CN104251665B - Improve the algorithm of Vehicle-borne Laser Scanning data in a kind of introducing control point - Google Patents
Improve the algorithm of Vehicle-borne Laser Scanning data in a kind of introducing control point Download PDFInfo
- Publication number
- CN104251665B CN104251665B CN201410561674.9A CN201410561674A CN104251665B CN 104251665 B CN104251665 B CN 104251665B CN 201410561674 A CN201410561674 A CN 201410561674A CN 104251665 B CN104251665 B CN 104251665B
- Authority
- CN
- China
- Prior art keywords
- data
- point
- control point
- vehicle
- laser scanning
- 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.)
- Active
Links
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides the algorithm that Vehicle-borne Laser Scanning data are improved at a kind of introducing control point, the algorithm comprises the following steps：The scan data of measured object is obtained by Vehicle-borne Laser Scanning device；The data at the control point of capture setting；The scan data of the measured object of acquisition is resolved to the cloud data of the coordinate system of setting, and when resolving, the point of resolving is mapped to the data at the control point of collection；Ask for point and the deviation of the data at the control point of collection resolved；Whether judgment bias value meets sets requirement, and the point of the resolving is exported if meeting, a cloud is resolved again if being unsatisfactory for.Beneficial effects of the present invention are：Solve due to using scan data directly calculation lack check, can not evaluation precision, lengthy scan operation POS drift bring the problem of positioning precision is reduced；Traditional measurement adjustment theory is transplanted, point cloud adjustment is carried out, achievement is reliable, and Rational Parameters, precision can be with the density at control point, distribution, measurement accuracy et al. industry control system.
Description
Technical field
Vehicle-borne Laser Scanning data are improved the present invention relates to the technical field of mapping, more particularly to a kind of control point that introduces
Algorithm.
Background technology
Vehicle-borne Laser Scanning system is due to by gps signal, POS system drift, LIDAR system range accuracy, train stability
Property etc. factor influence so that the point cloud coordinate resolved contains larger error, it is impossible to meet mapping task achievement requirement.
The problem of in correlation technique, effective solution is not yet proposed at present.
The content of the invention
The problem of in correlation technique, the present invention proposes that the calculation of Vehicle-borne Laser Scanning data is improved at a kind of introducing control point
Method, to solve the above problems.
The technical proposal of the invention is realized in this way：
The invention provides the algorithm that Vehicle-borne Laser Scanning data are improved at a kind of introducing control point, the introducing control point is improved
The algorithm of Vehicle-borne Laser Scanning data comprises the following steps：
The scan data of measured object is obtained by Vehicle-borne Laser Scanning device；
The data at the control point of capture setting；
The scan data of the measured object of acquisition is resolved to the cloud data of the coordinate system of setting, and when resolving, will be solved
The point of calculation is mapped to the data at the control point of collection；
Ask for point and the deviation of the data at the control point of collection resolved；
Whether judgment bias value meets sets requirement, and the point of the resolving is exported if meeting, is resolved again if being unsatisfactory for
Point cloud.
It is preferred that, the coordinate system set is project construction specified coordinate system or unification of the motherland coordinate system.
It is preferred that, the scan data by Vehicle-borne Laser Scanning device acquisition measured object is specially：Swept by laser
Retouch the data that instrument scans measured object.
Beneficial effects of the present invention are：Solve due to using scan data directly calculation lack check, can not evaluation precision,
Lengthy scan operation POS drifts bring the problem of positioning precision is reduced；Traditional measurement adjustment theory is transplanted, point cloud is carried out and puts down
Difference, achievement is reliable, and Rational Parameters, precision can be with the density at control point, distribution, measurement accuracy et al. industry control system.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the flow chart that the algorithm of Vehicle-borne Laser Scanning data is improved at control point that introduces according to embodiments of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.This hair
Embodiment in bright, the every other embodiment that those of ordinary skill in the art are obtained, belongs to the scope of protection of the invention.
As shown in figure 1, the algorithm that Vehicle-borne Laser Scanning data are improved at a kind of introducing control point is present embodiments provided, the calculation
Method comprises the following steps：
The scan data of measured object is obtained by Vehicle-borne Laser Scanning device；
The data at the control point of capture setting；
The scan data of the measured object of acquisition is resolved to the cloud data of the coordinate system of setting, and when resolving, will be solved
The point of calculation is mapped to the data at the control point of collection；
Ask for point and the deviation of the data at the control point of collection resolved；
Whether judgment bias value meets sets requirement, and the point of the resolving is exported if meeting, is resolved again if being unsatisfactory for
Point cloud.
In above-mentioned algorithm, by setting some control points, so as to be formed in the measured object for resolving collection during point cloud,
Some reference points can be formed, so that the point cloud calculated can more accurately meet size and the position of the entity of measured object
Put, so as to solve due to using scan data directly calculation lack check, can not evaluation precision, lengthy scan operation
POS drifts bring the problem of positioning precision is reduced；Traditional measurement adjustment theory is transplanted, point cloud adjustment is carried out, achievement is reliable, parameter
Rationally, precision can be with the density at control point, distribution, measurement accuracy et al. industry control system.
Therein, the coordinate system set is project construction specified coordinate system or unification of the motherland coordinate system.So that
The vertical guide that must be mapped out has versatility, can be transformed into other equipment.
Specifically, the scan data by Vehicle-borne Laser Scanning device acquisition measured object is specially：Swept by laser
Retouch the data that instrument scans measured object.
Understanding for aspect to the embodiment of the present invention, 1 it is described in detail below in conjunction with the accompanying drawings.
Step 1：The scan data of measured object is obtained by Vehicle-borne Laser Scanning device；
Specifically, passing through the data of laser scanner scans measured object.So as to accurately obtain the scanning of measured object
Data；
Step 2：The data at the control point of capture setting；
Specifically, the control point can lay special centering rod, the obvious exterior wall of obvious, exposed, corner angle can also be utilized
Angle can be with the traffic sign of accurate acquisition to cloud data.
Step 3：The scan data of the measured object of acquisition is resolved to the cloud data of the coordinate system of setting, and resolved
When, the point of resolving is mapped to the data at the control point of collection；
Specifically, obtaining the data that control point indicates by the data processing of vehicle-mounted scanning means.
Step 4：Ask for point and the deviation of the data at the control point of collection resolved；
Step 5：Whether judgment bias value meets sets requirement, and the point of the resolving is exported if meeting, is weighed if being unsatisfactory for
New Algorithm point cloud.
By foregoing description as can be seen that in above-mentioned algorithm, by setting some control points, so as to be adopted in resolving
During the measured object formation point cloud of collection, some reference points can be formed, so that the point cloud calculated can more accurately meet
The size of the entity of measured object and position, so as to solve due to using scan data directly calculation lack check, Wu Faping
Valency precision, lengthy scan operation POS drifts bring the problem of positioning precision is reduced；Traditional measurement adjustment theory is transplanted, is carried out
Point cloud adjustment, achievement is reliable, and Rational Parameters, precision can be with the density at control point, distribution, measurement accuracy et al. industry control system.
These are only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (3)
1. the algorithm of Vehicle-borne Laser Scanning data is improved at a kind of introducing control point, it is characterised in that comprised the following steps：
The scan data of measured object is obtained by Vehicle-borne Laser Scanning device；
The data at the control point of capture setting；
The scan data of the measured object of acquisition is resolved to the cloud data of the coordinate system of setting, and when resolving, by resolving
Point is mapped to the data at the control point of collection；The traditional adjustment theory of transplanting, carries out point cloud adjustment；By setting some control points,
So as to when resolving the testee formation point cloud of collection, form some reference points, enable the point cloud calculated more
Accurately meet size and the position of the entity of testee；
Ask for point and the deviation of the data at the control point of collection resolved；
Whether judgment bias value meets sets requirement, and the point of the resolving is exported if meeting, a cloud is resolved again if being unsatisfactory for.
2. the algorithm of Vehicle-borne Laser Scanning data is improved at introducing control point according to claim 1, it is characterised in that described
The coordinate system set 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 control point according to claim 2, it is characterised in that described
By Vehicle-borne Laser Scanning device obtain measured object scan data be specially：Pass through the number of laser scanner scans measured object
According to.
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 CN104251665A (en) | 2014-12-31 |
| CN104251665B true 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) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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 |
| CN106052697B (en) * | 2016-05-24 | 2017-11-14 | 百度在线网络技术（北京）有限公司 | Unmanned vehicle, unmanned vehicle localization method, device and 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 |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6664529B2 (en) * | 2000-07-19 | 2003-12-16 | 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 |
| 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 |
| 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
Non-Patent Citations (2)
| Title |
|---|
| 车载激光扫描数据控制点布设方案研究;赵云昌等;《山东国土资源》;20140531;第30卷(第5期);正文第1段、第2节第3段，图1 * |
| 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;鲁勇等;《中州煤炭》;20120630(第6期);第53-55页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104251665A (en) | 2014-12-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104251665B (en) | Improve the algorithm of Vehicle-borne Laser Scanning data in a kind of introducing control point | |
| CN103389136B (en) | Based on the outer floating roof metal tin method for measuring volume of three-dimensional laser scanning technique | |
| CN106055820B (en) | III type track plates machining deviation detection method of CRTS | |
| CN104359430B (en) | A kind of dynamic paddy field flatness detecting device and method based on laser ranging | |
| CN204730814U (en) | A kind of parts passer based on line laser three-dimensional measurement | |
| CN103644896B (en) | A kind of engineering geological mapping method based on 3 D laser scanning | |
| CN106990401B (en) | full-waveform airborne laser radar data-based two-class elevation error correction method | |
| CN111102926A (en) | Engineering quality detection method and system based on BIM | |
| CN104697502B (en) | Feature point of building coordinate extraction method based on least square method | |
| CN106093963A (en) | A kind of method improving railway vehicle-mounted Laser Radar Scanning data precision | |
| CN107762559A (en) | A kind of method and system for being used to evaluate Tunnel Overbreak ＆ Underbreak situation | |
| CN105045950A (en) | Three-dimensional laser scan based bridge safety evaluation system | |
| CN105758308A (en) | Laser coal-checking device and coal-checking method | |
| CN105043381A (en) | Magnetic nail-based positioning method | |
| CN107167088B (en) | The measurement method and device of glass deformation amount | |
| CN109990703A (en) | A kind of size detecting method and system of prefabricated components | |
| CN104764415A (en) | Steel bridge structure three-dimensional measurement and detection system and measurement method | |
| CN108978378A (en) | A kind of laser radar road reorganization and expansion survey and design method | |
| CN106446415A (en) | Transformer-substation supporting insulator center line extracting method based on point cloud data | |
| CN109631754A (en) | A kind of method and relevant apparatus of the calibration of measuring device coordinate system | |
| CN112699436A (en) | Building structure reverse engineering analysis method based on three-dimensional laser scanning modeling | |
| CN104048605A (en) | Laser scanning measurement target adjustment equation establishing method | |
| CN110306414B (en) | Pavement structure depth detection method | |
| CN104391340A (en) | Hydropower environment side slope dangerous rock body geologic detection method | |
| CN109708570A (en) | Information collection and analysis method and device for face structural plane |
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 |
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. |
|
| CP01 | Change in the name or title of a patent holder |