; The laser detection unit is used for giving the start signal of distance measuring unit as range observation after the processing with the fraction two-way laser pulse of surveying the reception laser emission element; The polyhedron rotary drum is used for the laser beam of detection of a target reflected back in search coverage after protective glass arrives, and reflects to receiving optical unit through drum surface; Receive optical unit, reflected light is converged to photoelectricity receive processing unit; Photoelectricity receives processing unit, and the reflected light that receives is carried out sending the termination signal of distance measuring unit as range observation after photoelectricity conversion and the signal extraction; The distance detecting unit is used for accomplishing according to the termination signal of the start signal of range observation and range observation the measurement of target range.
Wherein, Can further include the scanning positioning unit in the head, be used for when the polyhedron rotary drum scans, confirm effective starting point of two-way scanning; And will scan effective start signal and give distance measuring unit, the every row of distance measuring unit carries out the processing and the storage of one group of range data.
Laser three-dimensional imaging radar of the present invention adopts the pulse ranging system; Distance through the flight time measurement impact point of Laser Measurement between radar and target; Realize the laser scanning of pitch orientation through rotary drum scanning; Through the scanning of turntable realization azimuth direction, the three-dimensional lattice that both combine to generate the detection of a target is measured, through space-time mapping variation targets three-dimensional information.
Specifically extremely shown in Figure 4 like Fig. 2; Laser emission element 2 adopts the ultra narrow pulsewidth high repetition frequency fiber laser of eye-safe; Under the control of distance measuring unit 11, emission laser pulse, fraction laser are launched laser detection unit 7 and are surveyed reception; Give the start signal of distance measuring unit 11 after the processing as range observation; Most of laser passes protective glass 10 directive search coverages after reflecting through rotary drum 1, and the laser beam that returns through target reflection receives optical unit 3 through rotary drum 1 directive, receives optical unit 3 reflected light is converged to opto-electronic conversion and signal processing unit 8; After photoelectricity conversion and signal extraction, send the termination signal of distance measuring unit 11 as range observation, the measurement of target ranges is accomplished in distance detecting unit 11.
In the rotary drum scanning process, confirm effective starting points of scanning, and will scan effective start signal and send distance measuring unit 11 that the every row of distance measuring unit carries out the processing and the storage of one group of range data by scanning positioning unit 5.Fig. 5 is a polyhedron rotary drum bilateral scanning synoptic diagram.Time synchronized unit 12 receives the time synchronizing signal of GPS, and the laser measurement point is carried out time-labeling.Flame Image Process is carried out the mapping transformation of the time and space with demonstration computing machine 13 according to the measurement data of range unit storage, recovers the three-dimensional distance image.During dynamic duty, Flame Image Process and the data fusion of demonstration computing machine 13 with laser scanning data and other sensor (GPS, IMU) are accomplished the recovery of big regional scene image.
In addition, laser three-dimensional imaging radar of the present invention has static and dynamic dual mode.During quiescent operation, laser scanner is placed in fixed station, adopts rotary drum to add the two-dimensional scan mode of turntable, and bidirectional measurement is realized efficient the detection; During dynamic duty, laser scanner is placed in (car, ship or aircraft) on the mobile platform, utilizes rotary drum to carry out one-dimensional scanning, utilizes platform to move and carries out another dimension scanning, obtains Three-dimension Target information.
Laser three-D of the present invention becomes the work characteristics of radar following:
(a) bilateral scanning is measured: the laser three-dimensional imaging radar adopts hexahedron rotary drum bilateral scanning metering system, and rotary drum is done high speed rotating under driven by motor, and motor rotates a circle, forms six sweep traces at a side direction, and bilateral forms 12 sweep traces.When carrying the work of car mobile platform, carry car and make the scanning that can realize carrying car both sides target along road one skidding, realized the two-forty high efficiency scanning.
(b) multi-target measurement: prolong the phenomenon that targets such as ground or buildings after the laser flying direction can exist laser by trees, trees repeatedly reflect behind the laser emitting; The laser three-dimensional imaging radar adopts the multiple goal distance-finding method; Make laser in flight course during by a plurality of target reflection in the heading; All target ranges make radar have " penetrating " measurement capability all by record.
(c) calibration reference light: during laser radar mapping operation; Needing at first laser radar, GPS, IMU to be carried out the installation site demarcates; Comprise eccentric the demarcation and three anglecs of rotation demarcation, the laser three-dimensional imaging radar is provided with visible light source specially as the calibration reference light, with the LASER Light Source coaxial design; When adopting dynamic mode work, can indicate the shooting angle of laser and direction to make things convenient for system calibrating.
(d) scanning positioning unit: when laser three-dimensional imaging radar scanning is measured; The hexahedron rotary drum is owing to exist mismachining tolerance; Cause the scanning angle of six reflectings surface to have deviation, because the restriction and the laser beam waist size restrictions of topology layout, the theoretical scanning angle of reflecting surface can't be accomplished all available.In the case, the scanning positioning unit is set, makes it when reflecting surface only rotates to a certain special angle, just can receive the reflecting surface laser light reflected, output synchronizing pulse after the laser scanning positioning unit is triggered, the notice measuring unit begins synchronous range finding.The position of adjustment scanning positioning unit can the gated sweep start angle, and under the certain situation of rotating speed and Laser emission frequency, the range finding number of times of adjusting every row can the gated sweep angle.The employing of above-mentioned measure has guaranteed the scanning start angle of every sweep trace and the consistance of scanning angle.
Laser three-dimensional imaging radar of the present invention can adopt fixed station, vehicle-mounted, the airborne working method that combines, to obtaining of mapping information will enrich more, careful.The work of laser radar fixed station can be carried out zonule fixed scene three-dimensional measurement; The three-dimensional modeling that can be used for interior of building or scene details carries out measurements such as historical relic's protection, cubic metre of earth volume, transformer station's layout, and measuring equipment is simple to operate; Data are obtained soon, and operating efficiency is high; What vehicle-mounted mode of operation was obtained is the geological information of three dimensions object facade, carries out the big regionally detecting in ground, like digital urban construction, high meticulous three-dimensional modeling, road and rail information system management etc., is convenient to the collection of big regional mapping information, and data are abundant; Airborne mode of operation provides a kind of from obtained the method for data earthward near the perpendicular quadrature mode in the air, makes the operating efficiency of making DEM, DSM, DOM be greatly improved.Three kinds of mode of operations combine, the three-dimensional scenic modeling of can carry out on a large scale, height is meticulous.The 3 D laser scanning measuring technique has overcome the limitation of conventional measurement techniques; Adopt noncontact active metering system directly to obtain the high-precision three-dimensional data; Can scan arbitrary objects; And do not have the restriction at daytime and night, the information translation with real world becomes manageable data fast.Have characteristics such as sweep velocity is fast, real-time, precision is high, initiative is strong, digital characteristic; Can greatly reduce cost, save time, and easy to use; Its output format can be directly and tool software interface such as CAD, three-dimensional animation, is convenient to the generation of all kinds of mapping products.
In sum, obtain the laser three-dimensional imaging radar, have following advantage according to mapping information of the present invention:
(1) round-the-clock work, initiatively measurement: laser three-dimensional imaging radar initiatively metering system has been expanded the activity duration, can realize the operation of round-the-clock ground, does not receive the influence at dark background or night.
(2) directly obtain the atural object three-dimensional information: what the laser three-dimensional imaging radar adopted is polar coordinates geometry location principle; Radar has been measured distance, luffing angle and the orientation angles of target simultaneously; Through simple coordinate conversion, can obtain Three-dimension Target information, data processing easily is automated.
(3) datamation: the three-dimensional image information of laser three-dimensional imaging radar; Have characteristics such as digital characteristic; Can directly carry out impact point, line, face and extract, length, area, volume measuring and calculating, its output format can be directly and tool software interfaces such as CAD, three-dimensional animation; Can greatly reduce cost, save time.
(4) operating efficiency is high: adopt the laser three-dimensional imaging radar can realize that data acquisition and data processing time ratio can reach 1: 1.
More than be in order to make those of ordinary skills understand the present invention, and to the detailed description that the present invention carried out, but can expect, in the scope that does not break away from claim of the present invention and contained, can also make it
Its variation and modification, these variations and modification are all in protection scope of the present invention.
Claims (9)
1. a mapping information is obtained the laser three-dimensional imaging radar, comprises head and integrated information process computer, it is characterized in that; In head; Include laser emission element, laser detection unit, polyhedron rotary drum, receive optical unit and photoelectricity reception processing unit, in the integrated information processor, comprise distance measuring unit; Wherein
Said laser emission element is used to launch the two-way laser pulse, and wherein, fraction two-way laser pulse is surveyed by the laser detection unit and received most of two-way laser pulse directive search coverage;
Said laser detection unit is used for giving the start signal of distance measuring unit as range observation after the processing with the fraction two-way laser pulse of surveying the reception laser emission element;
Said polyhedron rotary drum, be used to control Laser emission pulse directive search coverage and will be in search coverage the laser beam of detection of a target reflected back after protective glass arrives, reflect to receiving optical unit through drum surface;
Said reception optical unit converges to photoelectricity with reflected light and receives processing unit;
Said photoelectricity receives processing unit, and the reflected light that receives is carried out sending the termination signal of distance measuring unit as range observation after photoelectricity conversion and the signal extraction;
Said distance detecting unit is used for accomplishing according to the termination signal of the start signal of range observation and range observation the measurement of target range.
2. mapping information as claimed in claim 1 is obtained the laser three-dimensional imaging radar; It is characterized in that; Further comprise the scanning positioning unit, be used for when the polyhedron rotary drum scans, confirm effective starting point of two-way scanning; And will scan effective start signal and give distance measuring unit, the every row of distance measuring unit carries out the processing and the storage of one group of range data.
3. mapping information as claimed in claim 2 is obtained the laser three-dimensional imaging radar; It is characterized in that; Said laser emission element is used under the control of distance measuring unit, emission two-way laser pulse; Fraction laser is surveyed by the laser detection unit and is received the two-way laser pulse, and most of laser passes protective glass directive search coverage after reflecting through the polyhedron rotary drum.
4. mapping information as claimed in claim 3 is obtained the laser three-dimensional imaging radar, it is characterized in that, said laser emission element adopts the ultra narrow pulsewidth high repetition frequency fiber laser of eye-safe.
5. mapping information as claimed in claim 2 is obtained the laser three-dimensional imaging radar, it is characterized in that, said integrated information processor further comprises the time synchronized unit, is used to receive the time synchronizing signal of GPS, and the laser measurement point is carried out time-labeling.
6. mapping information as claimed in claim 2 is obtained the laser three-dimensional imaging radar; It is characterized in that the integrated information processor further comprises Flame Image Process and display unit; Be used for carrying out the mapping transformation of the time and space, recover the three-dimensional distance image according to the measurement data of range unit storage.
7. mapping information as claimed in claim 6 is obtained the laser three-dimensional imaging radar; It is characterized in that; When dynamic duty, Flame Image Process and display unit are accomplished the recovery of big regional scene image with the data fusion of laser scanning data and other sensor; Wherein, other sensor comprises GPS, IMU, CCD camera.
8. obtain the laser three-dimensional imaging radar like each described mapping information in the claim 1 to 7; It is characterized in that; Further comprise the calibration indicating member; Be used for when laser radar mapping operation, laser radar being demarcated the installation site of other sensor relatively, comprise eccentric the demarcation and three anglecs of rotation demarcation; Wherein, other sensor comprises GPS, IMU, CCD camera.
9. mapping information as claimed in claim 8 is obtained the laser three-dimensional imaging radar; It is characterized in that; Said calibration indicating member is further used for being provided with visible light source as the calibration reference light, with the LASER Light Source coaxial design; When adopting dynamic mode work, the shooting angle and the direction of indication laser make things convenient for system calibrating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103868807A CN102508258A (en) | 2011-11-29 | 2011-11-29 | Three-dimensional imaging laser radar for obtaining surveying and mapping information |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103868807A CN102508258A (en) | 2011-11-29 | 2011-11-29 | Three-dimensional imaging laser radar for obtaining surveying and mapping information |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102508258A true CN102508258A (en) | 2012-06-20 |
Family
ID=46220364
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011103868807A Pending CN102508258A (en) | 2011-11-29 | 2011-11-29 | Three-dimensional imaging laser radar for obtaining surveying and mapping information |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102508258A (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103398678A (en) * | 2013-07-30 | 2013-11-20 | 中国科学院对地观测与数字地球科学中心 | Device for measuring GPS (Global Positioning System) eccentricity component inside photoplane and measurement method |
| CN103481917A (en) * | 2013-09-22 | 2014-01-01 | 江苏美伦影像系统有限公司 | Visual modeling system of high-speed railway |
| CN104880215A (en) * | 2015-06-05 | 2015-09-02 | 立得空间信息技术股份有限公司 | Multi-sensor platform camera-laser integrated calibration method |
| CN106896364A (en) * | 2015-12-18 | 2017-06-27 | 天津华德宝航翼光电科技有限公司 | A kind of survey aircraft berths the two-dimensional laser radar system of distance |
| CN107219520A (en) * | 2017-05-31 | 2017-09-29 | 成都新越科技有限公司 | A kind of anti-unmanned plane distributed networking detection method and its device |
| CN107367733A (en) * | 2017-07-20 | 2017-11-21 | 上海脉泽光电科技有限公司 | A kind of combination GPS distance-finding method and its range unit |
| CN108089198A (en) * | 2017-12-11 | 2018-05-29 | 同方威视技术股份有限公司 | Three-dimensional scanner, robot and data processing method |
| WO2018192270A1 (en) * | 2017-04-19 | 2018-10-25 | 北科天绘（苏州）激光技术有限公司 | Laser scanning device, radar device, and scanning method thereof |
| CN109313024A (en) * | 2016-03-11 | 2019-02-05 | 卡尔塔股份有限公司 | Laser scanner with self estimation of real-time online |
| CN110361707A (en) * | 2019-08-09 | 2019-10-22 | 成都玖锦科技有限公司 | The motion state Dynamic Simulation Method of radiation source |
| CN110736998A (en) * | 2018-07-20 | 2020-01-31 | 现代摩比斯株式会社 | Laser radar system and method of operating the same |
| CN112233188A (en) * | 2020-10-26 | 2021-01-15 | 南昌智能新能源汽车研究院 | Laser radar-based roof panoramic camera and calibration method thereof |
| CN112567266A (en) * | 2018-09-10 | 2021-03-26 | 维宁尔美国公司 | Detection system for vehicle |
| US10989542B2 (en) | 2016-03-11 | 2021-04-27 | Kaarta, Inc. | Aligning measured signal data with slam localization data and uses thereof |
| CN114326681A (en) * | 2021-12-31 | 2022-04-12 | 上海集度汽车有限公司 | Driving environment simulation device, method, system, equipment and storage medium |
| US11398075B2 (en) | 2018-02-23 | 2022-07-26 | Kaarta, Inc. | Methods and systems for processing and colorizing point clouds and meshes |
| CN115184742A (en) * | 2022-05-06 | 2022-10-14 | 宁波送变电建设有限公司 | Optical monitoring angle measuring instrument for transformer substation |
| US11567201B2 (en) | 2016-03-11 | 2023-01-31 | Kaarta, Inc. | Laser scanner with real-time, online ego-motion estimation |
| US11573325B2 (en) | 2016-03-11 | 2023-02-07 | Kaarta, Inc. | Systems and methods for improvements in scanning and mapping |
| US11815601B2 (en) | 2017-11-17 | 2023-11-14 | Carnegie Mellon University | Methods and systems for geo-referencing mapping systems |
| US11830136B2 (en) | 2018-07-05 | 2023-11-28 | Carnegie Mellon University | Methods and systems for auto-leveling of point clouds and 3D models |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3813140A (en) * | 1971-12-13 | 1974-05-28 | Bendix Corp | Rotating prism scanning system having range compensation |
| JPH0943352A (en) * | 1995-07-26 | 1997-02-14 | Mazda Motor Corp | Obstacle detector and scanner device |
| CN1184929A (en) * | 1996-12-12 | 1998-06-17 | 中国科学院遥感应用研究所 | Apparatus and method for remote sensing multi-dimension information integration |
| US5793491A (en) * | 1992-12-30 | 1998-08-11 | Schwartz Electro-Optics, Inc. | Intelligent vehicle highway system multi-lane sensor and method |
| CN1424591A (en) * | 2002-12-24 | 2003-06-18 | 中国科学院上海技术物理研究所 | Adaptive variable-speed scanning laser imager |
| DE102004050682A1 (en) * | 2003-11-18 | 2005-06-16 | Riegl Laser Measurement Systems Gmbh | Surveying device for object in space has opto-electronic distance measuring device to operate according to a signal runtime with a scan device for deflecting measuring rays |
| CN101256232A (en) * | 2007-02-28 | 2008-09-03 | 电装波动株式会社 | Laser radar apparatus for three-dimensional detection of objects |
| CN101308211A (en) * | 2008-06-24 | 2008-11-19 | 中国电子科技集团公司第十一研究所 | Laser differential scanning detection method and system |
| CN101865996A (en) * | 2010-05-19 | 2010-10-20 | 北京航空航天大学 | Airborne laser radar pitch angle deviation real-time compensation method and device |
| CN101900806A (en) * | 2010-05-18 | 2010-12-01 | 北京航空航天大学 | Method and device for real-time compensation of roll angle deviation of airborne laser radar |
-
2011
- 2011-11-29 CN CN2011103868807A patent/CN102508258A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3813140A (en) * | 1971-12-13 | 1974-05-28 | Bendix Corp | Rotating prism scanning system having range compensation |
| US5793491A (en) * | 1992-12-30 | 1998-08-11 | Schwartz Electro-Optics, Inc. | Intelligent vehicle highway system multi-lane sensor and method |
| JPH0943352A (en) * | 1995-07-26 | 1997-02-14 | Mazda Motor Corp | Obstacle detector and scanner device |
| CN1184929A (en) * | 1996-12-12 | 1998-06-17 | 中国科学院遥感应用研究所 | Apparatus and method for remote sensing multi-dimension information integration |
| CN1424591A (en) * | 2002-12-24 | 2003-06-18 | 中国科学院上海技术物理研究所 | Adaptive variable-speed scanning laser imager |
| DE102004050682A1 (en) * | 2003-11-18 | 2005-06-16 | Riegl Laser Measurement Systems Gmbh | Surveying device for object in space has opto-electronic distance measuring device to operate according to a signal runtime with a scan device for deflecting measuring rays |
| CN101256232A (en) * | 2007-02-28 | 2008-09-03 | 电装波动株式会社 | Laser radar apparatus for three-dimensional detection of objects |
| CN101308211A (en) * | 2008-06-24 | 2008-11-19 | 中国电子科技集团公司第十一研究所 | Laser differential scanning detection method and system |
| CN101900806A (en) * | 2010-05-18 | 2010-12-01 | 北京航空航天大学 | Method and device for real-time compensation of roll angle deviation of airborne laser radar |
| CN101865996A (en) * | 2010-05-19 | 2010-10-20 | 北京航空航天大学 | Airborne laser radar pitch angle deviation real-time compensation method and device |
Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103398678A (en) * | 2013-07-30 | 2013-11-20 | 中国科学院对地观测与数字地球科学中心 | Device for measuring GPS (Global Positioning System) eccentricity component inside photoplane and measurement method |
| CN103398678B (en) * | 2013-07-30 | 2015-11-18 | 中国科学院对地观测与数字地球科学中心 | For device and the measuring method of photoplane internal measurement GPS eccentricity component |
| CN103481917A (en) * | 2013-09-22 | 2014-01-01 | 江苏美伦影像系统有限公司 | Visual modeling system of high-speed railway |
| CN104880215A (en) * | 2015-06-05 | 2015-09-02 | 立得空间信息技术股份有限公司 | Multi-sensor platform camera-laser integrated calibration method |
| CN104880215B (en) * | 2015-06-05 | 2017-07-28 | 立得空间信息技术股份有限公司 | The method of multisensor platform camera laser integration calibration |
| CN106896364A (en) * | 2015-12-18 | 2017-06-27 | 天津华德宝航翼光电科技有限公司 | A kind of survey aircraft berths the two-dimensional laser radar system of distance |
| US11573325B2 (en) | 2016-03-11 | 2023-02-07 | Kaarta, Inc. | Systems and methods for improvements in scanning and mapping |
| US11585662B2 (en) | 2016-03-11 | 2023-02-21 | Kaarta, Inc. | Laser scanner with real-time, online ego-motion estimation |
| CN109313024B (en) * | 2016-03-11 | 2022-06-17 | 卡尔塔股份有限公司 | Laser scanner with real-time online self-motion estimation |
| US11567201B2 (en) | 2016-03-11 | 2023-01-31 | Kaarta, Inc. | Laser scanner with real-time, online ego-motion estimation |
| CN109313024A (en) * | 2016-03-11 | 2019-02-05 | 卡尔塔股份有限公司 | Laser scanner with self estimation of real-time online |
| US10989542B2 (en) | 2016-03-11 | 2021-04-27 | Kaarta, Inc. | Aligning measured signal data with slam localization data and uses thereof |
| US10962370B2 (en) | 2016-03-11 | 2021-03-30 | Kaarta, Inc. | Laser scanner with real-time, online ego-motion estimation |
| US11506500B2 (en) | 2016-03-11 | 2022-11-22 | Kaarta, Inc. | Aligning measured signal data with SLAM localization data and uses thereof |
| WO2018192270A1 (en) * | 2017-04-19 | 2018-10-25 | 北科天绘（苏州）激光技术有限公司 | Laser scanning device, radar device, and scanning method thereof |
| US11555893B2 (en) | 2017-04-19 | 2023-01-17 | Hefei Surestar Technology Co., Ltd. | Laser scanning device, radar device and scanning method thereof |
| CN107219520A (en) * | 2017-05-31 | 2017-09-29 | 成都新越科技有限公司 | A kind of anti-unmanned plane distributed networking detection method and its device |
| CN107367733A (en) * | 2017-07-20 | 2017-11-21 | 上海脉泽光电科技有限公司 | A kind of combination GPS distance-finding method and its range unit |
| US11815601B2 (en) | 2017-11-17 | 2023-11-14 | Carnegie Mellon University | Methods and systems for geo-referencing mapping systems |
| CN108089198B (en) * | 2017-12-11 | 2023-12-19 | 同方威视技术股份有限公司 | Three-dimensional scanning device, robot, and data processing method |
| CN108089198A (en) * | 2017-12-11 | 2018-05-29 | 同方威视技术股份有限公司 | Three-dimensional scanner, robot and data processing method |
| US11398075B2 (en) | 2018-02-23 | 2022-07-26 | Kaarta, Inc. | Methods and systems for processing and colorizing point clouds and meshes |
| US11830136B2 (en) | 2018-07-05 | 2023-11-28 | Carnegie Mellon University | Methods and systems for auto-leveling of point clouds and 3D models |
| CN110736998A (en) * | 2018-07-20 | 2020-01-31 | 现代摩比斯株式会社 | Laser radar system and method of operating the same |
| CN112567266A (en) * | 2018-09-10 | 2021-03-26 | 维宁尔美国公司 | Detection system for vehicle |
| CN112567266B (en) * | 2018-09-10 | 2024-03-01 | 维宁尔美国有限责任公司 | Detection system for vehicle |
| CN110361707B (en) * | 2019-08-09 | 2023-03-14 | 成都玖锦科技有限公司 | Dynamic simulation method for motion state of radiation source |
| CN110361707A (en) * | 2019-08-09 | 2019-10-22 | 成都玖锦科技有限公司 | The motion state Dynamic Simulation Method of radiation source |
| CN112233188A (en) * | 2020-10-26 | 2021-01-15 | 南昌智能新能源汽车研究院 | Laser radar-based roof panoramic camera and calibration method thereof |
| CN112233188B (en) * | 2020-10-26 | 2024-03-12 | 南昌智能新能源汽车研究院 | Calibration method of data fusion system of laser radar and panoramic camera |
| CN114326681A (en) * | 2021-12-31 | 2022-04-12 | 上海集度汽车有限公司 | Driving environment simulation device, method, system, equipment and storage medium |
| CN114326681B (en) * | 2021-12-31 | 2023-08-25 | 上海集度汽车有限公司 | Driving environment simulation device, method, system, equipment and storage medium |
| CN115184742A (en) * | 2022-05-06 | 2022-10-14 | 宁波送变电建设有限公司 | Optical monitoring angle measuring instrument for transformer substation |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102508258A (en) | Three-dimensional imaging laser radar for obtaining surveying and mapping information | |
| Liu et al. | TOF lidar development in autonomous vehicle | |
| CN103760517B (en) | Underground scanning satellite high-precision method for tracking and positioning and device | |
| Puente et al. | Land-based mobile laser scanning systems: a review | |
| CN207380238U (en) | A kind of laser radar based on diffraction optics | |
| CN110146089A (en) | A kind of crusing robot localization method based on Embedded A I computing platform | |
| CN102023003A (en) | Unmanned helicopter three-dimensional positioning and mapping method based on laser detection and image recognition | |
| WO2008059279A1 (en) | Distance measuring device and method | |
| CN207408590U (en) | A kind of laser radar based on two-dimentional DOE elements | |
| CN208027170U (en) | A kind of power-line patrolling unmanned plane and system | |
| Raval et al. | A preliminary investigation of mobile mapping technology for underground mining | |
| CN106556843A (en) | Dimensional topography mapping system and mapping method | |
| CN103901458A (en) | Dynamic positioning system and method | |
| CN201974529U (en) | Active dynamic positioning instrument | |
| CN112558102A (en) | Airborne oblique laser three-dimensional measurement and composite imaging system and use method thereof | |
| CN102043155A (en) | Airborne staring imaging three-dimensional gated imaging control data splicing method and system | |
| Zhang et al. | Lidar-based fast 3d stockpile modeling | |
| Sakib | LiDAR Technology-An Overview. | |
| CN104251994B (en) | Long baselines laser ranging is realized without control point satellite Precise Position System and method | |
| CN116105685A (en) | Intertidal zone topography seamless integrated measurement method based on acousto-optic remote sensing and rollers | |
| López et al. | Machine vision: approaches and limitations | |
| CN116106925A (en) | Method for calculating underwater sounding point coordinates of laser radar by using rigorous photon counting mechanism | |
| Riaz et al. | 3d mapping using light detection and ranging | |
| CN109211223A (en) | It is a kind of integrated close to measurement sensor and system | |
| CN204903762U (en) | Optic fibre scanning formula laser radar system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20120620 |