CN104251665A - Algorithm for improving vehicle-mounted laser scanning data by introducing control points - Google Patents
Algorithm for improving vehicle-mounted laser scanning data by introducing control points Download PDFInfo
- Publication number
- CN104251665A CN104251665A CN201410561674.9A CN201410561674A CN104251665A CN 104251665 A CN104251665 A CN 104251665A CN 201410561674 A CN201410561674 A CN 201410561674A CN 104251665 A CN104251665 A CN 104251665A
- Authority
- CN
- China
- Prior art keywords
- data
- algorithm
- laser scanning
- point
- control points
- 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.)
- Granted
Links
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides an algorithm for improving vehicle-mounted laser scanning data by introducing control points. The algorithm comprises the following steps: obtaining scanning data of a measured object through a vehicle-mounted laser scanning device; acquiring data of the set control points; resolving the obtained scanning data of the measured object to point cloud data of a set coordinate system, and during resolving, mapping a resolved point to the acquired data of the control points; working out a deviation value of the resolved point and the acquired data of the control points; judging whether the deviation value meets the set requirements or not, if so, outputting the resolved point, and if not, resolving point cloud again. The algorithm has the benefits that the problems of check shortage due to direct resolving by the scanning data, non precision evaluation and low positioning precision caused by POS (point of sale) drift in long-time scanning operation are solved; a conventional measurement adjustment theory is transplanted for point cloud adjustment, results are reliable, parameters are reasonable, and the precision can be manually controlled according to the density, distribution, measurement precision and the like of the control points.
Description
Technical field
The present invention relates to the technical field of mapping, refer more particularly to a kind of algorithm introducing reference mark raising Vehicle-borne Laser Scanning data.
Background technology
Vehicle-borne Laser Scanning system, owing to affecting by the factor such as gps signal, POS system drift, LIDAR system distance accuracy, roadability, makes the some cloud coordinate resolving out contain comparatively big error, cannot meet the achievement requirement of mapping task.
For the problem in correlation technique, at present effective solution is not yet proposed.
Summary of the invention
For the problem in correlation technique, the present invention proposes a kind of algorithm introducing reference mark raising Vehicle-borne Laser Scanning data, to solve the problem.
Technical scheme of the present invention is achieved in that
The invention provides a kind of algorithm introducing reference mark raising Vehicle-borne Laser Scanning data, the algorithm that Vehicle-borne Laser Scanning data are improved at this introducing reference mark comprises the following steps:
The scan-data of measured object is obtained by Vehicle-borne Laser Scanning device;
The data at the reference mark of capture setting;
The scan-data of the measured object of acquisition is resolved the cloud data of the coordinate system to setting, and when resolving, the point resolved is mapped to the data at the reference mark of collection;
Ask for the deviate of the data at the reference mark of point and the collection of resolving;
Whether judgment bias value meets setting requirement, if meet, exports the point that this resolves, if do not meet, again resolves a cloud.
Preferably, the coordinate of described setting is project construction specified coordinate system or unification of the motherland coordinate system.
Preferably, the described scan-data by Vehicle-borne Laser Scanning device acquisition measured object is specially: by the data of laser scanner scans measured object.
Beneficial effect of the present invention is: solve and check owing to using scan-data directly calculation to lack, cannot evaluation precision, long-time scanning operation POS to drift about the problem bringing positioning precision to reduce; Transplant traditional measurement adjustment theory, carry out a cloud adjustment, achievement is reliable, and Rational Parameters, precision can with manual control such as the density at reference mark, distribution, measuring accuracy.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the process flow diagram improving the algorithm of Vehicle-borne Laser Scanning data according to the introducing reference mark of the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain, all belongs to the scope of protection of the invention.
As shown in Figure 1, present embodiments provide a kind of algorithm introducing reference mark raising Vehicle-borne Laser Scanning data, this algorithm comprises the following steps:
The scan-data of measured object is obtained by Vehicle-borne Laser Scanning device;
The data at the reference mark of capture setting;
The scan-data of the measured object of acquisition is resolved the cloud data of the coordinate system to setting, and when resolving, the point resolved is mapped to the data at the reference mark of collection;
Ask for the deviate of the data at the reference mark of point and the collection of resolving;
Whether judgment bias value meets setting requirement, if meet, exports the point that this resolves, if do not meet, again resolves a cloud.
In above-mentioned algorithm, by arranging some reference mark, thus when can form some cloud at the measured object resolving collection, some reference point can be formed, thus enable the some cloud calculated meet size and the position of the entity of measured object more accurately, thus can solve and check owing to using scan-data directly calculation to lack, cannot evaluation precision, long-time scanning operation POS to drift about the problem bringing positioning precision to reduce; Transplant traditional measurement adjustment theory, carry out a cloud adjustment, achievement is reliable, and Rational Parameters, precision can with manual control such as the density at reference mark, distribution, measuring accuracy.
Wherein, the coordinate of described setting is project construction specified coordinate system or unification of the motherland coordinate system.Thus make the vertical guide surveyed and drawn out have versatility, can be transformed on other equipment.
Concrete, the described scan-data by Vehicle-borne Laser Scanning device acquisition measured object is specially: by the data of laser scanner scans measured object.
In order to aspect is to the understanding of the embodiment of the present invention, below in conjunction with accompanying drawing 1, it is described in detail.
Step 1: the scan-data being obtained measured object by Vehicle-borne Laser Scanning device;
Concrete, by the data of laser scanner scans measured object.Thus the scan-data of measured object can be obtained accurately;
Step 2: the data at the reference mark of capture setting;
Concrete, special centering rod can be laid in this reference mark, also can utilize obviously, expose, the obvious outside corner of wall of corner angle or can accurate acquisition to the traffic sign of cloud data.
Step 3: the cloud data scan-data of the measured object of acquisition being resolved the coordinate system to setting, and when resolving, the point resolved is mapped to the data at the reference mark of collection;
Concrete, the data of reference mark mark are obtained by the data processing of vehicle-mounted scanister.
Step 4: the deviate asking for the data at the reference mark of point and the collection of resolving;
Step 5: whether judgment bias value meets setting requirement, if meet, exports the point that this resolves, if do not meet, again resolves a cloud.
Can be found out by foregoing description, in above-mentioned algorithm, by arranging some reference mark, thus when can form some cloud at the measured object resolving collection, some reference point can be formed, thus enable the some cloud calculated meet size and the position of the entity of measured object more accurately, thus can solve and check owing to using scan-data directly calculation to lack, cannot evaluation precision, long-time scanning operation POS to drift about the problem bringing positioning precision to reduce; Transplant traditional measurement adjustment theory, carry out a cloud adjustment, achievement is reliable, and Rational Parameters, precision can with manual control such as the density at reference mark, distribution, measuring accuracy.
These are only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (3)
1. introduce the algorithm that Vehicle-borne Laser Scanning data are improved at reference mark, it is characterized in that, comprise the following steps:
The scan-data of measured object is obtained by Vehicle-borne Laser Scanning device;
The data at the reference mark of capture setting;
The scan-data of the measured object of acquisition is resolved the cloud data of the coordinate system to setting, and when resolving, the point resolved is mapped to the data at the reference mark of collection;
Ask for the deviate of the data at the reference mark of point and the collection of resolving;
Whether judgment bias value meets setting requirement, if meet, exports the point that this resolves, if do not meet, again resolves a cloud.
2. the algorithm of Vehicle-borne Laser Scanning data is improved at introducing reference mark according to claim 1, and it is characterized in that, the coordinate of described setting is project construction specified coordinate system or unification of the motherland coordinate system.
3. the algorithm of Vehicle-borne Laser Scanning data is improved at introducing reference mark according to claim 2, it is characterized in that, the described scan-data by Vehicle-borne Laser Scanning device acquisition measured object is specially: by the data of laser scanner scans measured object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410561674.9A CN104251665B (en) | 2014-10-21 | 2014-10-21 | Improve the algorithm of Vehicle-borne Laser Scanning data in a kind of introducing control point |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410561674.9A CN104251665B (en) | 2014-10-21 | 2014-10-21 | Improve the algorithm of Vehicle-borne Laser Scanning data in a kind of introducing control point |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104251665A true CN104251665A (en) | 2014-12-31 |
| CN104251665B CN104251665B (en) | 2017-09-19 |
Family
ID=52186784
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410561674.9A Active CN104251665B (en) | 2014-10-21 | 2014-10-21 | Improve the algorithm of Vehicle-borne Laser Scanning data in a kind of introducing control point |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104251665B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105279371A (en) * | 2015-09-21 | 2016-01-27 | 武汉海达数云技术有限公司 | Control point based method for improving POS precision of mobile measurement system |
| CN105866791A (en) * | 2016-05-20 | 2016-08-17 | 中铁第勘察设计院集团有限公司 | Method for improving precision of vehicle-mounted LiDAR point cloud data through target control network |
| CN106052697A (en) * | 2016-05-24 | 2016-10-26 | 百度在线网络技术（北京）有限公司 | Driverless vehicle, driverless vehicle positioning method, driverless vehicle positioning device and driverless vehicle positioning system |
| CN106546260A (en) * | 2015-09-22 | 2017-03-29 | 腾讯科技（深圳）有限公司 | A kind of correcting method and system of traverse measurement data |
| CN108280879A (en) * | 2018-01-22 | 2018-07-13 | 河南华泰规划勘测设计咨询有限公司 | The mapping method of vehicle-mounted extreme terrain in a kind of Surveying Engineering |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020060784A1 (en) * | 2000-07-19 | 2002-05-23 | Utah State University | 3D multispectral lidar |
| JP2002288678A (en) * | 2001-03-26 | 2002-10-04 | Howa Mach Ltd | Circular mark center position measuring method, and substrate exposure device positioning method |
| CN1877253A (en) * | 2005-06-09 | 2006-12-13 | 山东科技大学 | Vehicular three-dimensional measuring system and method for close-range target |
| CN101914890A (en) * | 2010-08-31 | 2010-12-15 | 中交第二公路勘察设计研究院有限公司 | Airborne laser measurement-based highway reconstruction and expansion investigation method |
| CN103106339A (en) * | 2013-01-21 | 2013-05-15 | 武汉大学 | Synchronous aerial image assisting airborne laser point cloud error correction method |
-
2014
- 2014-10-21 CN CN201410561674.9A patent/CN104251665B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020060784A1 (en) * | 2000-07-19 | 2002-05-23 | Utah State University | 3D multispectral lidar |
| JP2002288678A (en) * | 2001-03-26 | 2002-10-04 | Howa Mach Ltd | Circular mark center position measuring method, and substrate exposure device positioning method |
| CN1877253A (en) * | 2005-06-09 | 2006-12-13 | 山东科技大学 | Vehicular three-dimensional measuring system and method for close-range target |
| CN101914890A (en) * | 2010-08-31 | 2010-12-15 | 中交第二公路勘察设计研究院有限公司 | Airborne laser measurement-based highway reconstruction and expansion investigation method |
| CN103106339A (en) * | 2013-01-21 | 2013-05-15 | 武汉大学 | Synchronous aerial image assisting airborne laser point cloud error correction method |
Non-Patent Citations (3)
| Title |
|---|
| 赵云昌等: "车载激光扫描数据控制点布设方案研究", 《山东国土资源》 * |
| 马浩，王留召: "基于车载激光点云的道路边线自动分类与提取", 《测绘科学》 * |
| 鲁勇等: "车载激光移动建模测量系统点云精度检核与误差来源分析", 《中州煤炭》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105279371A (en) * | 2015-09-21 | 2016-01-27 | 武汉海达数云技术有限公司 | Control point based method for improving POS precision of mobile measurement system |
| CN105279371B (en) * | 2015-09-21 | 2019-02-19 | 武汉海达数云技术有限公司 | A kind of traverse measurement system POS precision ameliorative way based on control point |
| CN106546260A (en) * | 2015-09-22 | 2017-03-29 | 腾讯科技（深圳）有限公司 | A kind of correcting method and system of traverse measurement data |
| CN106546260B (en) * | 2015-09-22 | 2019-08-13 | 腾讯科技（深圳）有限公司 | A kind of correcting method and system of traverse measurement data |
| CN105866791A (en) * | 2016-05-20 | 2016-08-17 | 中铁第勘察设计院集团有限公司 | Method for improving precision of vehicle-mounted LiDAR point cloud data through target control network |
| CN105866791B (en) * | 2016-05-20 | 2018-06-08 | 中铁第一勘察设计院集团有限公司 | The method that the vehicle-mounted LiDAR point cloud data precision of net raising is controlled using target |
| CN106052697A (en) * | 2016-05-24 | 2016-10-26 | 百度在线网络技术（北京）有限公司 | Driverless vehicle, driverless vehicle positioning method, driverless vehicle positioning device and driverless vehicle positioning system |
| CN108280879A (en) * | 2018-01-22 | 2018-07-13 | 河南华泰规划勘测设计咨询有限公司 | The mapping method of vehicle-mounted extreme terrain in a kind of Surveying Engineering |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104251665B (en) | 2017-09-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103389136B (en) | Based on the outer floating roof metal tin method for measuring volume of three-dimensional laser scanning technique | |
| CN104251665A (en) | Algorithm for improving vehicle-mounted laser scanning data by introducing control points | |
| CN104359430B (en) | A kind of dynamic paddy field flatness detecting device and method based on laser ranging | |
| CN108871266B (en) | Automatic settlement monitoring method based on intermediate method triangle elevation method | |
| CN111102926A (en) | Engineering quality detection method and system based on BIM | |
| CN105651160B (en) | A kind of the three-dimensional laser scanner spherical shape target and its application method of mounting and positioning device | |
| CN103644896B (en) | A kind of engineering geological mapping method based on 3 D laser scanning | |
| KR101229129B1 (en) | Method for measuring verticality of structure using GNSS and system thereof | |
| CN106199642B (en) | A kind of road mapping method and device | |
| CN104697502A (en) | Method for extracting coordinates of building characteristic points based on least square method | |
| CN105043343A (en) | Method for automated measurement of tunnel vault settlement based on laser displacement sensor | |
| CN105043381A (en) | Magnetic nail-based positioning method | |
| CN101363723B (en) | Method and device for measuring herbaceous plant | |
| CN110836661A (en) | Sky pit parameter measuring method | |
| CN104931027A (en) | Facing pattern projection setting-out method | |
| CN107007998A (en) | A kind of image gridding direct range mensuration of golf course | |
| WO2019242081A1 (en) | Cadastral surveying system based on multi-platform laser radar | |
| CN102466476A (en) | Tree testing super station and use method thereof | |
| CN206847601U (en) | A kind of Bridge Pier Construction verticality measurement device | |
| CN203148424U (en) | Total station with function of automatic measuring of height of total station | |
| CN115077478B (en) | Elevation measurement method and system for continuously tracking lifting of monitoring points | |
| CN104316007B (en) | The accurate physical dimension measuring system of large scale based on witness mark battle array | |
| CN104266588A (en) | Algorithm for automatically extracting upright cylindrical ground object based on vehicle-mounted laser scanning data | |
| CN113109791B (en) | Vehicle-mounted laser radar calibration result evaluation system and method | |
| CN204831200U (en) | Pavement width automatic measuring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Yang Tieli Inventor after: Jia Weiping Inventor after: Zuo Jianzhang Inventor after: Chen Xuexia Inventor after: Song Hongxia Inventor before: Ma Hao Inventor before: Zuo Jianzhang Inventor before: Guan Yanling Inventor before: Yang Tieli Inventor before: Wei Zhanying Inventor before: Wang Liuzhao |
|
| COR | Change of bibliographic data | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20161017 Address after: 313299 Zhejiang province Deqing County Zhiyuan Wukang Road No. 425 Applicant after: BEIJING GEO-VISION TECH. CO.,LTD. Address before: 100039 Haidian District, North Taiping Road, No. 16, Beijing Applicant before: BEIJING GEO-VISION TECH. Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: No. 425 Zhiyuan South Road, Wukang Town, Deqing County, Zhejiang Province, 313299 Patentee after: Zhejiang Siwei Yuanjian Information Technology Co.,Ltd. Address before: No. 425 Zhiyuan South Road, Wukang Town, Deqing County, Zhejiang Province, 313299 Patentee before: BEIJING GEO-VISION TECH. CO.,LTD. |