CN103955964A - Ground laser point cloud splicing method based three pairs of non-parallel point cloud segmentation slices - Google Patents
Ground laser point cloud splicing method based three pairs of non-parallel point cloud segmentation slices Download PDFInfo
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- CN103955964A CN103955964A CN201310484671.5A CN201310484671A CN103955964A CN 103955964 A CN103955964 A CN 103955964A CN 201310484671 A CN201310484671 A CN 201310484671A CN 103955964 A CN103955964 A CN 103955964A
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Abstract
The invention relates to the field of surveying and mapping data and particularly relates to a ground laser point cloud splicing method based on three pairs of non-parallel point cloud segmentation slices. Firstly, according to space coplanarity of point clouds, extracting segmentation slices of a reference station point cloud and a splicing station point cloud and manually assigning three pairs of non-parallel same-name point cloud segmentation slices; then obtaining a space planar equation of the three pairs of point cloud segmentation slices and respectively calculating points of intersection of three planes in the reference station point cloud and the splicing station point cloud and moving segmentation slice point cloud planes to respective points of intersection; then calculating the intersection lines and inclined angles of the same-name segmentation slice point cloud planes so as to obtain rotation parameters of the planes; and at last, using the rotation parameters, the points of intersection of the reference station point cloud plane and the points of intersection of the splicing station point cloud plane to calculate a translation parameter and finally determining a final rotation matrix. The method is applicable to point cloud scenes, which have obvious characteristics, of cities and villages and the like and capable of reducing the identification and calibration time of same-name characteristics in a splicing process and improving the overall efficiency of laser point cloud data processing.
Description
Technical field
The present invention relates to Survey data processing technical field, relate in particular to the ground laser point cloud joining method based on three pairs of non-parallel some cloud cutting plates.
Background technology
Ground laser radar scanning (Terrestrial Laser Scanning) be on ground, utilize laser scanning device automatically, system, obtain rapidly the metering system of subject surface three-dimensional laser point cloud coordinate; it is a kind of active Spatial data capture technology of develop rapidly in the last few years; can be used for the multiple digital space products such as generating digital elevation model, digital line layout figure, three-dimensional city model, for fields such as engineering survey, digital city construction, historical relic's protection, military affairs, there is vital role.
The single scan range of ground laser radar scanning is owing to being subject to scanning distance, scanning angle and on-the-spot restriction of blocking, generally the integral body of sweep object can not be recorded completely, in order to complete the complete covering to scanned object or region, often need to set up a plurality of scanning websites at diverse location in actual applications; And the laser point cloud of each scanning website is all under three-dimensional system of coordinate independent of each other, cannot be directly used in post-processed, generate mapping product, therefore need to by computer approach, the some cloud of different websites be incorporated into unified global coordinate system, i.e. the splicing of three-dimensional point cloud.Point cloud is the important step in Point Cloud Processing flow process, and the precision of some cloud directly affects the quality of the final products of generation, and the speed of some cloud directly affects the whole efficiency of Point Cloud Processing.
The point cloud method that commercialization Point Cloud Processing software (as RiSCAN, Cyclone) is provided is at present mainly to choose by same place, according to manual observation judgement, select the same place of every two adjacent sites clouds, need to meet at least four pairs of same places and can not coplanar these two conditions simultaneously.Laser scanning can quick obtaining spatial scene magnanimity information, but because laser spots is the sampling to real world, we drop on certain accurate locus (as corner at uncontrollable concrete certain laser spots, roof edge) on, even for the object of the same name in the two adjacent laser survey stations in station, also cannot find real " same place ", for example, in the situation that dot spacing is 5 centimetres, the coordinate in a certain corner can only be assumed to a certain laser spots coordinate of its scope in 2.5 centimetres, and the mode of operation of artificial reconnaissance is also difficult to guarantee to select is Best Point, therefore, the transition matrix calculating based on same place is unavoidably with larger error, can only be by selecting multipair same place to carry out least square adjustment, obtain the rotation matrix that error is relatively little, in addition due to the restriction of three-dimensional point cloud Projection Display on computer two-dimensional screen, in two station three-dimensional point clouds, artificial searching same place is a very loaded down with trivial details process, often needs several minutes just can complete choosing of two station same places, and in the less or unconspicuous situation of same place feature, manually choose same place very difficult especially in overlapping region.Above 2 are caused the precision of a cloud and the needs that efficiency can not meet actual production, and the some cloud process of " point-point " formula has become one of Main Bottleneck of Point Cloud Processing.
Summary of the invention
The object of the invention is to solve the defect on existing laser radar point cloud data joining method, a kind of ground laser point cloud joining method based on non-parallel cutting plate feature is fast provided.
Technical scheme of the present invention, by translation and the rotation of same place cloud cutting plate that three pairs are not parallel to each other, is calculated splicing site cloud to rotation parameter and the translation parameters of reference station cloud, comprises following key step:
A, obtain three pairs of cutting plates of the same name;
B, cutting plate pre-service of the same name;
C, calculating rotation parameter;
D, calculating translation parameters.
Further, in steps A, obtaining three pairs of cutting plates of the same name is refined as:
A1 point cloud is cut apart, and refers to according to the space coplanarity of a cloud and will put cloud grouping, to form, can, for the dough sheet of cutting apart of further information extraction, use plane to expand split plot design a cloud is cut apart in this invention;
A2 selects three pairs of cutting plates of the same name, and user selects respectively three some cloud cutting plates in reference station cloud and splicing site cloud, and corresponding cutting plate is cutting plate of the same name;
Further, the condition that the three pairs of cutting plates of the same name need to be satisfied:
A21 is not parallel to each other with three cutting plates in station, with three cutting plates in station, must meet at a bit;
A22 tries one's best close to right angle with angulation between three cutting plates in station;
A23 need to be distributed in three mutually different dimensions with three cutting plates in station;
Cutting plate of the same name in A24 two stations should be at the homonymy of other cutting plates of the same name, as the cutting plate P in reference station cloud
t1at cutting plate P
t2right side, splice cutting plate P in site cloud
s1also at P
s2right side.
Further, in step B, cutting plate pre-service of the same name is refined as:
B1 fit Plane equation, according to the space coplanarity of a cloud cutting plate, fits to space plane equation by a cloud cutting plate;
B2 to three plane find intersection Intersection_point_t, Intersection_point_s in reference station cloud and splicing site cloud, arrives intersection point place separately by plane translation respectively.
Further, in step C, calculating rotation parameter method is refined as:
C1 calculates the intersection L of pair of planar
1with the angle α of splicing site cloud plane to reference station cloud plane
1, will splice site cloud plane with L
1for axle rotation alpha
1spend, obtain the rotation parameter R of first pair of some cloud plane
1;
C2 utilizes R
1, upgrade the plane equation that remains two pairs of cutting plates of the same name, calculate the intersection L of second pair of plane
2with the angle α of splicing site cloud plane to reference station cloud plane
2, will splice site cloud plane along L
2rotation alpha
2spend, obtain the rotation parameter R of second pair of some cloud plane
2;
C3 upgrades the plane equation of the 3rd pair of cutting plate of the same name, calculates the intersection L of the 3rd pair of plane
3with the angle α of splicing site cloud plane to base station plane
3, will splice site cloud plane along L
3rotation alpha
3spend, obtain the rotation parameter R of the 3rd pair of some cloud plane
3;
The rotation parameter R that C4 is final is the product of three rotation parameters, i.e. R=R
3* R
2* R
1.
Further, step D Computational Methods is refined as:
The value of translation parameters T is the opposite number that rotation parameter is multiplied by stitching station plane point of intersection, adds the intersection point of base station plane, i.e. T=-R*Intersection_point_s+ Intersection_point_t.
The invention provides a kind of ground laser point cloud joining method based on three pairs of non-parallel some cloud cutting plates.The method can be effectively be spliced to the three-dimensional laser point cloud of independent scanning under the same coordinate system, can realize and complete splicing right in the situation that cannot choose same place, is particularly useful for the obvious data of plane characteristic.If current main flow business software is when carrying out a some cloud, can only splice by the right mode of artificial selection same place, precision and the speed of some cloud can not meet the needs of production, directly affected the efficiency of Point Cloud Processing, and remote effect the production efficiency of digital space product.And some cloud based on this method, by selecting cutting plate of the same name, can complete the splicing of laser point cloud fast, directly improve the efficiency that laser point cloud data is processed and digital product is produced.
Accompanying drawing explanation
Fig. 1 is base station and stitching station cutting plate schematic diagram of the same name;
Fig. 2 is cutting plate heteropleural schematic diagram of the same name;
Fig. 3 is cutting plate rotation schematic diagram of the same name;
Specific embodiments
Below with reference to the accompanying drawings specific embodiment of the invention scheme is described in detail:
A obtains three pairs of cutting plates of the same name:
A1 point cloud is cut apart, the object that some cloud is cut apart is according to the space coplanarity of a cloud, a cloud to be divided into groups, can be for the dough sheet of cutting apart of further information extraction to form, use plane expand split plot design by reference station cloud and stitching station cloud data according to the space coplanarity of a cloud, be divided into different planes, to each some cloud, give the different dough sheets number of cutting apart.
A2 user selects respectively three some cloud cutting plates in reference station cloud and splicing site cloud, corresponding cutting plate is cutting plate of the same name, three pairs of cutting plates of the same name need to meet following condition, for the ease of those skilled in the art, with reference to understanding, provide base station and stitching station cutting plate schematic diagram of the same name (referring to accompanying drawing 1);
A21, with being not parallel to each other between three some cloud cutting plates in station, must meet at a bit with three cutting plates in station;
A22 tries one's best close to right angle with angulation between three cutting plates in station;
A23 need to be distributed in three mutually different dimensions with three cutting plates in station, in order to prevent just completing splicing in certain or certain two dimensions, requires three some cloud cutting plates to be distributed in different dimensions;
Certain in A24 two stations should be at the homonymy of other cutting plates of the same name, referring to accompanying drawing 1 and accompanying drawing 2, as the cutting plate P in reference station cloud to cutting plate of the same name
t2at cutting plate P
t3right side, splice cutting plate P in site cloud
s2also at P
s3right side (accompanying drawing 1), and in accompanying drawing 2, the cutting plate P of reference station cloud
t2at cutting plate P
t3right side, splicing site cloud in cutting plate P
s2at P
s3left side, in accompanying drawing 2, three pairs of cutting plates of the same name do not meet splicing condition.
B cutting plate pre-service of the same name:
B1 is according to the space coplanarity of a cloud cutting plate, and to three pairs of cutting plates difference matching space plane equations of the same name, equation form is suc as formula shown in (1);
(1)
B2 is respectively to three plane find intersection Intersction_point_t, Intersection_point_s in reference station cloud and splicing site cloud, plane in reference station cloud and splicing site cloud is moved to respectively to intersection point place separately, and after translation, the equation form of each plane is suc as formula shown in (2).
(2)
C calculates rotation parameter:
For the ease of those skilled in the art, with reference to understanding, provide cutting plate rotation schematic diagram of the same name, referring to accompanying drawing 3,
C1 calculates the intersection L of pair of planar
1(formula 3) and splicing site cloud plane are to the angle α of reference station cloud corresponding flat
1(formula 4), will splice site cloud plane along L
1rotation alpha
1spend, obtain the rotation parameter R of first pair of some cloud plane
1; Circular is as follows: establishing first face normal vector of reference station cloud is P
t1(P
tA1, P
tB1, P
tC1), the normal vector of splicing site cloud corresponding flat is P
s1(P
sA1, P
sB1, P
sC1), L
1direction be P
s1and P
t1difference take advantage of vector, be made as (x, y, z), α
1for P
s1to P
t1angle,
(3)
(4)
Rotation parameter R
1computing method suc as formula shown in (5):
For convenience of calculation, establish
(5)
C2 utilizes R
1, upgrade the plane equation that remains two pairs of cutting plates of the same name, update method, suc as formula shown in (6), is calculated the intersection L of second pair of plane
2with the angle α of splicing site cloud plane to base station plane
2, will splice site cloud plane along L
2rotation alpha
2spend, obtain the rotation parameter R of second pair of some cloud plane
2;
(6)
C3 is after having rotated first pair of cutting plate of the same name and second pair of cutting plate of the same name, in principle, the 3rd pair of cutting plate of the same name overlaps, and in order to ensure rotation parameter accuracy, equally the 3rd pair of plane done and rotated, upgrade the plane equation of the 3rd pair of cutting plate of the same name, calculate the intersection L of the 3rd pair of plane
3with the angle α of splicing site cloud plane to base station plane
3, will splice site cloud plane along L
3rotation alpha
3spend, obtain the rotation parameter R of the 3rd pair of some cloud plane
3;
The rotation parameter R that C4 is final is the product of three rotation parameters, i.e. R=R
3* R
2* R
1.
D calculates translation parameters:
Whole splicing is first reference station cloud cutting plate and splicing site cloud cutting plate to be moved to intersection point separately, again to the rotation of splicing site cloud cutting plate, just two site cloud are spliced under unified coordinate system, so want splicing website cloud to reference station cloud, the operation that need to do is: first the unification of splice point cloud is moved to three intersection point places, then according to the rotation parameter R calculating, will splice site cloud rotation, finally a cloud is moved back to reference station cloud initial position, the computing method of translation parameters are as shown in formula (7).
(7) 。
Claims (10)
1. the ground laser point cloud joining method based on three pairs of non-parallel some cloud cutting plates, it is characterized in that: utilize the spatial relationship between reference station cloud and three pairs of cutting plates of the same name of splicing site cloud, calculate splicing site cloud to the rotation matrix of reference station cloud, specifically comprise the following steps
A utilizes plane to expand partitioning algorithm, and reference station cloud and splicing site cloud are cut apart, and chooses respectively three pairs of some cloud cutting plates of the same name in two site cloud;
B, to three pairs of some cloud cutting plates difference fit Plane, obtains plane equation, calculates respectively the intersection point of three planes of base station and three planes of stitching station, and planar movement is arrived to intersection point place separately;
C travels through three pairs of planes, asks for the intersection equation (L of every pair of plane
i) and angle (α
i), by stitching station plane around axle L
irotation alpha
idegree, obtains rotation matrix R
i, upgrading residue plane equation, the rotation parameter R of final rotation matrix is R
3* R
2* R
1;
D utilizes rotation parameter R to calculate translation parameters, and translation parameters T is the opposite number that rotation parameter R is multiplied by three plane point of intersection of splicing site cloud, adds the intersection point of three planes of reference station cloud.
2. the ground laser point cloud joining method based on three pairs of non-parallel some cloud cutting plates according to claim 1, is characterized in that: the some cloud dividing method described in step 1 is that plane is expanded split plot design.
3. the ground laser point cloud joining method based on three pairs of non-parallel some cloud cutting plates according to claim 1, it is characterized in that: three planes described in step 1 need to meet following relation: three planes are not parallel to each other, angle between three planes is vertical angle as far as possible, three planes must be distributed in three different dimensions, and the cutting plate of the same name in two stations should be at the homonymy of other cutting plates of the same name.
4. the ground laser point cloud joining method based on three pairs of non-parallel some cloud cutting plates according to claim 1, is characterized in that: the fit Plane shown in step 2 is: according to the space coplanarity of a cloud, a cloud cutting plate is fitted to space plane equation.
5. the ground laser point cloud joining method based on three pairs of non-parallel some cloud cutting plates according to claim 1, is characterized in that: the intersection equation L described in step 3
ifor: splicing site cloud planar process vector sum reference station cloud planar process vector multiplication cross result.
6. the ground laser point cloud joining method based on three pairs of non-parallel some cloud cutting plates according to claim 1, is characterized in that: the angle of every pair of plane described in step 3 is: splicing site cloud plane is to the angle of reference station cloud corresponding flat.
7. the ground laser point cloud joining method based on three pairs of non-parallel some cloud cutting plates according to claim 1, is characterized in that: the rotation parameter R described in step 3
ifor: according to intersection L
iwith angle α
ithe rotation parameter calculating.
8. the ground laser point cloud joining method based on three pairs of non-parallel some cloud cutting plates according to claim 1, is characterized in that: the renewal plane equation described in step 3 is: according to the rotation parameter R calculating
i, residue plane is rotated.
9. the ground laser point cloud joining method based on three pairs of non-parallel some cloud cutting plates according to claim 1, is characterized in that: the final rotation parameter R described in step 3 is: all rotation parameter R
iproduct.
10. the ground laser point cloud joining method based on three pairs of non-parallel some cloud cutting plates according to claim 1, it is characterized in that: the translation parameters computing method described in step 4 are: final rotation parameter is multiplied by the opposite number of three plane point of intersection of splicing site cloud, add the intersection point of three planes of reference station cloud.
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| CN104296659A (en) * | 2014-10-27 | 2015-01-21 | 苏州天准精密技术有限公司 | Method for correcting joint error through inclined standard face |
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| CN113409467A (en) * | 2021-07-09 | 2021-09-17 | 华南农业大学 | Method, device, system, medium and equipment for detecting road surface unevenness |
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Denomination of invention: Ground laser point cloud stitching method based on three pairs of non parallel point cloud segments Effective date of registration: 20210421 Granted publication date: 20170322 Pledgee: Beijing ustron Tongsheng financing Company limited by guarantee Pledgor: BEIJING TOVOS TECHNOLOGY Co.,Ltd. Registration number: Y2021990000355 |