CN104021259B - The a little bigger cloud orientation method of ground based scanning - Google Patents
The a little bigger cloud orientation method of ground based scanning Download PDFInfo
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- CN104021259B CN104021259B CN201410289283.6A CN201410289283A CN104021259B CN 104021259 B CN104021259 B CN 104021259B CN 201410289283 A CN201410289283 A CN 201410289283A CN 104021259 B CN104021259 B CN 104021259B
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Abstract
The present invention provides a kind of a little bigger cloud orientation method of ground based scanning, and step is：1) the artificial orientation target laid is recognized in mass cloud data, coordinate of the spherical orientation Target Center in scan coordinate system is calculated；2) step 1 is rejected) the middle radius for recognizing and artificial orientation's target are suitable, be shaped as spherical orientation target, that is, assume to target；3) point cloud orientation parameter is calculated and Coordinate Conversion automatically：By step 2) the remaining coordinate ground control point Coordinate Conversion corresponding with the orientation Target Center for orienting Target Center in scan coordinate system, obtain the engineering survey coordinate system coordinate of orientation Target Center, scanning coordinate then in conjunction with orientation target carries out a solution for cloud orientation parameter, Coordinate Conversion is carried out finally by a cloud orientation parameter, the orientation of a little bigger cloud is realized.The present invention can find out the remote spherical leading beacon target surface point regularity of distribution by orienting the automatic detection of target and assuming the rejecting to target, realize a little bigger cloud automatic orientation of more than 100,000,000 points.
Description
Technical field
The present invention provides a kind of a little bigger cloud orientation method of ground based scanning, belongs to engineering survey field.
Background technology
Three Dimensional Ground laser coordinate system in scanning is the self-defined coordinate system of instrument, when being used for engineering survey, need to be work
The all site clouds of surveying of journey scope are transformed into engineering specified measurement coordinate system, that is, determine that instrument is sat in engineering survey during scanning
The location point and attitude of system are marked, this process is referred to as a cloud orientation.Because laser scanning cannot be carried out purposefully to some point
Scanning and accurately obtain its three-dimensional coordinate, the coordinate of Target Center point can be obtained during using spherical target, be unique logical
The method that overscanning carries out high-acruracy survey.But in the case where target size is certain, with target to scanning distance between sites
Increase, the point fallen on target surface is fewer and feweri, and density and reflectivity are decreased, to certain distance 200m beyond will be unable to
The target of identification diameter 18cm.
Three Dimensional Ground laser scanning speed is more and more faster, and point cloud quantity is increasing, and such as sweep speed is 101.6 ten thousand
Point/second instrument, it is per second to receive 300,000 points if calculated by 30% acceptance rate, 6 minutes then number of scan points more than 100,000,000,
Account for disk space 2.85GB.Duo double-core CPU, the normal domestic use computer of dominant frequency 2.2GHz for internal memory 2GB, T6600,
By its internal memory and process points cloud ability, a cloud can be divided into dot cloud, point cloud, a little bigger cloud and super large point cloud.Wherein dot cloud
Points are less than 20,000,000；Point cloud is counted 2,000 ten thousand -5,000 ten thousand, and scanning software can barely be processed；A little bigger cloud point number exists
More than 50000000, common computer can hardly be processed.
Goal of the invention
Can be solved the above problems it is an object of the invention to provide one kind, realize orientation target automatic identification and detection and each
The a little bigger cloud orientation method of ground based scanning from site cloud to engineering survey coordinate system automatic conversion.Its technical scheme is：
A kind of a little bigger cloud orientation method of ground based scanning, it is characterised in that use following steps：
1) orientation target is detected automatically：The artificial orientation target laid is recognized in mass cloud data, it is spherical fixed to calculate
To Target Center scan coordinate system coordinate；
2) step 1 is rejected) the middle radius for recognizing and artificial orientation's target are suitable, be shaped as spherical orientation target, i.e., false
Orientation target；
3) point cloud orientation parameter is calculated and Coordinate Conversion automatically：By step 2) it is remaining orientation Target Center in scanning coordinate
The coordinate of system ground control point Coordinate Conversion corresponding with the orientation Target Center, the engineering survey for obtaining orientation Target Center is sat
Mark system coordinate, the scanning coordinate then in conjunction with orientation target carries out a solution for cloud orientation parameter, finally by a cloud orientation ginseng
Number carries out Coordinate Conversion, realizes the orientation of a little bigger cloud.
The a little bigger cloud orientation method of described ground based scanning, step 1) in, orienteering target control point achievement is arranged first,
Cloud data is derived from scanner；Then three-level segmentation is carried out to scanning cloud data：The first order extracts all leading beacons in a station
Point cloud ring where target, second level segmentation is the point cloud bar where extracting each orientation target, and third level segmentation will point Yun Huanfen
Several sector regions are cut, determine that candidate's orientation target is layered to each sector region, sphere surface fitting is carried out with every layer of point cloud,
Sphere centre coordinate, the fitting radius of a ball, error of fitting and sphericity are calculated, when the fitting radius of a ball, error of fitting, sphericity reach a finger
Timestamp, it is believed that the layer has orientation target.
The a little bigger cloud orientation method of described ground based scanning, step 2) in, set n and assume to remaining fixed after target to reject
To target number, rejecting the step of assuming to target is：
1. it is represented by the distance of engineering survey coordinate system between any two orientation target i and j
DE={ Dij, i=1,2 ..., n, j=1,2 ..., n, i ≠ j (1)
2. each leading beacon target scan is calculated apart from matching factor ρT, a scanning distance DSMatching value T be defined as
Orientation target k scanning distance matching factors ρTkIt is calculated as follows
3. ρ is worked asTkDuring ＜ 0.5, orientation target k is rejected to assume to target.
The present invention compared with prior art, the advantage is that：By orienting the automatic detection of target and assuming to target
Reject, the remote spherical leading beacon target surface point regularity of distribution can be found out, realize a little bigger cloud automatic orientation of more than 100,000,000 points.
Brief description of the drawings
Fig. 1 is embodiment of the present invention step 1) in identified point Yun Huantu；
Fig. 2 is embodiment of the present invention step 1) in identified cloud bar figure；
Fig. 3 is embodiment of the present invention step 1) point cloud band is by fan-shaped equidistant subregion schematic diagram；
Fig. 4 is embodiment of the present invention step 1) in fan section figure where the automatic orientation target for detecting；
Fig. 5 is the leading beacon target spot bitmap of scanner measurement in the embodiment of the present invention.
In figure：R1It is the minimum distance for orienting target to scanning movement, R2It is the maximum distance for orienting target to scanning movement, Ri
It is the point of a cloud ring to the distance of scanning movement, 1,2,3,4 is true orientation target, and 5 is to assume to target.
Specific embodiment
1~5 the invention will be further described below in conjunction with the accompanying drawings.Experiment data used are more from certain mine actual scanning
Stand scanning element cloud, scanner is Riegl VZ-1000.Mining area 3.2km*2.8km, scans 47 stations altogether, and 4~5 are set per scanning movement
Individual leading beacon target ball, about 100,000,000 points are scanned per scanning movement, and data processing puts the data of cloud using the software with IDL language developments
File memory format is binary system.The feasibility of this method was illustrated as a example by 6 station scan datas in the past.By spherical orientation target
It is placed on the triangular base by flattening, centre of sphere three-dimensional coordinate is determined by traditional measurement method.Set up equidistant fan-shaped rope
After drawing, each fan section point cloud is detected and sphere surface fitting, fit radius are more or less the same when 1cm with ball principal radii,
Then think that the area there may be orientation target.
Step 1) orientation target detect automatically：Orienteering target control point achievement is arranged first, and point is derived from scanner
Cloud data；Then three-level segmentation is carried out to scanning cloud data：
Point cloud ring where all orientation targets in one station of first order extraction, is shown in accompanying drawing 1, according to scanning movement and orientation target control
System point extracts the point cloud ring where orienting target in the horizontal range information of engineering survey coordinate system from a little bigger cloud.Point cloud number
According to using segmentation reading technology, every section reading 2,000,000 points, pointwise discriminate whether be a cloud ring point.R1It is that orientation target is arrived
The minimum distance of scanning movement, R2It is the maximum distance for orienting target to scanning movement.
Second level segmentation is the point cloud bar where extracting each orientation target, sees accompanying drawing 2, and point cloud bar width is maximum spherical
The radius of target is oriented, according to each orientation target to scanning movement distance, from a cloud ring where each orientation target of rapid extraction
Point cloud bar.
Point cloud ring is split several sector regions by third level segmentation, sees accompanying drawing 3, no matter how far orients target, white fan
Shape inner circle radius with point cloud bar it is wide equal, from scanning movement more away from, fan section number is more, to ensure each sector region size base
This is equal；Determine that candidate's orientation target is layered to each sector region, see accompanying drawing 4, floor height is maximum spherical orientation target half
1.95 times of footpath, every layer carries out sphere surface fitting centre of sphere radius, when the difference within the specific limits (2 of fit radius and ball known radius
Times single-point error in point measurement) when, the layer thinks there is orientation target.
Step 2) hypothesis is rejected to target：See accompanying drawing 5, reject and assume, to remaining 4 orientations target after target, to reject and assume
The step of to target is：
1. it is represented by the distance of engineering survey coordinate system between any two orientation target i and j
DE={ Dij, i=1,2 ..., n, j=1,2 ..., n, i ≠ j (1)
2. each leading beacon target scan is calculated apart from matching factor ρT, a scanning distance DSMatching value T be defined as
3. target k scanning distance matching factors ρ is orientedTkAs the following formulaCalculate, the scanning of target 5 is oriented in Fig. 5
Apart from matching factor ρT5=0, other scanning distance matching factors are 1, judge that orientation target 5, to assume to target, rejects it.
Step 3) put cloud orientation parameter calculating and Coordinate Conversion automatically：By step 2) it is remaining 4 orientation Target Center exist
The coordinate of scan coordinate system ground control point Coordinate Conversion corresponding with the orientation Target Center, obtains the work of orientation Target Center
Journey measurement coordinate system coordinate, with error compensation method, resolves the instrumented site and attitude orientation parameter of scanning movement, and ginseng is oriented by a cloud
Number will scan site cloud Coordinate Conversion to engineering specified coordinate system, complete a little bigger cloud automatic orientation in ground based scanning station.
Experimental data is proved：Target Top Structure Automatic Detecting Arithmetic is oriented in the present invention and is assumed to target automatic discrimination and rejecting,
So that common computer can solve to obtain 100,000,000 with a little bigger cloud orientation in the single sweep station of last measurement point.
Claims (1)
1. a little bigger cloud orientation method of a kind of ground based scanning, it is characterised in that use following steps：
1) orientation target is detected automatically：The artificial orientation target laid is recognized in mass cloud data, spherical leading beacon is calculated
Pinwheel specifically arranges orienteering target control point achievement first in the coordinate of scan coordinate system, and point is derived from scanner
Cloud data；Then three-level segmentation is carried out to scanning cloud data：Point cloud ring where all orientation targets in one station of first order extraction,
Second level segmentation is the point cloud bar where extracting each orientation target, and point cloud ring is split several fan sections by third level segmentation
Domain, determines that candidate's orientation target is layered to each sector region, carries out sphere surface fitting with every layer of point cloud, calculate sphere centre coordinate,
The fitting radius of a ball, error of fitting and sphericity, when the fitting radius of a ball, error of fitting, sphericity reach an index, it is believed that the layer
There is orientation target；
2) reject step 1) in identification radius and artificial orientation's target quite, be shaped as spherical orientation target, that is, assume to
Target, specifically sets n and assumes that rejecting the step of assuming to target is to remaining orientation target number after target to reject：
1. it is represented by the distance of engineering survey coordinate system between any two orientation target i and j
DE={ Dij, i=1,2 ..., n, j=1,2 ..., n, i ≠ j (1)
2. each leading beacon target scan is calculated apart from matching factor ρT, a scanning distance DSMatching value T be defined as
Orientation target k scanning distance matching factors ρTkIt is calculated as follows
3. ρ is worked asTkDuring ＜ 0.5, orientation target k is rejected to assume to target；
3) point cloud orientation parameter is calculated and Coordinate Conversion automatically：By step 2) it is remaining orientation Target Center in scan coordinate system
Coordinate ground control point Coordinate Conversion corresponding with the orientation Target Center, obtains the engineering survey coordinate system of orientation Target Center
Coordinate, the scanning coordinate then in conjunction with orientation target carries out a solution for cloud orientation parameter, enters finally by a cloud orientation parameter
Row Coordinate Conversion, realizes the orientation of a little bigger cloud.
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| CN112230230B (en) * | 2019-06-28 | 2024-02-27 | 比亚迪股份有限公司 | Positioning method, device and system |
| CN113295142B (en) * | 2021-05-14 | 2023-02-21 | 上海大学 | Terrain scanning analysis method and device based on FARO scanner and point cloud |
| CN114018154A (en) * | 2021-11-09 | 2022-02-08 | 国网河北省电力有限公司经济技术研究院 | Working well space positioning and orientation method and device and electronic equipment |
Citations (1)
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| CN101632001A (en) * | 2006-12-20 | 2010-01-20 | 斯甘拉伊斯股份有限公司 | A kind of being used for respect to the system and method for basic reference data to analyzing spot cloud data-directed |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101632001A (en) * | 2006-12-20 | 2010-01-20 | 斯甘拉伊斯股份有限公司 | A kind of being used for respect to the system and method for basic reference data to analyzing spot cloud data-directed |
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| 一种标靶球的自动探测方法;石宏斌等;《测绘通报》;20131231(第S1期);第58-60页 * |
| 基于整体最小二乘的地面激光扫描标靶球定位方法;鲁铁定等;《大地测量与地球动力学》;20090815;第29卷(第04期);第102-105页 * |
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Inventor after: Yao Jili Inventor after: Li Cailin Inventor after: Tian Pengyan Inventor after: Wang Jiangmei Inventor after: Yang Chengkun Inventor after: Zhang Dafu Inventor after: Liu Keli Inventor after: Ma Ning Inventor after: Jia Xiangyang Inventor after: Xu Guangpeng Inventor before: Zhang Dafu Inventor before: Yao Jili Inventor before: Liu Keli Inventor before: Ma Ning Inventor before: Jia Xiangyang Inventor before: Xu Guangpeng Inventor before: Li Cailin Inventor before: Guo Baoyun |
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Effective date of registration: 20200602 Address after: 264200 No.95, Guangming Road, Weihai City, Shandong Province Patentee after: Weihai City Planning Technical Service Center Co.,Ltd. Address before: 255086 Zibo high tech Industrial Development Zone, Shandong, D, 1012 Patentee before: Shandong University of Technology |