CN102518028B - Precise plane coordinate correction method in laser radar scanning measurement - Google Patents
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Abstract
The invention discloses a precise plane coordinate correction method in laser radar scanning measurement. The method comprises the following steps of: a, designing and spraying a control sign: arranging control signs along the path in a staggered form on the two sides of a highway; b, selecting a control point for the feature signs formed by two crossed straight lines along the existing road; c, laser radar scanning: determining the laser radar scanning measurement mode; d, measuring a control point, wherein the control point plane measurement adopts GPS (global position system) static positioning measurement, and a net structure is formed; e, controlling sign extraction: accurately extracting the position of the laser radar point cloud data plane of the control sign by use of the information of the laser radar point cloud data; and f, precisely correcting the laser radar point cloud plane coordinate: performing precise plane coordinate processing on the laser data according to the GPS measurement result at the control point and the laser radar point cloud extraction result of the control sign. The method has high precision, low cost and high efficiency, and is easy to implement, simple and convenient to operate and suitable for precise plane coordinate correction in the laser radar scanning measurement for road reconstruction and expansion.
Description
Technical field
The present invention relates to highway survey and design technical field, more specifically relate to a kind of precise plane coordinate correction method in laser radar scanning measurement, the method can increase substantially the plane positioning precision that Laser Radar Scanning is measured, and can meet highway reconstruction and expansion engineering construction in the uninterrupted traffic situation needs to the accurate three-dimensional spatial information of existing road.
Background technology
Accurately obtaining of the three-dimensional information such as highway and accessory structure thereof is the important prerequisite of highway reconstruction and expansion.For highway reconstruction and expansion engineering, in order to maximally utilise existing road, realize the accurate splicing of the structures such as bridge, roadbed, than newly-built road engineering, it has higher requirement to measuring accuracy.China's existing highway reorganization and expansion mainly adopts auxiliary the measuring and the method for precise leveling in GPS RTK of photogrammetric measurement, but the method is all difficult to adapt to growing highway reconstruction and expansion demand at aspects such as efficiency, safety and costs.How the in the situation that of uninterrupted traffic, to existing highway safety, carry out high-acruracy survey fast, economically, for highway reconstruction and expansion provides accurately, enriches and complete information support, become the major issue of highway reconstruction and expansion.
Laser Radar Scanning measuring technique the is integrated advanced earth observation from space equipment such as laser scanner (LIDAR), GPS (GPS), inertial navigation system (IMU), digital image (CCD), can be directly, high-precision three-dimensional spatial information under all kinds of surface conditions of quick obtaining, there is advantages such as can penetrating vegetation, abundant information, be a kind of fast speed, low cost, on a large scale, high precision and highdensity advanced measuring technique.In recent years, along with the continuous progress of technology, various commercializations airborne/precision of the device such as Vehicle-borne Laser Scanning device, positioning and orientation system (POS) is more and more higher.Adopt the helicopter-mounted laser scanning in low latitude, or Vehicle-borne Laser Scanning measurement, more accurate, intensive laser radar point cloud can be obtained.Auxiliary in the road surface control points of some again, can, the in the situation that of uninterrupted traffic, fast, accurately obtain the required three-dimensional spatial information of existing highway reconstruction and extension project.
The remarkable advantage that Laser Radar Scanning is measured is that its elevation location precision is high.Compare with high elevation location precision, its plane positioning precision is often low 2～3 times than vertical accuracy.The plane positioning precision that it is relatively low, has directly affected the application of result that Laser Radar Scanning is measured.
Inventor was in application on 08 31st, 2010, and on August 17th, 2011, obtain the patent of invention " a kind of highway reconstruction and expansion investigation method (patent No. ZL201010267006.7) based on airborne laser measurement " of mandate, wherein adopted based on digital orthoimage and traffic lane line and carried out the method that laser spots planimetric coordinates is refined and processed, first the method utilizes actual measurement road surface control points to carry out planimetric coordinates correction to digital orthoimage, then utilize the traffic lane line of revised digital orthoimage and extraction to carry out registration, thereby calculate the translation of laser radar point cloud data, rotation geometry conversion coefficient, finally utilize the coefficient calculating to carry out planimetric coordinates correction to laser radar point cloud data.There is following defect in the method:
1) need to revise in advance the planimetric coordinates of digital orthoimage, and extract traffic lane line, then the planimetric coordinates of laser radar point cloud data be carried out to correcting process, belong to indirectly and revising, process is loaded down with trivial details, inefficiency;
2) the revised digital orthoimage of planimetric coordinates, owing to there is image error, uses it for the planimetric coordinates correction of laser radar point cloud data, affects laser radar point cloud plane precision and improves;
3) must depend on high resolving power, high accuracy number orthography, condition is relatively harsh, in the situation that there is no digital orthoimage, is difficult to carry out at all;
4) workload is large, for the treatment of reference mark many, need lay 1 road surface control points ，Ji Yan road 500m along the every side 1km of existing road just have 1 reference mark, mapping operations amount is very big.
Summary of the invention
The object of the inventive method is that the plane positioning precision of measuring for Laser Radar Scanning is relatively low, and carry out the laser radar point cloud data planimetric coordinates defect that disposal route exists of refining based on digital orthoimage and traffic lane line, proposed a kind ofly directly based on road surface control points, to carry out precise plane coordinate correction method in laser radar scanning measurement, easy to implement the method, easy and simple to handle, can improve nearly 2 times of the plane positioning precision that Laser Radar Scanning measures.
In order to achieve the above object, the present invention adopts following technical measures:
A precise plane coordinate correction method in laser radar scanning measurement, its step is as follows:
1) control Mark Designing and spraying: along the every side 4km of route, lay 1 and control sign, and in the highway left and right sides, be staggered as far as possible.Controlling character shape is " ┳ " shape or " ╋ " shape, and every hem width degree is 0.15m, the long length of side 1.5m of " ┳ " shape sign, and the long 1.0m of minor face, two length of sides of " ╋ " shape are 1.5m.Controlling sign need have the feature that the empty visual field is good, reflection potential is strong, in bright gay color, reflectance is strong.Control sign to add the white solvent based coatings such as acrylic paint of 15%-23% reflecting glass Bead, or the white heat reflow paint being comprised of petroleum resin, titanium dioxide, GL ground limestone, two zinc esters etc. is raw material, the mode of the spray of employing machine or manual brushing, is sprayed on the hardened verge of existing road.
2) along existing road 3km, every finding by two straight lines, intersect the characteristic indication forming between left and right, for the wide about 0.15m of straight line, length, be not less than two straight lines of 1m with intersection point, the angle point of 60 ° of-120 ° of intersect with large-angles formation, directly select as reference mark, as service area parking lot graticule, deceleration driven etc.
3) Laser Radar Scanning: actual according to road reconstruction and extension project, determine Laser Radar Scanning metering system.For airborne laser radar scanning, require Laser Radar Scanning dot spacing to be less than 0.20m, dot density is higher than 25/m
2; For mobile lidar scanning, require Laser Radar Scanning dot spacing to be less than 0.05m, dot density is higher than 400/m
2.Laser Radar Scanning is measured and is at least needed to cover within the scope of each 100m of existing road center line both sides.The plane positioning precision of Laser Radar Scanning Measurement preprocessing achievement need be better than 0.15m.
4) control point survey: the plane surveying at reference mark adopts GPS fast static position measurement in control survey, forms web structure, and measurement grade is the fourth class.
5) controlling sign extracts: utilize the strength information of laser radar point cloud data, adopt the mode of man-machine interaction, accurately extract the laser radar point cloud data planimetric position of controlling sign.
6) laser radar point cloud planimetric coordinates is accurate revises: according to controlling sign GPS Measurement results, control laser markable radar points cloud and extract achievement, calculate the conversion parameter of laser radar point cloud data, and the planimetric coordinates that carries out laser data is accurately revised.
Compare with the planimetric coordinates modification method of relevant Laser Radar Scanning in patent of invention " a kind of highway reconstruction and expansion investigation method (patent No. ZL201010267006.7) based on airborne laser measurement ", the present invention has the following advantages:
1) precision is high.The method directly utilizes actual measurement road surface control points to carry out the planimetric coordinates correction of laser radar point cloud, has reduced by digital orthoimage and traffic lane line and has carried out the median error that plane is corrected generation, and precision is greatly improved.Contrast " a kind of highway reconstruction and expansion investigation method (patent No. ZL201010267006.7) based on airborne laser measurement ", choose Beijing-Hongkong Australia highway Zhuozhou (Jing Jijie) to the about 10km of Shijiazhuang section reconstruction and extension project section and carry out accurate correction of planimetric coordinates of Laser Radar Scanning measurement, and carry out fieldwork check, comparing result is in Table 1:
Table 1 Laser Radar Scanning measurement plane positioning precision contrast table
As can be seen from Table 1, the inventive method only needs to utilize the road surface control points of former inventive method 1/4 quantity, the plane positioning precision of the accurate revised laser radar point cloud data of planimetric coordinates reaches 0.045m, the 0.062m that is better than former inventive method, plane positioning precision than pre-service achievement has improved 1.9 times, can meet better the requirement of existing road reconstruction and extension project close mapping and construction drawing design.
2) efficiency is high.Planimetric coordinates correction, traffic lane line that the method has reduced digital orthoimage extract this intermediate link, and technological process is greatly improved, and production efficiency significantly improves.Utilize the inventive method, only need the Laser Radar Scanning datum plane coordinate precise correction that people can complete 10km section in 1 hour, and utilize former invented party's rule at least to need 4 hours people just can complete, efficiency is original 4 times.
3) cost is low.The method only needs to lay 1 road surface control points along the every side 4km of route, and control points layout and surveying work amount are only 25% of former inventive method, greatly reduces to survey being set as this, shortens to survey and establishes the cycle.
4) workable.The method is without this intermediary of digital orthoimage, and in the situation that there is no high precision, high-resolution digital orthography, the method is implemented unaffected.
By Beijing-Hongkong Australia highway Zhuozhou (Jing Jijie) to Shijiazhuang section reconstruction and extension project, put into practice, the required road surface control points of the inventive method is few, it is low that survey is set as, production efficiency is high, precision reaches the accuracy requirement of road reconstruction and extension project close mapping and construction drawing design, easy operating is applicable to the accurate correcting process of planimetric coordinates that road reorganization and expansion Laser Radar Scanning is measured very much.
Accompanying drawing explanation
Fig. 1 is a kind of process flow diagram of precise plane coordinate correction method in laser radar scanning measurement.
Fig. 2 is a kind of control sign of laying.
Fig. 3 is a kind of control sign of laying.
Embodiment
Embodiment below by concrete, is described in further detail the inventive method by reference to the accompanying drawings.
A precise plane coordinate correction method in laser radar scanning measurement, its process flow diagram as shown in Figure 1.
Concrete steps are elaborated as follows:
The first step, control Mark Designing and spraying 1;
Before Laser Radar Scanning, first need to lay along existing road road surface and control sign as reference mark, its concrete distribution method is as follows:
The shape of a, control sign.Controlling character shape is " ┳ " shape or " ╋ " shape.The width that " ┳ " shape is controlled every limit of sign is 0.15m, long length of side 1.5m, the long 1.0m of minor face; The width that " ╋ " shape is controlled every limit of sign is 0.15m, and length is 1.5m.The point of crossing of controlling two oblique lines in sign center is the center at reference mark, refers to Fig. 2, Fig. 3.
The laying of b, control sign.Along existing road road surface, every side 4km lays 1 and controls sign, and on the hardened verge of the highway left and right sides, is staggered as far as possible.For " ┳ " shape, control sign, its laying form is to grow limit near guardrail, and from the about 0.20m of kerbstone.The installation position of control sign should be selected the empty visual field good, on it, without vegetation, blocks, neighbouring without high-intensity magnetic field, hi-line interference, and the less flat position of road surface aberration.
The spraying of c, control sign.Adopting white solvent based coating or the heat reflow paint of interpolation 15%-23% reflecting glass Bead is raw material, the mode of the spray of employing machine or manual brushing, the control sign of respective shapes in assigned address spraying.Control sign and need there is the feature that reflection potential is strong, in bright gay color, reflectance is strong.
Control sign and laid rear the 3rd step that directly forwards to.
Second step, characteristic indication select 2;
The characteristic indication that existing road is along the line, can directly select as reference mark.Specific implementation method is as follows:
A, the requirement of feature mark poiX position.Characteristic indication should be chosen in the empty visual field good, on it, without vegetation, blocks, neighbouring without high-intensity magnetic field, hi-line interference, and road surface aberration is less, earth's surface, characteristic indication location flat position.
B, characteristic indication shape.Select feature two crossing intersection point, intersecting points that form of straight lines clearly, linear width is advisable with 0.15m, and straight line shortest length is 1.0m, and two straight lines need be with intersect with large-angle, and the angle of cut is between 60 °-120 °.
C, unique point distribute.Along the every 3km of existing road between left and right every selecting 1 place's characteristic indication, and on the hardened verge of the highway left and right sides, be staggered as far as possible.
D, characteristic indication are selected.Characteristic indication is chosen the deceleration strip of existing road and traffic lane line infall, service area parking lot graticule angle point.
The 3rd step, Laser Radar Scanning 3;
For road reconstruction and extension project, can select helicopter or automobile is that platform lift-launch laser scanner carries out data acquisition.Specific implementation method is as follows:
A, Laser Radar Scanning mode.According to the reality of road reconstruction and extension project, determine suitable Laser Radar Scanning mode.Adopt helicopter to carry laser radar apparatus and carry out laser radar point cloud data collection along the low-latitude flying of existing road center line, or adopt automobile lift-launch laser radar apparatus to gather laser radar point cloud data along existing road.
B, coordinate basis design.Planimetric coordinates is Xi'an Geodetic Coordinate System 1980 or Beijing Geodetic Coordinate System 1954 or local coordinate system.Adopt Gauss projection, central meridian surveys with engineering the central meridian that district's base control is selected.GPS measures and adopts WGS84 coordinate basis.Height datum adopts 1985 state height benchmark or other height datums.
C, Laser Radar Scanning dot spacing.For airborne laser radar scanning, require Laser Radar Scanning point to be evenly distributed, dot spacing is less than 0.20m, and dot density is higher than 25/m
2; For mobile lidar scanning, require Laser Radar Scanning point to be evenly distributed, dot spacing is less than 0.10m, and dot density is higher than 100/m
2.
D, Laser Radar Scanning width.Laser Radar Scanning is measured and need at least be covered within the scope of each 100m of existing road center line both sides.For intercommunication hinge, need widen Laser Radar Scanning data acquisition scope according to actual conditions.
E, laser radar point cloud data pre-service precision.The plane positioning precision of Laser Radar Scanning Measurement preprocessing achievement need be better than 0.15m.The laser radar point cloud data of adjacent air strips, edge fit place needs plane dislocation-free, elevation without the discrepancy in elevation.
The 4th step, control point survey 4;
The plane surveying at reference mark adopts GPS fast static position measurement in control survey, and concrete implementation step is as follows:
A, measuring method.The above Basic Control Networks translocation of Yu Ce district, the reference mark fourth class.When GPS measures, two GPS receivers, as fixed station, are located at the above base control of the fourth class online.Reference mark and fixed station form network of triangle.
B, the requirement of GPS observation technology.GPS when observation, effective satellite number >=4 of observation simultaneously, elevation of satellite >=15 °, observation time >=60 minute, GDOP value≤6, data sampling rate≤30 second, every on average repeat to establish number >=1.6 time, station.
C, data processing.The above Basic Control Networks of reference mark and the fourth class carries out whole balancing calculation of GPS net.First with the three-dimensional of Baseline Vector without constraint adjustment, then carry out two-dimensional baseline Vector Network coordinate conversion and with the constraint adjustment of terrestrial network.
D, measuring accuracy.The plane surveying grade at reference mark is the fourth class.Must not be greater than ± 5cm of its weakest point mean square error of a point, must not be greater than ± 3cm of the relative mean square error of a point of the most weak consecutive point, the most weak consecutive point length of side phase error of centralization must not be greater than 1/35000.
The 5th step, control sign extract 5;
Utilize the TerraSolid commercial software of Finland TerraSolid company research and development to identify controlling laser markable point.Concrete implementation step is as follows:
A, the first return laser beam intensity value range of analysis and Control laser markable point, and definite suitable threshold value.Then, utilize By Indensity classification feature in the TerraScan module of TerraSolid software to extract laser spots that strength information is greater than this threshold value as the alternative point of controlling laser markable point.
B, adopt the mode of man-machine interaction, utilize the Smart Line instrument in the Microstation software of Bentley company research and development to sketch out the almost plane position that each controls two limits of monumented point " ┳ " shape or " ╋ " shape mark.
C, use the alternative point extracting in the 5th step a, utilize Fit Linear Element function in TerraScan module to carry out accurate matching to two sidelines at " ┳ " shape or " ╋ " shape reference mark.Model of fit is elected Smooth Curvature as, and participation matching laser spots is made as 0.02m to the plane allowable error of initial lines.
D, use accurate two sidelines that simulate in the 5th step c to obtain its intersection point, as laser radar point cloud data, extract the planimetric coordinates achievement of controlling sign center.
The accurate correction 6 of planimetric coordinates of the 6th step, laser radar point cloud data.
According to controlling sign GPS Measurement results, controlling laser markable radar points cloud extraction achievement, laser radar point cloud is carried out to precision correction.Concrete implementation step is as follows:
A, Laser Radar Scanning data sectional are processed.Along road direction, by Laser Radar Scanning data sectional, each segment length is 8km-10km, guarantees that every section is laid with 3 above control signs, and between adjacent sectional, needs there is at least 1 common point.
B, conversion parameter calculate.The planimetric coordinates correction of laser radar point cloud adopts affine transformation method to carry out correcting process, adopts following formula to calculate the plane conversion parameter of laser radar point cloud data:
X=ax
0+by
0+dx (1)
Y=cx
0+dy
0+dy
In formula: X, Y---reference mark GPS measurement plane coordinate;
X
0, y
0---reference mark laser radar point cloud extracts planimetric coordinates;
A, b, c, d, dx, dy---affine transformation parameter.
C, the correction of laser radar point cloud planimetric coordinates.Utilize the coefficient calculating in the 6th step b, the planimetric coordinates substitution according to formula (1) to laser radar point cloud, by affined transformation, calculates accurate revised laser radar point cloud coordinate.
Claims (1)
1. a precise plane coordinate correction method in laser radar scanning measurement, the steps include:
The first step, control Mark Designing and spraying (1);
Before Laser Radar Scanning, first along existing road road surface, to lay and control sign as reference mark, its concrete distribution method is as follows:
The shape of a, control sign: controlling character shape is ┳ shape or ╋ shape, the width that ┳ shape is controlled every limit of sign is 0.15m, length length of side 1.5m, the long 1.0m of minor face; The width that ╋ shape is controlled every limit of sign is 0.15m, and length is 1.5m, and the point of crossing of controlling two oblique lines in sign center is the center at reference mark;
The laying of b, control sign: every side 4km lays 1 and controls sign along existing road road surface, on the hardened verge of the highway left and right sides, be staggered, for ┳ shape, control sign, its laying form is for long limit is near guardrail, from kerbstone 0.20m, control the installation position of sign and should select, to the empty visual field, on it, without vegetation, to block, neighbouring without high-intensity magnetic field, hi-line interference, the flat position that road surface aberration is little;
The spraying of c, control sign: adopt the acrylic paint that adds 15%-23% reflecting glass Bead, the spray of employing machine or the by hand mode of brushing, the control sign of respective shapes in assigned address spraying;
Control sign and laid rear the 3rd step that directly forwards to;
Second step, characteristic indication are selected (2), and method is as follows:
A, feature mark poiX position: characteristic indication should be chosen in the empty visual field good, on it, without vegetation, blocks, neighbouring without high-intensity magnetic field, hi-line interference, road surface aberration is little, earth's surface, characteristic indication location flat position;
B, characteristic indication shape: select feature two crossing intersection point, intersecting points that form of straight lines clearly, linear width is with 0.15m, and straight line shortest length is 1.0m, and two straight lines need be with intersect with large-angle, and the angle of cut is between 60 °-120 °;
C, unique point distribute: along the every 3km of existing road interval, select to be staggered on the 1 characteristic indication ， highway left and right sides, place hardened verge;
D, characteristic indication select: characteristic indication is chosen the deceleration strip of existing road and traffic lane line infall, service area parking lot graticule angle point;
The 3rd step, Laser Radar Scanning (3), for road reconstruction and extension project, selecting helicopter or automobile is that platform lift-launch laser scanner carries out data acquisition, method is as follows:
A, Laser Radar Scanning mode: according to the reality of road reconstruction and extension project, determine Laser Radar Scanning mode, adopt helicopter to carry laser radar apparatus and carry out laser radar point cloud data collection along the low-latitude flying of existing road center line, or adopt automobile lift-launch laser radar apparatus to gather laser radar point cloud data along existing road;
B, coordinate basis design: planimetric coordinates is Xi'an Geodetic Coordinate System 1980 or Beijing Geodetic Coordinate System 1954 or local coordinate system, adopt Gauss projection, central meridian surveys with engineering the central meridian that district's base control is selected, GPS measures and adopts WGS84 coordinate basis, and height datum adopts 1985 state height benchmark or other height datums;
C, Laser Radar Scanning dot spacing: for airborne laser radar scanning, Laser Radar Scanning point is evenly distributed, and dot spacing is less than 0.20m, and dot density is higher than 25/m
2; For mobile lidar scanning, Laser Radar Scanning point is evenly distributed, and dot spacing is less than 0.10m, and dot density is higher than 100/m
2;
D, Laser Radar Scanning width: Laser Radar Scanning is measured and at least covered within the scope of each 100m of existing road center line both sides, for intercommunication hinge, widens Laser Radar Scanning data acquisition scope;
E, laser radar point cloud data pre-service precision: the plane positioning precision 0.15m of Laser Radar Scanning Measurement preprocessing achievement, the laser radar point cloud data of adjacent air strips, edge fit place plane dislocation-free, elevation are without the discrepancy in elevation;
The 4th step, control point survey (4), the plane surveying at reference mark adopts GPS fast static position measurement in control survey, and step is as follows:
A, measuring method: Yu Ce district, the reference mark fourth class is controlled net translocation, when GPS measures, two GPS receivers, as fixed station, are located at the fourth class and control on the net, and reference mark and fixed station form network of triangle;
B, GPS observation: GPS when observation, effective satellite number >=4 of observation simultaneously, elevation of satellite >=15 °, observation time >=60 minute, GDOP value≤6, data sampling rate≤30 second, every on average repeat to establish number >=1.6 time, station;
C, data processing: reference mark and the fourth class are controlled net and carried out whole balancing calculation of GPS net, first with the three-dimensional of Baseline Vector without constraint adjustment, carry out two-dimensional baseline Vector Network coordinate conversion and with the constraint adjustment of terrestrial network;
D, measuring accuracy: the plane surveying grade at reference mark is the fourth class, must not be greater than ± 5cm of its mean square error of a point, must not be greater than ± 3cm of the relative mean square error of a point of consecutive point, the adjoint point length of side phase error of centralization must not be greater than 1/35000;
The 5th step, control sign extract (5), utilize TerraSolid software to identify controlling laser markable point, and step is as follows:
A, the return laser beam intensity value range of analysis and Control laser markable point first, definite threshold, utilizes By Indensity classification feature in the TerraScan module of TerraSolid software to extract laser spots that strength information is greater than this threshold value as the alternative point of controlling laser markable point;
The mode of b, employing man-machine interaction, utilizes the Smart Line instrument in Microstation software to sketch out the almost plane position that each controls two limits of monumented point ┳ shape or ╋ shape mark;
C, use the alternative point extracting in the 5th step a, utilize Fit Linear Element function in TerraScan module to carry out accurate matching to two sidelines at ┳ shape or ╋ shape reference mark, model of fit is elected Smooth Curvature as, and participation matching laser spots is made as 0.02m to the plane allowable error of initial lines;
D, use accurate two sidelines that simulate in the 5th step c to obtain its intersection point, as laser radar point cloud data, extract the planimetric coordinates achievement of controlling sign center;
Accurate revise (6) of planimetric coordinates of the 6th step, laser radar point cloud data, extract achievement according to reference mark GPS Measurement results, control laser markable radar points cloud, and laser radar point cloud is carried out to precision correction, and step is as follows:
A, Laser Radar Scanning data sectional are processed: along road direction, by Laser Radar Scanning data sectional, each segment length is 8km-10km, and every section is laid with 3 and controls sign, at least 1 common point between adjacent sectional;
B, conversion parameter calculate: the planimetric coordinates correction of laser radar point cloud adopts affine transformation method to carry out correcting process, adopt following formula to calculate the plane conversion parameter of laser radar point cloud data:
X=ax
0+by
0+dx (1)
Y=cx
0+dy
0+dy
In formula: X, Y---reference mark GPS measurement plane coordinate;
X
0, y
0---reference mark laser radar point cloud extracts planimetric coordinates;
A, b, c, d, dx, dy---affine transformation parameter;
The correction of laser radar point cloud planimetric coordinates utilizes the coefficient calculating in the 6th step b, and the planimetric coordinates substitution according to formula (1) to laser radar point cloud, by affined transformation, calculates accurate revised laser radar point cloud coordinate.
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| CN101914890B (en) * | 2010-08-31 | 2011-11-16 | 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 |
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