CN106443687A - Piggyback mobile surveying and mapping system based on laser radar and panorama camera - Google Patents
Piggyback mobile surveying and mapping system based on laser radar and panorama camera Download PDFInfo
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- CN106443687A CN106443687A CN201610774318.4A CN201610774318A CN106443687A CN 106443687 A CN106443687 A CN 106443687A CN 201610774318 A CN201610774318 A CN 201610774318A CN 106443687 A CN106443687 A CN 106443687A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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Abstract
The present invention discloses a piggyback mobile surveying and mapping system based on a laser radar and a panorama camera. The system mainly comprises a collection device module and a post-processing module. The collection device module is a piggyback mode and is mainly composed of a panorama camera, a laser radar, a controller, a hand-held terminal, a portable power source, a bracing piece and a piggyback frame, and each part is connected and supported by the piggyback frame. The system and method can continuously move the obtained surrounding scene information, and are good in passing ability, high in adaptability and high in data acquisition efficiency. The problems which the system overcomes comprise: (1) the problem of the failure of a current ground mobile measurement system in the environment without GNSS; (2) the problem of low efficiency because the traditional fixed laser scanning needs lots of station changing joint point cloud; and (3) the problem that a cart based on the two-dimensional SLAM technology is only suitable for the ground horizontal environment.
Description
Technical field
The present invention relates to the back of the body that geography information survey field, more particularly to a kind of utilization laser radar and panorama camera are constituted
Negative formula mobile mapping system.
Background technology
With the development of computer technology and numerical map technology, the information gathering of three-dimensional scenic is more next with the precision of reconstruct
Higher, its application is also more and more extensive, and the traverse measurement of environment and three-dimensional modeling are in geographical mapping, robot, unmanned plane and army
There are important application and economic benefit in thing field.
The three dimensional point cloud of ground scene is obtained and is generally divided into two kinds, and mobile laser scanning and fixed laser are swept
Retouch.At present, existing ground moving measuring system, is normally based on vehicle-mounted traverse measurement system, and such as China Patent No. is
A kind of 2014202128221 ground moving measurement apparatus and China Patent No. are 2012204865789 based on laser scanning
With the vehicle load measurement integrated system of full-view image, but above-mentioned ground moving measuring system is required to depend on global navigation satellite
System（Global Navigation Satellite System, GNSS）And inertial navigation system, so it is only used for outdoor
Environment.However, due to without GNSS signal in the environment such as the indoor and underground space, so, above-mentioned traverse measurement system cannot
Normal work.Fixed laser scanning can be used for the environment of indoor and outdoor, but complex scene needs to change station, Ran Houjin in a large number
Row point cloud, the efficiency of data acquisition is very low.
Additionally, positioning immediately and map structuring（Simultaneous Localization and Mapping, SLAM）'s
Method has in mobile mapping problem preferably to be applied, and such as european patent number is EP2913796A1 based on SLAM technology
Go-cart, employs the SLAM technology of two dimension, but the method is only applicable to the environment of ground level.
Content of the invention
Instant invention overcomes deficiency of the prior art, provides a kind of backpack based on laser radar and panorama camera and moves
Dynamic mapping system, the system adopts D S LAM algorithm, is capable of scene information around the acquisition of continuous moving, using laser radar
Data construct the three-dimensional point cloud model of environment.System adopts piggy-back structure, with by property is good, strong adaptability, data are obtained
Take the feature of efficiency high.This system overcomes（1）The problem that existing ground moving measuring system is failed in no GNSS environment；
（2）Conventional fixed-type laser scanning needs to change the inefficiency problem that station splice point cloud bar comes in a large number；（3）It is based on two dimension SLAM skill
The go-cart of art may be only available for the problem of the environment of ground level.
In order to solve above-mentioned technical problem, the present invention is achieved by the following technical solutions.
A kind of backpack mobile mapping system based on laser radar and panorama camera, the system includes collecting device module
And post-processing module.
Wherein, collecting device module be backpack, the module by panorama camera, laser radar, controller, handheld terminal,
Portable power source, support bar and backpack frame composition, all parts are attached and support by backpack frame.
The quantity of described laser radar can match installation 2 or 3 according to demand, and all laser radars are respectively mounted
On support bar, one of laser radar horizontal positioned, for gathering 360 degree in horizontal direction of laser radar data, its
Remaining laser radar slant setting, is placed in the rear of horizontal laser light radar, for gathering 360 degree on incline direction of laser radar number
According to.Oblique laser radar is known by demarcating with respect to the position of horizontal laser light radar and attitude relation.
Described panorama camera is placed in the surface of horizontal laser light radar, for gathering the full-view image number of surrounding
According to, and be used in post processing to a cloud coloring.Panorama camera passes through with respect to the position of horizontal laser light radar and attitude relation
Demarcate known.
Described controller is placed in the middle part of backpack frame, is connected with panorama camera, laser radar by cable, uses
In gathering and storing full-view image data and laser radar data, while the state of panorama camera and laser radar is believed by controller
Breath is sent to handheld terminal by wireless network and is shown.
Described handheld terminal receives the shape of the panorama camera for sending from controller and laser radar by wireless network
State information, for monitor in real time panorama camera and the state of laser radar.
Described portable power source is placed in below controller, is connected by cable with panorama camera, laser radar, controller
Connect, power for all consuming parts.
Wherein, post-processing module gathers, to collecting device module, the data for obtaining in work station and carries out post-processing operation,
Output coloring three dimensional point cloud and the full-view image data with position and attitude information.Post-processing module processing data includes
Following steps.
A, the whole laser radar datas of loading and full-view image data.
B, horizontal laser light radar data and oblique laser radar data are alignd according to timestamp, then according to inclination
Relative tertiary location between laser radar and horizontal laser light radar and attitude relation, by the oblique laser radar data of each frame
Transform in the coordinate system of aligned horizontal laser light radar data, and synthesize a frame laser radar data, its coordinate system with
The coordinate system of horizontal laser light radar data is consistent.
C, using D S LAM algorithm to synthesize laser radar data process, step is as follows：
1）Feature extraction is carried out to the first frame laser radar data, the feature point set for obtaining will be extracted as initial characteristicses point cloud ground
Figure；
2）A new frame laser radar data is read, and carries out feature extraction；
3）The feature point set and characteristic point cloud map execution matching algorithm that obtain will be extracted, obtain present frame laser radar data
Position and attitude information；
4）According to position and the attitude information of the present frame laser radar data for obtaining, by the characteristic point of the frame laser radar data
Set transformation is under world coordinate system, and the feature point set after transformed coordinate system is added in characteristic point cloud map；
5）Repeat 2）-4）Step, until all frame synthetic laser radar datas are all disposed.
The synthetic laser radar data of d, utilization with position and attitude information carries out three-dimensional point cloud modeling process, will be each
All spatial point of frame synthetic laser radar data are transformed under world coordinate system according to its position and attitude information, by all warps
The spatial point combination for crossing coordinate transform obtains the three dimensional point cloud of environment.
E, using a cloud colouring algorithm, coloring treatment is carried out to the three dimensional point cloud for obtaining, step is as follows：
1）Full-view image data and synthetic laser radar data are alignd according to timestamp, is calculated each frame full-view image
The frame number of the synthetic laser radar data corresponding to data, obtains position and the attitude information of the frame synthetic laser radar data；
2）According to the relative tertiary location between panorama camera and horizontal laser light radar and attitude relation and corresponding conjunction
Become position and the attitude information of laser radar data, calculate position and the attitude information of each frame full-view image data；
3）By the spatial point in three dimensional point cloud and each pixel of the full-view image data with position and attitude information
With corresponding, obtain the color value of spatial point.
F, system output obtain colouring three dimensional point cloud and the full-view image data with position and attitude information.
Due to adopting technique scheme, the invention provides a kind of backpack based on laser radar and panorama camera moves
Dynamic mapping system, system that employs D S LAM technology, be independent of GNSS signal, realize the mobile survey of no GNSS signal environment
Amount.System adopts the structure design of backpack, with cross-country traveling ability, it is adaptable to various environment；Multiple laser radars are pacified by system
It is mounted on support bar, a horizontal positioned, remaining slant setting.Being used in conjunction with of horizontal laser light radar and oblique laser radar,
Total space three dimensional point cloud can be obtained；System obtains 360 degree of full-view image by panorama camera, to three dimensional point cloud
Coloured, strengthened understanding of the user to three dimensional point cloud；System adds handheld terminal, and collector can be complete with Real Time Observation
Scape camera and the state of laser radar, and communicated with controller using wireless network, easy to use.
Therefore, the present invention has such beneficial effect compared with prior art.
1st, existing ground moving measuring system Dependence Problem to GNSS signal is solved, and the present invention can be used in no GNSS
Mapping is moved in the environment of signal.
2nd, the mapping method of standing posture scanning is changed compared to traditional fixed laser radar, and the present invention can be surveyed with continuous moving
Amount scanning, is greatly enhanced the efficiency of data acquisition, and with good mobility.
3rd, compared to being only applicable in the environment of ground level based on the mobile mapping system of two-dimentional SLAM cart type, this
Bright can carry out data acquisition under various complex environments, simple to operate, can be used for different mobile vehicles.
Description of the drawings
Fig. 1 is system backpack collecting device modular structure schematic diagram.
Fig. 2 is Laser Radar Scanning scope schematic diagram.
Fig. 3 is post-processing module processing data flow chart.
Fig. 4 D S LAM algorithm flow chart.
Fig. 5 is working-flow figure.
In figure：1st, panorama camera, 2, laser radar, 3, handheld terminal, 4, controller, 5, portable power source, 6, support bar, 7,
Backpack frame, 8, work station.
Specific embodiment
With reference to the accompanying drawings and examples, the specific embodiment of the present invention is described in further detail.
A kind of backpack mobile mapping system based on laser radar and panorama camera, the quantity of laser radar can basis
Demand apolegamy installs 2 or 3, now by taking 2 installations of apolegamy as an example.
A kind of backpack mobile mapping system based on laser radar and panorama camera, mainly include collecting device module and
Post-processing module.
As shown in figure 1, collecting device module is backpack, by panorama camera 1, laser radar 2, handheld terminal 3, control
Device 4, portable power source 5, support bar 6 and backpack frame 7 constitute.Collecting device module is carried out to all parts even by backpack frame
Connect, panorama camera is located at the top of collecting device module, a laser radar is located at the underface adjacent with panorama camera, entirely
Scape camera is with respect to the position of a laser radar and attitude relation by demarcating, it is known that No. two laser radars are put by support bar
In the rear of a laser radar, No. two laser radars are with respect to the position of a laser radar and attitude relation by demarcating
Know, controller is located at the middle part of backpack frame, portable power source is located at the bottom of backpack frame.
As shown in figure 1, panorama camera adopts Ladybug5 panorama camera, for obtaining full-view image data, in post processing
In be used for three dimensional point cloud colour.
As shown in figure 1, the laser radar that collecting device is installed is 2, using Velodyne VLP-16 laser radar.This
Two laser radars are located on support bar：One horizontal positioned, as shown in Fig. 1 a laser radar；One inclination is put
Put, No. two laser radars as shown in Figure 1.The sweep limitss such as Fig. 2 of this two laser radars in level and incline direction
Shown, the laser radar of wherein horizontal positioned is used for obtaining 360 degree of laser radar datas in horizontal direction；Positioned at support rear portion
Tilted-putted laser radar is used for gathering 360 degree of laser radar datas on incline direction.
Controller is connected with panorama camera, laser radar by cable, for gathering and storing full-view image data and swash
Optical radar data, while the status information of panorama camera and laser radar is sent to handheld terminal by controller by Wifi carry out
Show.
Handheld terminal adopts hand-held panel computer, receives the panorama camera for sending from controller and laser thunder by Wifi
The status information for reaching, for monitor in real time panorama camera and the state of laser radar.
Portable power source adopts lithium battery, and is connected by cable with controller, panorama camera, laser radar, is all
Consuming parts are powered.
Post-processing module gathers, to collecting device module, the data for obtaining in work station and carries out post-processing operation, exports
Color three dimensional point cloud and the full-view image data with position and attitude information.As shown in figure 3, post-processing module processing data
Key step as follows.
A, the whole laser radar datas of loading and full-view image data.
B, by horizontal laser light radar data and oblique laser radar data according to request of data timestamp and corresponding data
Timestamp is received, using the network equipment line clock generator synchronous method (TICSync for stabbing based on packet time: Knowing
When things happened. 2011, IEEE ICRA) by the clock synchronization of the data of laser radar, and then realize data
Alignment；Then according to the relative tertiary location between oblique laser radar and horizontal laser light radar and attitude relation, will be each
The oblique laser radar data of frame is transformed in the coordinate system of aligned horizontal laser light radar data, and synthesizes a frame laser
Radar data, its coordinate system is consistent with the coordinate system of horizontal laser light radar data.
C, using D S LAM algorithm to synthesize laser radar data process, calculate each frame synthetic laser radar
The position of data and attitude information, and preserve, as shown in figure 4, step is as follows：
1）Feature extraction is carried out to the first frame laser radar data（Structure Tensors for General Purpose
LIDAR Feature Extraction, 2011, IEEE ICRA）, the feature point set for obtaining will be extracted as initial characteristicses point
Cloud map；
2）A new frame laser radar data is read, and carries out feature extraction；
3）The feature point set and characteristic point cloud map execution ICP matching algorithm that obtain will be extracted, obtain present frame laser radar number
According to position and attitude information（x、y、z、yaw、pitch、roll）；
4）According to position and the attitude information of the present frame laser radar data for obtaining, by the characteristic point of the frame laser radar data
Set transformation is under world coordinate system, and the feature point set after transformed coordinate system is added in characteristic point cloud map；
5）Repeat 2）-4）Step, until all frame synthetic laser radar datas are all disposed.
The synthetic laser radar data of d, utilization with position and attitude information carries out three-dimensional point cloud modeling process, will be each
All spatial point of frame synthetic laser radar data are transformed under world coordinate system according to its position and attitude information, by all warps
The spatial point combination for crossing coordinate transform obtains the three dimensional point cloud of environment.
E, using a cloud colouring algorithm, coloring treatment is carried out to the three dimensional point cloud for obtaining, key step is as follows：
1）Full-view image data and synthetic laser radar data are alignd according to timestamp, is calculated each frame full-view image
The frame number of the synthetic laser radar data corresponding to data, obtains position and the attitude information of the frame synthetic laser radar data；
2）According to the relative tertiary location between panorama camera and horizontal laser light radar and attitude relation and corresponding conjunction
Become position and the attitude information of laser radar data, calculate position and the attitude information of each frame full-view image data（x、y、z、
yaw、pitch、roll）；
3）By the spatial point in three dimensional point cloud and each pixel of the full-view image data with position and attitude information
With corresponding, obtain the color value of spatial point.
F, system output obtain colouring three dimensional point cloud and the full-view image data with position and attitude information.
The workflow of system is as shown in Figure 5：Collecting device module is by panorama camera 1, laser in data acquisition
The data transfer of radar 2 in controller 4, after collecting device module has gathered data, full-view image data and laser radar number
Movable storage device is stored data according to by USB 3.0, and work station 8 is sent to, carry out post processing.Post-processing module pair
Full-view image data and laser radar data are processed, and output colours cloud data and the panorama with position and attitude information
Image data.
Obviously, embodiments described above is only a part of embodiment of the present invention, rather than whole embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made all its
His embodiment, belongs to the scope of protection of the invention.
Claims (9)
1. a kind of backpack mobile mapping system based on laser radar and panorama camera, including collecting device module and post processing
Module, it is characterised in that described collecting device module is backpack, including：Panorama camera, laser radar, controller, hand-held
Terminal, portable power source, support bar and backpack frame, all parts are attached and support by backpack frame；Described post processing
Module with D S LAM algorithm, point cloud colouring algorithm as core algorithm, to collecting device module gather obtain data carry out after
Process operation, output coloring three dimensional point cloud and the full-view image data with position and attitude information.
2. a kind of backpack mobile mapping system based on laser radar and panorama camera according to claim 1, which is special
Levy and be, the quantity of described laser radar can match installation 2 or 3 according to demand, and all laser radars are respectively mounted
On support bar, one of laser radar horizontal positioned, for gathering 360 degree in horizontal direction of laser radar data, its
Remaining laser radar slant setting, for gathering 360 degree on incline direction of laser radar data.
3. a kind of backpack mobile mapping system based on laser radar and panorama camera according to claim 1, which is special
Levy and be, described panorama camera is placed in the surface of horizontal laser light radar, for gathering the full-view image data of surrounding.
4. a kind of backpack mobile mapping system based on laser radar and panorama camera according to claim 1, which is special
Levy and be, described controller is placed in the middle part of backpack frame, be connected with panorama camera, laser radar by cable, use
In gathering and storing full-view image data and laser radar data, while the status information of panorama camera and laser radar is passed through
Wireless network sends to handheld terminal and is shown.
5. a kind of backpack mobile mapping system based on laser radar and panorama camera according to claim 1, which is special
Levy and be, described handheld terminal receives the state of the panorama camera for sending from controller and laser radar by wireless network
Information, for monitor in real time panorama camera and the state of laser radar.
6. a kind of backpack mobile mapping system based on laser radar and panorama camera according to claim 1, which is special
Levy and be, described portable power source is placed in below controller, be connected by cable with panorama camera, laser radar, controller,
Power for all consuming parts.
7. a kind of backpack mobile mapping system based on laser radar and panorama camera according to claim 1, which is special
Levy and be, described post-processing module is comprised the following steps：
A, the whole laser radar datas of loading and full-view image data；
B, horizontal laser light radar data and oblique laser radar data are alignd according to timestamp, then according to oblique laser
Relative tertiary location between radar and horizontal laser light radar and attitude relation, the oblique laser radar data of each frame is converted
To in the coordinate system of aligned horizontal laser light radar data, and synthesize a frame laser radar data, its coordinate system and level
The coordinate system of laser radar data is consistent；
C, using D S LAM algorithm to synthesize laser radar data process, calculate each frame synthetic laser radar data
Position and attitude information；
The synthetic laser radar data of d, utilization with position and attitude information carries out three-dimensional point cloud modeling process, and each frame is closed
All spatial point of laser radar data are become to be transformed under world coordinate system according to its position and attitude information, by all through sitting
The spatial point combination of mark conversion obtains the three dimensional point cloud of environment；
E, using a cloud colouring algorithm, coloring treatment is carried out to the three dimensional point cloud for obtaining；
F, system output obtain colouring three dimensional point cloud and the full-view image data with position and attitude information.
8. post-processing module according to claim 7, it is characterised in that D S LAM algorithm in described step c, comprising
Following steps：
1）Feature extraction is carried out to the first frame laser radar data, the feature point set for obtaining will be extracted as initial characteristicses point cloud ground
Figure；
2）A new frame laser radar data is read, and carries out feature extraction；
3）The feature point set and characteristic point cloud map execution matching algorithm that obtain will be extracted, obtain present frame laser radar data
Position and attitude information；
4）According to position and the attitude information of the present frame laser radar data for obtaining, by the characteristic point of the frame laser radar data
Set transformation is under world coordinate system, and the feature point set after transformed coordinate system is added in characteristic point cloud map；
5）Repeat 2）-4）Step, until all frame synthetic laser radar datas are all disposed.
9. post-processing module according to claim 7, it is characterised in that described step e point cloud colouring algorithm, comprising
Following steps：
1）Full-view image data and synthetic laser radar data are alignd according to timestamp, is calculated each frame full-view image
The frame number of the synthetic laser radar data corresponding to data, obtains position and the attitude information of the frame synthetic laser radar data；
2）According to the relative tertiary location between panorama camera and horizontal laser light radar and attitude relation and corresponding conjunction
Become position and the attitude information of laser radar data, calculate position and the attitude information of each frame full-view image data；
3）By the spatial point in three dimensional point cloud and each pixel of the full-view image data with position and attitude information
With corresponding, obtain the color value of spatial point.
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