CN107121064A - A kind of laser scanner - Google Patents
A kind of laser scanner Download PDFInfo
- Publication number
- CN107121064A CN107121064A CN201710298764.7A CN201710298764A CN107121064A CN 107121064 A CN107121064 A CN 107121064A CN 201710298764 A CN201710298764 A CN 201710298764A CN 107121064 A CN107121064 A CN 107121064A
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- CN
- China
- Prior art keywords
- data
- dimensional
- laser scanner
- coordinate system
- threedimensional model
- 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.)
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Classifications
-
- 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
-
- 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
-
- 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
-
- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
Abstract
The invention provides a kind of laser scanner, including：Three-dimensional laser scanner, for carrying out laser scanning measurement, and output coordinate system cloud data；GNSS/IMU integrated positioning attitude determination systems, for resolve obtaining time location attitude data according to GNSS data and IMU data；Panorama camera, for capturing panoramic view image data, the panoramic image data is accompanied with position and attitude data；Point Cloud Processing system, the demarcation for being scanned instrument parameter according to coordinate system cloud data and time location attitude data, to generate WGS84 coordinate system laser point clouds；Threedimensional model modeling, for carrying out three-dimensional modeling data foundation according to coordinate system laser point cloud and full-view image data.Present system can be widely applied to the fields such as three-dimensional digital city, municipal administration's general investigation for components, highway extension project, traffic infrastructure measurement, the measurement of mine three-dimensional measurement, navigation channel embankment, sea island reef water front three-dimensional measurement.
Description
Technical field
The present invention relates to survey field, more particularly to a kind of laser scanner.
Background technology
Streetscape map is a kind of live-action map service.Provide the user 360 degree of panorama sketch of city, street or other environment
Picture, user can obtain map view as if on the spot in person by the service and experience., just can be with as long as being sitting in before computer by streetscape
The real high definition scene seen on street.It is tourism, the good tool of driving, like the GPS in the minds of people.
But at present, streetscape map can only look at, can not obtain building according to streetscape map data at present
Specification data (length, width and height).
The content of the invention
The invention provides a kind of laser scanner, including：
Three-dimensional laser scanner, for carrying out laser scanning measurement, and output coordinate system cloud data；
GNSS/IMU integrated positioning attitude determination systems, meta during for being resolved according to GNSS data and IMU data
Put attitude data；
Panorama camera, for gathering 360 ° of panoramic image datas centered on laser scanner, and the panorama
View data is the full-view image data for being accompanied with position and posture；
Point Cloud Processing system, for the coordinate system cloud data and GNSS/IMU exported according to three-dimensional laser scanner
The time location attitude data of integrated positioning attitude determination system output is scanned the demarcation of instrument parameter, to generate WGS84 coordinate systems
Laser point cloud；
Threedimensional model modeling, for according to WGS84 coordinate systems laser point cloud and being accompanied with the complete of position and posture
Scape image data carries out three-dimensional modeling data foundation.
Above-mentioned laser scanner, wherein, the raw scanning data of three-dimensional laser scanner is based on laser scanning
Instrument coordinate system generates data.
Above-mentioned laser scanner, wherein, by the laser measurement result and GNSS/IMU of three-dimensional laser scanner
The position and attitude data fusion of integrated positioning attitude determination system obtains the geodetic coordinates of atural object.
Above-mentioned laser scanner, wherein, the Point Cloud Processing system includes：
Cloud data splits module, for carrying out cloud data segmentation according to cloud data；
Cloud data sort module, for carrying out cloud data classification according to coordinate system cloud data；
Point cloud characteristic information extracting module, is carried for carrying out construction characteristic line according to the coordinate system cloud data after categorized
Take, the road markings line drawing of roadway characteristic line drawing, combined strength and binding characteristic.
Above-mentioned laser scanner, wherein, threedimensional model modeling carries out three-dimensional modeling data establishment step
Including：
It is designed the three-dimensional modeling of the fructification of line threedimensional model；
Carry out the three-dimensional modeling of the fructification of structure threedimensional model；
Carry out the three-dimensional modeling of the fructification of affiliated facility threedimensional model；
The fructification of design lines threedimensional model, structure threedimensional model, affiliated facility threedimensional model is spelled according to its border
Synthesize an entirety, the three-dimensional streetscape data of generation.
The laser scanner that the present invention is provided is a kind of collection high-precision three-dimensional laser scanner, GNSS/IMU combinations
The multiple sensors such as positioning and orientation system, panorama camera in one high-tech mobile mapping system, can be easily installed in automobile,
On ship or other mobile vehicles, with spies such as maneuverability, short cycle, high accuracy, high-resolution, real-time data fusions
Point.
Present system can be widely applied to three-dimensional digital city, municipal administration's general investigation for components, highway extension project, traffic base
The fields such as Infrastructure measurement, the measurement of mine three-dimensional measurement, navigation channel embankment, sea island reef water front three-dimensional measurement.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, the present invention and its feature, outside
Shape and advantage will become more apparent upon.Identical mark indicates identical part in whole accompanying drawings.Not deliberately proportionally
Draw accompanying drawing, it is preferred that emphasis is the purport of the present invention is shown.
The step of Fig. 1 carries out laser scanning measurement for present invention figure.
Embodiment
In the following description, a large amount of concrete details are given to provide more thorough understanding of the invention.So
And, it is obvious to the skilled person that the present invention can be able to without one or more of these details
Implement.In other examples, in order to avoid obscuring with the present invention, do not enter for some technical characteristics well known in the art
Row description.
In order to thoroughly understand the present invention, detailed step and detailed structure will be proposed in following description, so as to
Explain technical scheme.Presently preferred embodiments of the present invention is described in detail as follows, but in addition to these detailed descriptions, this
Invention can also have other embodiment.
The invention provides a kind of laser scanner, including：
Three-dimensional laser scanner, for carrying out laser scanning measurement, and output coordinate system cloud data；
GNSS/IMU integrated positioning attitude determination systems, meta during for being resolved according to GNSS data and IMU data
Put attitude data；
Panorama camera, for gathering 360 ° of panoramic image datas centered on laser scanner, and the panorama
View data is the full-view image data for being accompanied with position and posture；
Point Cloud Processing system, for the coordinate system cloud data and GNSS/IMU exported according to three-dimensional laser scanner
The time location attitude data of integrated positioning attitude determination system output is scanned the demarcation of instrument parameter, to generate WGS84 coordinate systems
Laser point cloud；
Threedimensional model modeling, for according to WGS84 coordinate systems laser point cloud and being accompanied with the complete of position and posture
Scape image data carries out three-dimensional modeling data foundation.
In an optional embodiment of the invention, the raw scanning data of three-dimensional laser scanner is sat based on laser scanner
Mark system generation data.
In an optional embodiment of the invention, the laser measurement result and GNSS/IMU of three-dimensional laser scanner are combined
The position and attitude data fusion of positioning and orientation system obtains the geodetic coordinates of atural object.
In an optional embodiment of the invention, the Point Cloud Processing system includes：1st, cloud data segmentation module,
For carrying out cloud data segmentation according to cloud data；2nd, cloud data sort module, for being entered according to coordinate system cloud data
Row cloud data is classified；3rd, cloud characteristic information extracting module is put, for being built according to the coordinate system cloud data after categorized
Build the road markings line drawing of feature line extraction, roadway characteristic line drawing, combined strength and binding characteristic.
In an optional embodiment of the invention, threedimensional model modeling carries out three-dimensional modeling data establishment step bag
Include：1st, it is designed the three-dimensional modeling of the fructification of line threedimensional model；2nd, the three-dimensional of the fructification of structure threedimensional model is carried out
Modeling；3rd, the three-dimensional modeling of the fructification of affiliated facility threedimensional model is carried out；4th, by design lines threedimensional model, the three-dimensional mould of structure
Type, the fructification of affiliated facility threedimensional model piece together an entirety, the three-dimensional streetscape data of generation according to its border.
Presently preferred embodiments of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, wherein the equipment and structure be not described in detail to the greatest extent are construed as giving reality with the common mode in this area
Apply；Any those skilled in the art, without departing from the scope of the technical proposal of the invention, all using the disclosure above
Methods and techniques content make many possible variations and modification to technical solution of the present invention, or be revised as equivalent variations etc.
Embodiment is imitated, this has no effect on the substantive content of the present invention.Therefore, every content without departing from technical solution of the present invention, foundation
The technical spirit of the present invention still falls within the present invention to any simple modifications, equivalents, and modifications made for any of the above embodiments
In the range of technical scheme protection.
Claims (5)
1. a kind of laser scanner, it is characterised in that including：
Three-dimensional laser scanner, for carrying out laser scanning measurement, and output coordinate system cloud data；
GNSS/IMU integrated positioning attitude determination systems, for resolve obtaining time location appearance according to GNSS data and IMU data
State data；
Panorama camera, for gathering 360 ° of panoramic image datas centered on laser scanner, and the panoramic picture
Data are the full-view image data for being accompanied with position and posture；
Point Cloud Processing system, for coordinate system cloud data and the GNSS/IMU combination exported according to three-dimensional laser scanner
The time location attitude data of positioning and orientation system output is scanned the demarcation of instrument parameter, to generate WGS84 coordinate system laser
Point cloud；
Threedimensional model modeling, for according to WGS84 coordinate systems laser point cloud and being accompanied with the panorama shadow of position and posture
As data carry out the foundation of three-dimensional modeling data.
2. laser scanner as claimed in claim 1, it is characterised in that the original scan number of three-dimensional laser scanner
Data are generated according to based on laser scanner coordinate system.
3. laser scanner as claimed in claim 2, it is characterised in that by the laser measurement of three-dimensional laser scanner
As a result the geodetic coordinates of atural object is obtained with the position and attitude data fusion of GNSS/IMU integrated positioning attitude determination systems.
4. laser scanner as claimed in claim 1, it is characterised in that the Point Cloud Processing system includes：
Cloud data splits module, for carrying out cloud data segmentation according to cloud data；
Cloud data sort module, for carrying out cloud data classification according to coordinate system cloud data；
Point cloud characteristic information extracting module, for according to the coordinate system cloud data after categorized carry out construction characteristic line drawing,
The road markings line drawing of roadway characteristic line drawing, combined strength and binding characteristic.
5. laser scanner as claimed in claim 1, it is characterised in that threedimensional model modeling carries out three-dimensional mould
Type data establishment step includes：
It is designed the three-dimensional modeling of the fructification of line threedimensional model；
Carry out the three-dimensional modeling of the fructification of structure threedimensional model；
Carry out the three-dimensional modeling of the fructification of affiliated facility threedimensional model；
The fructification of design lines threedimensional model, structure threedimensional model, affiliated facility threedimensional model is pieced together according to its border
One entirety, the three-dimensional streetscape data of generation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710298764.7A CN107121064A (en) | 2017-04-27 | 2017-04-27 | A kind of laser scanner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710298764.7A CN107121064A (en) | 2017-04-27 | 2017-04-27 | A kind of laser scanner |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107121064A true CN107121064A (en) | 2017-09-01 |
Family
ID=59725953
Family Applications (1)
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|---|---|---|---|
| CN201710298764.7A Pending CN107121064A (en) | 2017-04-27 | 2017-04-27 | A kind of laser scanner |
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107796304A (en) * | 2017-09-07 | 2018-03-13 | 中铁二院工程集团有限责任公司 | A kind of rail track of three-dimensional laser panorama is adjusted and paints method |
| CN107843208A (en) * | 2017-10-27 | 2018-03-27 | 北京矿冶研究总院 | Mine roadway contour sensing method and system |
| CN107944018A (en) * | 2017-12-11 | 2018-04-20 | 江苏省测绘工程院 | A kind of automatic quality detecting method of map vector positional precision based on laser point cloud data |
| CN109141384A (en) * | 2017-11-13 | 2019-01-04 | 上海华测导航技术股份有限公司 | Acquisition and preprocess method to data before the detection after subway tunnel completion |
| CN109521403A (en) * | 2017-09-19 | 2019-03-26 | 百度在线网络技术（北京）有限公司 | The parameter calibration method and device of multi-line laser radar, equipment and readable medium |
| CN109781076A (en) * | 2017-11-13 | 2019-05-21 | 上海华测导航技术股份有限公司 | Pretreatment to data before Tunnel testing and on the spot dynamic detection system |
| CN110223223A (en) * | 2019-04-28 | 2019-09-10 | 北京清城同衡智慧园高新技术研究院有限公司 | Street scan method, device and scanner |
| CN110376570A (en) * | 2018-07-09 | 2019-10-25 | 北京京东尚科信息技术有限公司 | Method, system and the equipment that scanner coordinate system and IMU coordinate system are demarcated |
| CN111651055A (en) * | 2020-06-09 | 2020-09-11 | 浙江商汤科技开发有限公司 | City virtual sand table display method and device, computer equipment and storage medium |
| CN111707235A (en) * | 2020-05-09 | 2020-09-25 | 广东省国土资源测绘院 | Ground object measuring method based on three-dimensional laser scanning technology |
| CN112093065A (en) * | 2020-09-30 | 2020-12-18 | 浙江安防职业技术学院 | Surveying and mapping scanning equipment based on unmanned aerial vehicle technology |
| CN112700543A (en) * | 2021-01-15 | 2021-04-23 | 浙江图盛输变电工程有限公司 | Multi-source data three-dimensional superposition method |
| CN112857334A (en) * | 2021-01-08 | 2021-05-28 | 浙江省国土勘测规划有限公司 | Integrated multi-platform mobile surveying and mapping system |
| CN112905731A (en) * | 2021-03-29 | 2021-06-04 | 中国电建集团昆明勘测设计研究院有限公司 | IMU-GPS assisted linkage method for 360-degree panoramic photo and three-dimensional GIS scene |
| CN113063427A (en) * | 2020-01-02 | 2021-07-02 | 广东博智林机器人有限公司 | Indoor high-precision map production method, device, equipment and storage medium |
| CN113064145A (en) * | 2021-03-24 | 2021-07-02 | 盎锐（上海）信息科技有限公司 | Laser radar-based horizontal calibration method and system and laser radar |
| CN113608234A (en) * | 2021-07-30 | 2021-11-05 | 复旦大学 | City data acquisition system |
| CN113791423A (en) * | 2021-09-24 | 2021-12-14 | 山东新一代信息产业技术研究院有限公司 | Robot repositioning method based on multi-sensor fusion |
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| CN114427835A (en) * | 2022-02-08 | 2022-05-03 | 太原理工大学 | Method and device for detecting center of lower supporting hole of mine under low illumination |
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Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107796304A (en) * | 2017-09-07 | 2018-03-13 | 中铁二院工程集团有限责任公司 | A kind of rail track of three-dimensional laser panorama is adjusted and paints method |
| CN107796304B (en) * | 2017-09-07 | 2019-12-03 | 中铁二院工程集团有限责任公司 | A kind of rail track tune of three-dimensional laser panorama draws method |
| US11714174B2 (en) | 2017-09-17 | 2023-08-01 | Apollo Intelligent Driving Technology (Beijing) Co., Ltd. | Parameter calibration method and apparatus of multi-line laser radar, device and readable medium |
| CN109521403B (en) * | 2017-09-19 | 2020-11-20 | 百度在线网络技术（北京）有限公司 | Parameter calibration method, device and equipment of multi-line laser radar and readable medium |
| CN109521403A (en) * | 2017-09-19 | 2019-03-26 | 百度在线网络技术（北京）有限公司 | The parameter calibration method and device of multi-line laser radar, equipment and readable medium |
| CN107843208A (en) * | 2017-10-27 | 2018-03-27 | 北京矿冶研究总院 | Mine roadway contour sensing method and system |
| CN109141384A (en) * | 2017-11-13 | 2019-01-04 | 上海华测导航技术股份有限公司 | Acquisition and preprocess method to data before the detection after subway tunnel completion |
| CN109781076A (en) * | 2017-11-13 | 2019-05-21 | 上海华测导航技术股份有限公司 | Pretreatment to data before Tunnel testing and on the spot dynamic detection system |
| CN107944018A (en) * | 2017-12-11 | 2018-04-20 | 江苏省测绘工程院 | A kind of automatic quality detecting method of map vector positional precision based on laser point cloud data |
| CN110376570A (en) * | 2018-07-09 | 2019-10-25 | 北京京东尚科信息技术有限公司 | Method, system and the equipment that scanner coordinate system and IMU coordinate system are demarcated |
| CN110223223A (en) * | 2019-04-28 | 2019-09-10 | 北京清城同衡智慧园高新技术研究院有限公司 | Street scan method, device and scanner |
| CN113063427A (en) * | 2020-01-02 | 2021-07-02 | 广东博智林机器人有限公司 | Indoor high-precision map production method, device, equipment and storage medium |
| CN111707235A (en) * | 2020-05-09 | 2020-09-25 | 广东省国土资源测绘院 | Ground object measuring method based on three-dimensional laser scanning technology |
| CN111651055A (en) * | 2020-06-09 | 2020-09-11 | 浙江商汤科技开发有限公司 | City virtual sand table display method and device, computer equipment and storage medium |
| CN112093065A (en) * | 2020-09-30 | 2020-12-18 | 浙江安防职业技术学院 | Surveying and mapping scanning equipment based on unmanned aerial vehicle technology |
| CN112857334A (en) * | 2021-01-08 | 2021-05-28 | 浙江省国土勘测规划有限公司 | Integrated multi-platform mobile surveying and mapping system |
| CN112700543A (en) * | 2021-01-15 | 2021-04-23 | 浙江图盛输变电工程有限公司 | Multi-source data three-dimensional superposition method |
| CN113064145A (en) * | 2021-03-24 | 2021-07-02 | 盎锐（上海）信息科技有限公司 | Laser radar-based horizontal calibration method and system and laser radar |
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