CN105928457A - Omnidirectional three-dimensional laser color scanning system and method thereof - Google Patents
Omnidirectional three-dimensional laser color scanning system and method thereof Download PDFInfo
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- CN105928457A CN105928457A CN201610445425.2A CN201610445425A CN105928457A CN 105928457 A CN105928457 A CN 105928457A CN 201610445425 A CN201610445425 A CN 201610445425A CN 105928457 A CN105928457 A CN 105928457A
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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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Abstract
The invention relates to the technical field of three-dimensional color point cloud data processing and three-dimensional scene reconstruction, and provides an omnidirectional three-dimensional laser color scanning system and a method thereof. The system comprises a laser scanner, a high speed camera, an electrically controlled rotary table, a conductive slip ring, an encoder, a data acquisition module, a switch, a servo drive, a computer and an equipment support. The method comprises the steps that 1, the electrically controlled rotary table is controlled to uniformly rotate; 2, hardware and software composite data are synchronized; and 3, synchronous acquisition data are fused. According to the invention, the software and hardware compound data synchronization method is used to synchronously acquire laser point cloud, a two-dimensional image and a rotation angle in real time; the synchronization precision is high; data fusion is carried out on the laser point cloud and the two-dimensional image of each synchronization moment to acquire the three-dimensional color point cloud data of a scene in real time; data acquisition is in real time; and data fusion is carried out on the two-dimensional image of each synchronization moment, which has the advantages of enormous image information and high fusion quality.
Description
Technical field
The present invention relates to a kind of omnidirectional's Three Dimensional Laser Color Scanning System and method thereof, belong to three-dimensional colour point clouds number
According to processing and 3 D scene rebuilding technical field.
Background technology
During digitlization real world, three dimensional point cloud have recorded geometric attribute and the position of body surface
Confidence ceases, and two dimensional image have recorded colouring information and the texture information of body surface, the depth integration of the two, incites somebody to action
Forming a kind of emerging Digital Media, i.e. three-dimensional colour point clouds data, three-dimensional colour point clouds data are three-dimensional point clouds
The further development of data, can more accurately describe real world.In order to obtain the three-dimensional colour point of scene
Cloud data are accomplished by building Three Dimensional Laser Color Scanning System, and it is mainly by laser scanner, digital camera, meter
Calculation machine forms.Laser scanner obtains the three dimensional point cloud of scene, and digital camera obtains the two dimensional image of scene
Data, three dimensional point cloud is merged by computer with two-dimensional image data, the final three-dimensional coloured silk obtaining scene
Look cloud data.Three-dimensional laser chromoscan technology has stronger theory significance and using value, the most exists
The fields such as industrial detection, independent navigation, reverse-engineering, virtual reality and military and national defense have had more and more should
With.
According to the difference of geometry, three dimensional point cloud can be divided into two big classes: line selects cloud and millet cake cloud.At present,
The working method of laser scanner is generally line scan mode, and scanning can obtain one by series of discrete every time
The discrete curve of dot sequency composition, i.e. line point cloud, this discrete curve (line point cloud) is positioned at actual scene and laser
On the intersection of the plane of scanning motion.In order to obtain the millet cake cloud of whole scene, it is necessary to for the additional translation of laser scanner
Whirligig, during translation rotates, laser scanner real time scan obtains a plurality of line point cloud, and according to flat
These lines are selected cloud and are combined into the millet cake cloud of whole scene, i.e. scene three dimensional point cloud by pan position and the anglec of rotation,
To realize comprehensive scanning of whole scene.
At present, existing Three Dimensional Laser Color Scanning System is mainly rotated by laser scanner, digital camera, translation
Platform, computer form.Its working method is as follows: 1) translation turntable drives laser scanning device translation to rotate,
And by translating a plurality of line point cloud group that laser scanner in translation rotary course is obtained by position and the anglec of rotation
Synthesize the millet cake cloud of whole scene, i.e. scene three-dimensional point cloud；2) two dimensional image of digital camera photographed scene；3)
Three-dimensional point cloud and the two dimensional image of scene are merged by computer, form the three-dimensional colour point clouds of whole scene.
Above-mentioned three-dimensional laser chromoscan device has a problem in that 1) three-dimensional laser that need to first complete whole scene sweeps
Retouch, obtain the three-dimensional point cloud of whole scene, then could merge with the two dimensional image of scene, scanning process
In can not obtain the three-dimensional colour point clouds of scene in real time, three-dimensional colour point clouds data acquisition does not have real-time；2)
The three-dimensional point cloud of whole scene only merges with a width or a few width two dimensional image, and image information is few, fusion mass
Low.
Summary of the invention
In order to solve above-mentioned problems of the prior art, it is an object of the present invention to provide a kind of simple in construction, work
Make efficient omnidirectional Three Dimensional Laser Color Scanning System and method thereof.These system and method one are to utilize software and hardware
Complex data synchronous method, real-time synchronization gathers laser rays point cloud, two dimensional image and the anglec of rotation, synchronization accuracy
High；Two is to utilize the laser rays point cloud of each synchronization point and two dimensional image to carry out data fusion, obtains in real time
The three-dimensional colour point clouds data of scene, real time data acquisition is good；Three is the two dimension utilizing each synchronization point
Image carries out data fusion, and amount of image information is big, and fusion mass is high.
In order to realize foregoing invention purpose, to topic present in solution prior art, the technical side that the present invention takes
Case is: a kind of omnidirectional Three Dimensional Laser Color Scanning System, including laser scanner, high speed camera, automatically controlled rotation
Platform, conducting slip ring, encoder, data acquisition module, switch, servo-driver, computer and equipment prop up
Frame, is screwed in bottom described equipment supporter on automatically controlled turntable, and described high speed camera is solid by screw
Being scheduled on equipment supporter top, described laser scanner is arranged on equipment supporter mid portion, and laser by screw
Scanner photocentre, high speed camera camera lens photocentre and automatically controlled turntable pivot three overlap vertically downward, laser
Scanner scanning plane is perpendicular to high speed camera imaging plane, and described conducting slip ring and encoder are arranged on automatically controlled rotation
On the central rotating shaft of turntable；The network communication interface of described high speed camera and laser scanner is sliding by conduction respectively
The gigabit network cable of ring is connected with switch, and described switch is connected with computer by gigabit network cable；Described high speed
Camera is connected with power supply by the power line of conducting slip ring respectively with the power supply power supply interface of laser scanner；
Described encoder wiring port is directly connected with data acquisition module, and data acquisition module passes through RS-485 order wire
It is connected with computer；Described automatically controlled turntable also includes mechanical rotary stage and servomotor, servomotor and servo
Driver is connected, and servo-driver is connected with computer by RS-485 order wire；Described data acquisition module,
Switch, servo-driver, computer are connected with power supply by power line respectively；Described laser scanner
Output switch parameter port be connected to the On-off signal port of high speed camera, the output switch parameter of laser scanner
Port is connected to the On-off signal port of data acquisition module also by the holding wire of conducting slip ring.
The three-dimensional colour point clouds collecting method of described a kind of omnidirectional Three Dimensional Laser Color Scanning System, including with
Lower step:
Step 1, controlling automatically controlled turntable and at the uniform velocity rotate, computer controls automatically controlled turntable by servo-driver
At the uniform velocity rotate, be simultaneously attached to the laser scanner on automatically controlled turntable and high speed camera is also even with automatically controlled turntable
Speed rotates；
Step 2, software and hardware complex data synchronize, in rotary course, computer software by gigabit networking with
Certain basic frequency sends data acquisition command to laser scanner, and laser scanner receives data acquisition command
After start to scan scene and obtain laser rays point cloud, and by its output switch parameter port to high speed camera and data acquisition
The On-off signal port of collection module sends high level hardware synchronization and gathers signal, and it is same that high speed camera receives hardware
After step signal, photographed scene obtains two dimensional image at once, and data acquisition module receives after hardware synchronization signal at once
Storage encoder numerical value obtains present rotation angel degree, to realize laser rays point cloud, two dimensional image and the anglec of rotation three
The real-time synchronization of person, then, computer software sends to laser scanner, high speed camera, data acquisition module
Data read command, obtains this moment laser rays point cloud, two dimensional image and the anglec of rotation；
Step 3, synchronous acquisition merge, and computer obtains laser rays point cloud, two dimensional image and the anglec of rotation
After, utilize camera imaging principle, solve the homography matrix between camera imaging plane and laser scanning plane, obtain
Obtain the mapping relations between laser scanning point space coordinates and its pixel coordinate, and utilize these mapping relations to melt in real time
Close laser rays point cloud and the two dimensional image of each synchronization point, obtain the multi-color cord point cloud of synchronization point；At this
On the basis of, utilize the anglec of rotation of each synchronization point that multi-color cord point cloud is combined into the colour plane of whole scene
Point cloud, can obtain the three-dimensional colour point clouds data of whole scene.
The medicine have the advantages that the three-dimensional colour point clouds data acquisition of a kind of omnidirectional Three Dimensional Laser Color Scanning System
Diversity method, comprises the following steps: 1, automatically controlled turntable at the uniform velocity rotates, 2, software and hardware complex data synchronize, 3,
Synchronous acquisition merges.Compared with the prior art, the present invention one is to utilize software and hardware complex data synchronous method,
Real-time synchronization gathers laser rays point cloud, two dimensional image and the anglec of rotation, and synchronization accuracy is high；Two is to utilize each
The laser rays point cloud of synchronization point and two dimensional image carry out data fusion, obtain the three-dimensional colour point clouds of scene in real time
Data, real time data acquisition is good；Three is that the two dimensional image utilizing each synchronization point carries out data fusion,
Amount of image information is big, and fusion mass is high.
Accompanying drawing explanation
Fig. 1 is present configuration schematic diagram.
Fig. 2 is present system block diagram.
Fig. 3 is the inventive method flow chart of steps.
Fig. 4 is scene three-dimensional colour point clouds result figure.
In figure: 1, high speed camera, 2, laser scanner, 3, equipment supporter, 4, automatically controlled turntable.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1, 2, a kind of omnidirectional Three Dimensional Laser Color Scanning System, including laser scanner 2, at a high speed
Camera 1, automatically controlled turntable 4, conducting slip ring, encoder, data acquisition module, switch, servo-driver,
Computer and equipment supporter 3, be screwed in bottom described equipment supporter 3 on automatically controlled turntable 4, institute
Stating high speed camera 1 and be screwed in equipment supporter 3 top, described laser scanner 2 is installed by screw
At equipment supporter 3 mid portion, and laser scanner 2 photocentre, high speed camera 1 camera lens photocentre and automatically controlled rotation
Platform 4 pivot three overlap vertically downward, and laser scanner 2 plane of scanning motion is perpendicular to high speed camera 1 imaging
Plane, described conducting slip ring and encoder are arranged on the central rotating shaft of automatically controlled turntable 4；Described high speed camera
1 is connected with switch by the gigabit network cable of conducting slip ring respectively with the network communication interface of laser scanner 2,
Described switch is connected with computer by gigabit network cable；Described high speed camera 1 and the power supply of laser scanner 2
Power supply interface is connected with power supply by the power line of conducting slip ring respectively；Described encoder wiring port is direct
Being connected with data acquisition module, data acquisition module is connected with computer by RS-485 order wire；Described automatically controlled
Turntable 4 also includes mechanical rotary stage and servomotor, and servomotor is connected with servo-driver, servo-drive
Device is connected with computer by RS-485 order wire；Described data acquisition module, switch, servo-driver,
Computer is connected with power supply by power line respectively；The output switch parameter port of described laser scanner 2 is even
Receiving the On-off signal port of high speed camera 1, the output switch parameter port of laser scanner 2 is also by conduction
The holding wire of slip ring is connected to the On-off signal port of data acquisition module.
As it is shown on figure 3, the three-dimensional colour point clouds collecting method of a kind of omnidirectional Three Dimensional Laser Color Scanning System,
Comprise the following steps:
Step 1, controlling automatically controlled turntable and at the uniform velocity rotate, computer controls automatically controlled turntable by servo-driver
At the uniform velocity rotate, be simultaneously attached to the laser scanner on automatically controlled turntable and high speed camera is also even with automatically controlled turntable
Speed rotates；
Step 2, software and hardware complex data synchronize, in rotary course, computer software by gigabit networking with
Certain basic frequency sends data acquisition command to laser scanner, and laser scanner receives data acquisition command
After start to scan scene and obtain laser rays point cloud, and by its output switch parameter port to high speed camera and data acquisition
The On-off signal port of collection module sends high level hardware synchronization and gathers signal, and it is same that high speed camera receives hardware
After step signal, photographed scene obtains two dimensional image at once, and data acquisition module receives after hardware synchronization signal at once
Storage encoder numerical value obtains present rotation angel degree, to realize laser rays point cloud, two dimensional image and the anglec of rotation three
The real-time synchronization of person, then, computer software sends to laser scanner, high speed camera, data acquisition module
Data read command, obtains this moment laser rays point cloud, two dimensional image and the anglec of rotation；
Step 3, synchronous acquisition merge, and computer obtains laser rays point cloud, two dimensional image and the anglec of rotation
After, utilize camera imaging principle, solve the homography matrix between camera imaging plane and laser scanning plane, obtain
Obtain the mapping relations between laser scanning point space coordinates and its pixel coordinate, and utilize these mapping relations to melt in real time
Close laser rays point cloud and the two dimensional image of each synchronization point, obtain the multi-color cord point cloud of synchronization point；At this
On the basis of, utilize the anglec of rotation of each synchronization point that multi-color cord point cloud is combined into the colour plane of whole scene
Point cloud, can obtain the three-dimensional colour point clouds data of whole scene.
The invention has the advantages that: a kind of omnidirectional's Three Dimensional Laser Color Scanning System and method thereof, one is to utilize soft or hard
Part complex data synchronous method, real-time synchronization gathers laser rays point cloud, two dimensional image and the anglec of rotation, synchronizes essence
Degree height；Two is to utilize the laser rays point cloud of each synchronization point and two dimensional image to carry out data fusion, obtains in real time
Taking the three-dimensional colour point clouds data of scene, real time data acquisition is good；Three is utilize each synchronization point two
Dimension image carries out data fusion, and amount of image information is big, and fusion mass is high.
Claims (2)
1. omnidirectional's Three Dimensional Laser Color Scanning System, including laser scanner, high speed camera, automatically controlled
Turntable, conducting slip ring, encoder, data acquisition module, switch, servo-driver, computer and
Equipment supporter, it is characterised in that: it is screwed in bottom described equipment supporter on automatically controlled turntable, institute
Stating high speed camera and be screwed in equipment supporter top, described laser scanner is arranged on by screw and sets
In standby support mid portion, and laser scanner photocentre, high speed camera camera lens photocentre and the rotation of automatically controlled turntable
The heart three overlap vertically downward, and laser scanner scans plane is perpendicular to high speed camera imaging plane, described in lead
Electric slip ring and encoder are arranged on the central rotating shaft of automatically controlled turntable；Described high speed camera and laser scanner
Network communication interface be connected with switch by the gigabit network cable of conducting slip ring respectively, described switch passes through
Gigabit network cable is connected with computer；The power supply power supply interface of described high speed camera and laser scanner passes through respectively
The power line of conducting slip ring is connected with power supply；Described encoder wiring port is directly and data acquisition module
Being connected, data acquisition module is connected with computer by RS-485 order wire；Described automatically controlled turntable also wraps
Including mechanical rotary stage and servomotor, servomotor is connected with servo-driver, and servo-driver passes through
RS-485 order wire is connected with computer；Described data acquisition module, switch, servo-driver, calculating
Machine is connected with power supply by power line respectively；The output switch parameter port of described laser scanner connects
To the On-off signal port of high speed camera, the output switch parameter port of laser scanner is also by conducting slip ring
Holding wire be connected to the On-off signal port of data acquisition module.
A kind of three-dimensional colour point clouds of omnidirectional Three Dimensional Laser Color Scanning System
Collecting method, it is characterised in that comprise the following steps:
Step 1, controlling automatically controlled turntable and at the uniform velocity rotate, computer controls automatically controlled rotation by servo-driver
Platform at the uniform velocity rotates, and is simultaneously attached to the laser scanner on automatically controlled turntable and high speed camera also with automatically controlled rotation
Platform at the uniform velocity rotates；
Step 2, software and hardware complex data synchronize, and in rotary course, computer software passes through gigabit networking
Sending data acquisition command with certain basic frequency to laser scanner, laser scanner receives data acquisition
Start to scan scene after order and obtain laser rays point cloud, and by its output switch parameter port to high speed camera and
The On-off signal port of data acquisition module sends high level hardware synchronization and gathers signal, and high speed camera receives
After hardware synchronization signal, photographed scene obtains two dimensional image at once, and data acquisition module receives hardware synchronization
Store encoder numerical value after signal at once and obtain present rotation angel degree, to realize laser rays point cloud, two dimensional image
With the real-time synchronization of anglec of rotation three, then, computer software is to laser scanner, high speed camera, number
Send data read command according to acquisition module, obtain this moment laser rays point cloud, two dimensional image and the anglec of rotation；
Step 3, synchronous acquisition merge, and computer obtains laser rays point cloud, two dimensional image and the anglec of rotation
After degree, utilize camera imaging principle, solve the homography matrix between camera imaging plane and laser scanning plane,
Obtain the mapping relations between laser scanning point space coordinates and its pixel coordinate, and utilize these mapping relations real
The laser rays point cloud of each synchronization point of Shi Ronghe and two dimensional image, obtain the multi-color cord point of synchronization point
Cloud；On this basis, multi-color cord point cloud is combined into whole field by the anglec of rotation utilizing each synchronization point
The colored millet cake cloud of scape, can obtain the three-dimensional colour point clouds data of whole scene.
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