CN104697502B - Feature point of building coordinate extraction method based on least square method - Google Patents
Feature point of building coordinate extraction method based on least square method Download PDFInfo
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- CN104697502B CN104697502B CN201510013134.1A CN201510013134A CN104697502B CN 104697502 B CN104697502 B CN 104697502B CN 201510013134 A CN201510013134 A CN 201510013134A CN 104697502 B CN104697502 B CN 104697502B
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- point
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- line segment
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of feature point of building coordinate extraction method based on least square method, it is related to the measuring method technical field of object space.This method comprises the following steps：The scanning initial data of measured object is obtained by laser scanning device；The scanning initial data of the measured object of acquisition is resolved to the cloud data of the coordinate system of setting；According to the belt-like zone that is formed of point cloud plane projection of the upright metope of building obtained with Least square-fit floor projection line segment most or position；The plan-position of coordinate system according to where the vertical plane calculating measured object that spy is found out, when calculating, according to Least square-fit, according to discrete point cloud data come the plan-position of matching line segment, and counts the precise manner for obtaining matching line segment according to residual error；According to the end points of line segment or each other vertical segment extension intersection point, determines the coordinate of building angle point.Methods described improves efficiency and the degree of accuracy of building feature point coordinates extraction.
Description
Technical field
The present invention relates to the measuring method technical field of object space, more particularly to a kind of building based on least square method
Thing characteristic point coordinate extraction method.
Background technology
The key of digital city construction is the acquisition, management and renewal of city space information, and city space information has
Positional, multi-dimensional nature and timing.Data are the carriers of information, thus the positional of city space information, multi-dimensional nature and when
Sequence, determines that Urban Spatial Data has certain positional precision, time precision and complete space coordinate and description shape
Formula.Thus, space data collection be accurately digital city key technology, still, it is of the prior art building article coordinate carry
The coordinate degree of accuracy for taking method to extract is relatively low.
The feature point coordinates of geographic object is one of key factor of Map Expression.High accuracy determines that its coordinate parameters is biography
The main contents that unified test is painted.Prior art mainly has direct mapping method and indirect mapping method.Direct mapping method requirement is built tested
Build object angle point and set up the cooperation objects such as reflective prism or placement satellite signal receiving antenna, field operation amount is big and inefficiency, right
The building angle point for being difficult to reach then is difficult to ensure that precision, and precision is relatively low although non-prism instrument of surveying and mapping can obtain data；
Indirect mapping method is, using the space geometry relation for recovering image data, various measurements to be carried out on dummy model, but due to shadow
The reduction magnification of picture, the recovery precision of geometrical relationship, error in judgement of operating personnel etc., all directly influence the essence of surveying and mapping result
Degree.Above two approach is all built upon on the basis of artificial judgment, and direct method causes data if it can not reach angle point
It is wrong, and lack detection Data safeguard quality；Indirect method measurement needs to cut quasi-mode type with mark visual estimation, it is necessary to translate rotating mould
Type, is verified with the mode of conversion viewing angle and cuts condition of agreeing to do a favour, the work pattern inefficiency, quality can not be ensured.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of building feature point coordinates based on least square method and carried
Method is taken, methods described improves the accuracy that building article coordinate is determined, so as to avoid by using least square method algorithm
Artificial inefficiency when extracting, it is inaccurate, need rotating model inspection catch whether the drawback such as accurate.
In order to solve the above technical problems, being carried the invention provides a kind of building feature point coordinates based on least square method
Method is taken, be the described method comprises the following steps：
(1) the field operation scan data of tested building is obtained by laser scanning device, these data represent building
To the reflection pin point information of laser beam, including the information such as angle, distance, intensity；
(2) scan data of the measured object of acquisition is resolved to the point cloud performance data of setting coordinate system, generally comprised sharp
The three-dimensional coordinate of light pin point and other additional informations；
(3) visit find out the horizontal plane projection zone of upright metope in cloud data most or line segment, according to upright wall millet cake
The point cloud distribution of cloud floor projection band, because the rule of systematic error is not present in it, according to Least square-fit, seeks out the wall
Face floor projection most or segment positions；
(4) according to the vertical relation between horizontal plane Projection Line Segment, the intersection point of two intersecting lenses section or the coordinate of intersection point are calculated；
(5) when calculating, according to least square method principle, implement straight according to the plane coordinates data of these discrete point clouds
Line is fitted, so that it is determined that the plan-position of the upright metope, and the precise manner for obtaining matching line segment is counted according to residual error；Or root
According to the position of fitting gained straight line, the same upright metope floor projection line segment generation disruption of formation is waited due to blocking, is entered
The work such as row merges, connection, and then further determine that the coordinate of building angle point.
It is using the beneficial effect produced by above-mentioned technical proposal：Methods described by using least square method algorithm,
Improve the accuracy that building article coordinate is determined, thus inefficiency when avoiding artificial extraction, it is inaccurate, need rotating mould
Type checking catch whether the drawback such as accurate.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is the flow chart of the inventive method.
Embodiment
With reference to 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
Ground is described, it is clear that the described a part of embodiment for implementing the only present invention, rather than whole embodiments.Based on this
Embodiment in invention, the every other reality that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example is applied, the scope of protection of the invention is belonged to.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still the present invention can be with
It is different from other manner described here using other to implement, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by following public specific embodiment.
As shown in figure 1, the invention discloses a kind of feature point of building seat for cloud data based on least square method
Extracting method is marked, each metope of building is scanned by laser scanning device, first-hand field data, basic number is obtained
According at least include each scanner center to the distance of laser footpoint, reflected intensity and each laser beam attitude angle record value；
The data calculation recorded by the synchronous auxiliary equipment on base station data and scanning means obtains the three-dimensional of all laser footpoints and sat
Mark, referred to as cloud data；According to the plane projection band of upright wall face cloud data formation, according to Least square-fit, wall is obtained
The segment positions of facial plane floor projection；It is the reason that adjacent metope is crossed to form according to building angle point, according to the above method
The intersection point of line segments of determination or the intersecting coordinate for obtaining room angle of extension.
For convenience to the understanding of 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 tested building is obtained by laser scanning device；
Specifically, scanning the data of measured object by laser scanning device.So as to accurately obtain sweeping for measured object
Retouch data；
Step 2：The scan data of the measured object of acquisition is resolved to the cloud data of setting coordinate system；
Specifically, the coordinate system is the unified coordinate system of Chinese national standard or project specified coordinate system, so that mapping
The vertical guide projection line gone out has versatility, can be transformed into other equipment.
Step 3：Visit the algorithm for finding out vertical plane horizontal plane Projection Line Segment；
Specifically, by the data processing to laser scanning device, automatic visit finds out vertical plane in horizontal plane projection line
Section algorithm, mainly according to Least square-fit obtain vertical plane floor projection line segment most or position.
Step 4；According to the vertical relation between vertical plane floor projection line segment, the coordinate of intersection point or intersection point is calculated；
Specifically, when calculating, according to the extension of straight line where Projection Line Segment is intersecting or calculating of intersection point point coordinates is obtained
Obtain the position coordinates of feature point of building.
By the above method as can be seen that the algorithm that provides of the present invention, when obtaining the position of tested feature point of building,
According to Least square-fit, the intersection point calculation of the matching line segment of neighbouring vertical relation.Beneficial effects of the present invention are：It is automatic complete
Meet mapping error basic theories into, algorithm, inefficiency when improving artificial extract, it is inaccurate, need rotating model inspection
Catch whether the drawback such as accurate.
Methods described improves the accuracy that building article coordinate is determined, so as to avoid by using least square method algorithm
Inefficiency during artificial extraction, it is inaccurate, need rotating model inspection catch whether the drawback such as accurate.
Cloud data provides substantial amounts of redundant data, and building is asked for according to Least square-fit using these redundant datas
The coordinate of thing characteristic point, had both been effectively utilized a large amount of cloud datas, and the degree of accuracy that coordinates table reaches feature point of building is improved again,
Also substantially increase operating efficiency simultaneously.The program of computerized algorithm is realized automatically, alleviates working strength, reduces work
Amount.
Claims (1)
1. a kind of feature point of building coordinate extraction method based on least square method, it is characterised in that methods described includes following
Step：
(1) the field operation scan data of tested building is obtained by laser scanning device, these data represent building to swashing
The reflection pin point information of light beam, including angle, distance, strength information；
(2) scan data of the measured object of acquisition is resolved to the point cloud performance data of setting coordinate system, including laser footpoint
Three-dimensional coordinate and other additional informations；
(3) visit find out the horizontal plane projection zone of upright metope in cloud data most or line segment, according to upright wall millet cake cloud water
The point cloud distribution of flat projection zone, because the rule of systematic error is not present in it, according to Least square-fit, seeks out the metope water
Flat projection most or segment positions；
(4) according to the vertical relation between horizontal plane Projection Line Segment, the intersection point of two intersecting lenses section or the coordinate of intersection point are calculated, specifically
, when calculating, according to the extension of straight line where Projection Line Segment is intersecting or calculating of intersection point point coordinates obtains building feature
The position coordinates of point；
(5) when calculating, according to least square method principle, straight line plan is implemented according to the plane coordinates data of these discrete point clouds
Close, so that it is determined that the plan-position of the upright metope, and the precise manner for obtaining matching line segment is counted according to residual error；Or according to plan
The position of gained straight line is closed, the same upright metope floor projection line segment to be formed due to blocking produces disruption, merge,
Work is connected, and then further determines that the coordinate of building angle point.
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| CN201510013134.1A CN104697502B (en) | 2015-01-09 | 2015-01-09 | Feature point of building coordinate extraction method based on least square method |
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| CN201510013134.1A CN104697502B (en) | 2015-01-09 | 2015-01-09 | Feature point of building coordinate extraction method based on least square method |
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| CN104697502A CN104697502A (en) | 2015-06-10 |
| CN104697502B true CN104697502B (en) | 2017-09-19 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105260737B (en) * | 2015-11-25 | 2017-03-29 | 武汉大学 | A kind of laser scanning data physical plane automatization extracting method of fusion Analysis On Multi-scale Features |
| CN105333861B (en) * | 2015-12-02 | 2018-02-06 | 中国测绘科学研究院 | The method and device of shaft tower tilt detection based on laser point cloud |
| CN107977994B (en) * | 2016-10-21 | 2023-02-28 | 上海交通大学 | Method for measuring the planar position of a measured object on a reference object |
| CN109388131B (en) * | 2017-08-02 | 2022-04-26 | 上海阿科伯特机器人有限公司 | Robot attitude control method and system based on angular point feature recognition and robot |
| CN108416785B (en) * | 2018-03-26 | 2020-08-11 | 北京进化者机器人科技有限公司 | Topology segmentation method and device for closed space |
| CN109163708B (en) * | 2018-08-08 | 2021-09-10 | 广州市城市规划勘测设计研究院 | Optimization method, device and medium for unmanned aerial vehicle large-scale topographic map house line |
| CN109146990B (en) * | 2018-08-08 | 2023-02-24 | 广州市城市规划勘测设计研究院 | Building outline calculation method |
| CN109238243B (en) * | 2018-08-08 | 2020-07-24 | 湖南省地质测绘院 | Measuring method, system, storage medium and equipment based on oblique photography |
| CN113375601B (en) * | 2020-02-25 | 2023-03-14 | 广东博智林机器人有限公司 | Wall body yin-yang angle measuring method, device, equipment and storage medium |
| CN112684468A (en) * | 2020-12-11 | 2021-04-20 | 江苏新冠亿科技有限公司 | Planar mapping positioning method based on 2D laser radar |
Citations (2)
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| CN101894382A (en) * | 2010-07-23 | 2010-11-24 | 同济大学 | Satellite stereo image shadow calculating method integrated with light detection and ranging (LiDAR) point clouds |
| CN101976452A (en) * | 2010-08-23 | 2011-02-16 | 武汉大学 | Integrated filtering method of airborne laser scanning spot clouds based on contour line cluster analysis |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101894382A (en) * | 2010-07-23 | 2010-11-24 | 同济大学 | Satellite stereo image shadow calculating method integrated with light detection and ranging (LiDAR) point clouds |
| CN101976452A (en) * | 2010-08-23 | 2011-02-16 | 武汉大学 | Integrated filtering method of airborne laser scanning spot clouds based on contour line cluster analysis |
Non-Patent Citations (1)
| Title |
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| 古建筑三维重建中的深度图像配准技术研究与应用;尹丹;《中国优秀硕士学位论文全文数据库》;20080831;第5-31页 * |
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