CN107631700B - The three-dimensional vision information method that spatial digitizer is combined with total station - Google Patents
The three-dimensional vision information method that spatial digitizer is combined with total station Download PDFInfo
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Abstract
The invention discloses a kind of three-dimensional vision information methods that spatial digitizer is combined with total station.Implementation step are as follows: (1) establish scanner coordinate system；(2) measuring prism coordinate；(3) three-dimensional data of target is measured；(4) judge whether to complete measurement；(5) judge whether the distance between total station and spatial digitizer are greater than 30 meters；(6) measuring prism coordinate；(7) mobile total station；(8) three-dimensional vision information of target is completed.The present invention carries out three-dimensional vision information using spatial digitizer, does not need the three-dimensional data that target can be obtained by other geography information, so that the present invention is preferably suitable for carrying out three-dimensional vision information to various targets.The present invention in such a way that total station combines, allows the invention to continuously carry out three-dimensional measurement to large-scale target, and carry out rough registration to three-dimensional data simultaneously using spatial digitizer.
Description
Technical field
The invention belongs to technical field of image processing, further relate to one of three-dimensional reconstruction field three-dimensional and sweep
The method for retouching the large scene three-dimensional vision information that instrument is combined with total station.The present invention can be used for utilizing whole station in large scene
Instrument measures the registration that three pairs of corresponding point datas carry out three-dimensional data.
Background technique
Three-dimensional data either all plays key effect in Model Reconstruction or reverse-engineering.Utilize total station and three
Dimension scanner combines the three-dimensional data for obtaining large scene, further can obtain three pairs of corresponding points, reduction pair by total station
The complexity of three-dimensional data operation, convenient and efficient acquisition three-dimensional data simultaneously realize that data are spliced.The measurement side of three-dimensional data at present
Method is mainly measured using spatial digitizer.
Patent document " tunnel rock occurrence three-dimensional measurement of the China Railway SIYUAN Survey and Design Group Co., Ltd in its application
A kind of tunnel rock production is disclosed in method " (number of patent application: 201310129397.X, application publication number: 103207419A)
Shape method for three-dimensional measurement.This method is with geography such as Google Earth (Google Maps) magnanimity DEM (elevation map), the images provided
Information is data source, is realized using Google Earth COM API (Google Maps interface) from Google Earth (Google
Figure) on obtain rock stratum demarcate point data, carry out the fitting of rock stratum face, calculate the attitude of rocks, and by markup language realization rock stratum face
And rock stratum generates the visualization display of element.Shortcoming existing for this method is, dependent on Google Earth (Google
Figure) the magnanimity DEM (elevation map) that provides, the geography information such as image are data source, on Google Earth (Google Maps)
The rock stratum data not having, cannot achieve and carry out three-dimensional measurement to it.
Ma Yuqiong, Zheng Hongwei, Wang Wei, the paper that Zhang Yu Pei is delivered at it " visit by thin wall component three-dimensional vision information method
The method of the three dimensional point cloud using three scanning systems measurement part is proposed in rope " (information technology, 2015, TP391.4).
This method utilizes photo taking type 3 D scanning system measurement three-dimensional data and two software of Stereo-3D and Geomagic Studio
Data processing is carried out, the curved-surface structure that reflection blade really gathers form is obtained.Shortcoming existing for this method is tester
Material is expensive, and needs to handle three-dimensional data by various software.
Summary of the invention
The contents of the present invention are in view of the above shortcomings of the prior art, to propose that a kind of spatial digitizer is combined with total station
Three-dimensional vision information method.
The concrete thought that the present invention realizes is: fixing a band in scanning first, there are two the cross bars of prism, then to sweep
Retouching instrument center is coordinate origin, and cross bar direction is Y-axis, establishes right-handed coordinate system straight up for Z axis.Then rotary scanning instrument it
Two prism coordinates of total station survey are used afterwards, and spatial digitizer scanning obtains three-dimensional data.At the end of scanner scanning, use
Two prism coordinates of total station survey.Measure the three-dimensional that the coordinate of two prisms can obtain scanner twice by total station
Data transform under total station instrument coordinate system, realize the splicing of three-dimensional data.Three can be obtained using total station survey prism coordinate
To corresponding points, the three-dimensional data that spatial digitizer obtains is transformed under total station instrument coordinate system, realizes three-dimensional data registration.For
When large scene carries out three-dimensional vision information, total station range scanner is too far, mobile total station position is needed, by lens seat
Mark can obtain total station it is mobile before with it is mobile and positional relationship, realize the continuous measurement to large scene.
The specific steps that the present invention realizes include the following:
(1a) uses total station, measures the three-dimensional coordinate of 6 reflecting pieces of desktop respectively, and each three-dimensional coordinate is formed one
Column vector, 6 Column vector groups carry out singular value point to 3 × 6 matrixes using singular value decomposition formula at one 3 × 6 matrix
Solution, obtains three characteristic values of 3 × 6 matrixes, and three characteristic values are constituted to the normal vector of spatial digitizer holding plane；
(1b) uses total station, measures the three-dimensional coordinate of prism I and prism II when scanner is located at original state respectively, often
After secondary rotary scanning instrument, the three-dimensional coordinate of total station survey prism I, corotation is moved scanner 5 times, obtains 6 coordinates of prism I,
Using least square method, the center of circle of circle where 6 three-dimensional coordinates of prism I is calculated；
(1c) intersects formula using vector, the three-dimensional coordinate of plane and desktop normal vector intersection point where calculating spatial digitizer
Value；
(1d) utilizes center calculation formula, calculates D coordinates value of the spatial digitizer center under total station instrument coordinate system；
(1e) using spatial digitizer laser center as coordinate origin, when spatial digitizer is set to initial position, by prism I
It is Y-axis with prism II direction, desktop normal vector is Z-direction, establishes right hand three-dimensional system of coordinate, and public using matrix operation
Formula calculates the transformation matrix between spatial digitizer coordinate system and total station instrument coordinate system；
(1f) total station survey prism I and prism II coordinate calculate two prisms and sweep in three-dimensional using matrix multiple formula
Retouch the coordinate under instrument coordinate system；
(1g) utilize vector calculation formula, calculate separately spatial digitizer center to two prisms distance；
(2) coordinate position of measuring prism I and prism II:
(2a) spatial digitizer is placed on measurement position, and 60 degree of spatial digitizer of rotation manually, uses total station clockwise
The coordinate position of measuring prism I and prism II；
(2b) utilizes Newton iterative, calculates the D coordinates value at the spatial digitizer center under total station instrument coordinate system；
(3) three-dimensional data of target is measured:
(3a) sets spatial digitizer time of measuring to 15 minutes；
(3b) using spatial digitizer acquisition target position three-dimensional data, the three of total station survey prism I and prism II
Coordinate is tieed up, using corresponding points calculation formula, calculates the transformation matrix between spatial digitizer coordinate system and total station instrument coordinate system；
(3c) utilizes matrix multiple formula, calculates the transformation matrix between spatial digitizer and total station initial position；
(4) judge whether whole three-dimensional datas of acquired complete target, if so, thening follow the steps (8), otherwise, execute
Step (5)；
(5) whether judge the distance between spatial digitizer and total station more than 30 meters, it is no if so, then follow the steps (6)
Then, by spatial digitizer be moved to measurement target another do not survey the position of three-dimensional data after execute step (2)；
(6) measuring prism III coordinate position:
A prism III is being placed apart from 0.5 meter of spatial digitizer remote position, with the three of total station survey prism III
Tie up coordinate position；
(7) mobile total station position:
Mobile total station is to apart from 10 meters of remote positions of spatial digitizer, difference measuring prism I, prism II and prism III
Three-dimensional coordinate position, using Matrix Computation Formulas, calculate total station it is mobile before position and movement after change between volume position
Change matrix；
(8) three-dimensional vision information of target is completed.
Compared with prior art, the invention has the following advantages that
First, the present invention carries out three-dimensional vision information by motion scan instrument to different positions, to target, overcomes existing
There is technology to rely on the deficiency of the geography information such as the magnanimity DEM (elevation map) of Google Earth (Google Maps) offer, image, makes
The geography information target of the invention that Google Earth (Google Maps) can be measured and can not be provided is provided, three-dimensional is further improved
The measurement targeted species of scanner.
Second, the mode that the present invention is combined by using total station with scanner moves total station and spatial digitizer
Three-dimensional vision information is carried out to different location, the three-dimensional data for measuring bigger target is allowed the invention to, improves and sweep
The measurement range of instrument is retouched, experimental cost is cheap and has good operability.
Detailed description of the invention
Fig. 1 is flow chart of the invention；
Fig. 2 is present invention measurement three-dimensional data process schematic.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawing.
Referring to attached drawing 1, specific steps of the invention are described as follows.
Step 1, scanner coordinate system is established.
Using singular value decomposition, the normal vector of scanner holding plane is calculated.Singular value decomposition is as follows:
[S, D, V]=svd (H)
Wherein, H indicates that 3 × 6 matrixes of desktop reflecting piece coordinate composition, S indicate that 3 × 3 matrixes, D are indicated by 3 × 6 matrixes
Eigenvalue cluster at matrix, V indicate 3 × 3 matrixes.
The center of circle of least square method fitting prism I rotary motion trace.Least square method formula is as follows:
Wherein, xi,yi,ziThree direction value of coordinate of prism I are respectively indicated, r indicates the radius of fitting circle, xop,yop,zop
It respectively indicates the center of circle and corresponds to X-axis, the value of Y-axis and Z-direction.
According to intersection formula, the intersection point of plane and desktop normal vector where calculating scanner.Calculate intersection point zo (x, y, z)
Intersect formula:
xsx+ysy+zsZ+1=0
Wherein, x, y and z respectively indicate plane X-axis corresponding with the intersection point of desktop normal vector where spatial digitizer, Y-axis and Z
The value of axis direction, xs, ysAnd zsIt respectively indicates desktop normal vector and corresponds to X-axis, the value of Y-axis and Z-direction.
According to center calculation formula, coordinate of the scanner center under total station instrument coordinate system is calculated.Center calculation formula is such as
Under:
Wherein, x1, y1 and z1 are illustrated respectively in spatial digitizer center under total station instrument coordinate system and correspond to X-axis, Y-axis and Z axis
The value in direction, h indicate the height between spatial digitizer center and spatial digitizer pedestal.
Using the center of scanner as coordinate origin, when scanner is in zero degree position, prism I and prism II direction
For Y-axis, desktop vertical line is Z-direction, establishes right hand three-dimensional system of coordinate, and utilize matrix operation, calculates and obtain scanner coordinate
Transformation matrix between system and total station instrument coordinate system.Transformation matrix R between scanner coordinate system and total station instrument coordinate system is as follows:
[A, X1, Y1, Z1]=R [a, a+ax, a+ay, a+az]
Wherein, A indicates the coordinate origin of spatial digitizer coordinate system, and X1, Y1 and Z1 respectively indicate spatial digitizer coordinate
Three axis directions of system, R indicate that the transformation matrix between spatial digitizer coordinate system and total station instrument coordinate system, a are indicated in whole station
The three-dimensional coordinate at spatial digitizer center under instrument coordinate system, ax indicate X-direction, and ay indicates the Y-axis that prism I and prism II is constituted
Direction, az indicate that desktop normal vector constitutes Z-direction.
Using matrix multiple, coordinate of two prisms under scanner coordinate system is calculated.Matrix operation is as follows:
II (xi, yi, zi, 1)=RI (xI,yI,zI,1)
IIII (xii, yii, zii, 1)=RIII (xII,yII,zII,1)
Wherein, II (xi, yi, zi, 1), IIII (xii, yii, zii, 1) respectively indicate prism I and prism II is swept in three-dimensional
Retouch the three-dimensional coordinate under instrument coordinate system, I (xI,yI,zI, 1), III (xII,yII,zII, 1) and prism I and prism II are respectively indicated complete
The three-dimensional coordinate stood under instrument coordinate system.
Utilize vector form, the distance at calculating scanner center to two prisms.
The vector form is as follows:
Wherein, RaIndicate the distance between prism I and scanner center, RbIt indicates between prism II and scanner center
Distance.
Step 2, measuring prism coordinate.
Manual rotary scanning instrument clockwise rotates 60 degree, with the coordinate of total station survey prism I and prism II.
According to Newton iterative, scanner center coordinate under total station instrument coordinate system is calculated.Newton iterative formula
It is as follows:
Minf (x, y, z)=((x-xa)2+(y-ya)2+(z-za)2-((x-xa_)2+(y-ya_)2+(z-za_)2))2
+((x-xb)2+(y-yb)2+(z-zb)2-((x-xb_)2+(y-yb_)2+(z-zb_)2))2
+((x-xa)2+(y-ya)2+(z-za)2-Ra 2))2
+((x-xb)2+(y-yb)2+(z-zb)2-Rb 2))2
Wherein, f (x, y, z) indicates minimum value, xa,ya,zaTotal station survey prism I is respectively indicated in X-axis, Y-axis and Z axis
The value in direction, xb,yb,zbTotal station survey prism II is respectively indicated in X-axis, the value of Y-axis and Z-direction, xa_,ya_,z_aRespectively
When indicating that spatial digitizer is in initial position, total station survey prism I is in X-axis, the value of Y-axis and Z-direction, xb_,yb_,zb_
When respectively indicating spatial digitizer and being in initial position, total station survey prism II is in X-axis, the value of Y-axis and Z-direction, x, y, z
It respectively indicates spatial digitizer center under total station instrument coordinate system and corresponds to X-axis, the value of Y-axis and Z-direction.
Step 3, three-dimensional data is measured.
It sets scanner time of measuring to 15 minutes.
Using the three-dimensional data of scanner acquisition target position, using corresponding points formula, scanner coordinate system and complete is calculated
The transformation matrix stood between instrument coordinate system.Corresponding points formula is as follows:
[a I II]=Rr[A markerI markerII]
Wherein, I, II respectively indicate the coordinate of prism I and prism II under total station instrument coordinate system, RrIndicate spatial digitizer
Transformation matrix between coordinate system and total station instrument coordinate system, markerI and markerII respectively indicate prism I and prism II is being swept
Retouch the coordinate under instrument coordinate system.
Using matrix multiple, the transformation matrix between scanner and total station initial position is calculated.
Matrix multiple formula is as follows:
Rt=RtempRr
Wherein, RtIndicate the transformation matrix between scanner coordinate system and total station initial position.
Step 4, whether human eye observation has acquired the Complete three-dimensional data of target, if so, 8 are thened follow the steps, otherwise,
Execute step 5.
Step 5, human eye judges whether to need mobile total station position, if so, executing step 6, otherwise, executes step 7.
Step 6, measuring prism coordinate.
A prism III is being placed apart from 0.5 meter of spatial digitizer remote position, with the three of total station survey prism III
Tie up coordinate position.
Mobile total station measures three prism coordinates again, using total station formula, calculates total station to position appropriate
Transformation matrix before mobile and after mobile.Total station formula is as follows:
[I1 II2 III3]=Rtemp [I1' II2' III3']
Wherein, I1, II2And III3Respectively indicate measuring prism I before total station moves, the seat of prism II and prism III
Mark, I1', II2'And III3'Measuring prism I, prism II and prism III coordinate after total station moves are respectively indicated, Rtemp is indicated
The transformation matrix between the position after position and movement before total station is mobile.
Step 7, the position that motion scan instrument does not acquire to another executes step (2).
Step 8, the three-dimensional vision information of target is completed.
Referring to Fig. 2, present invention measurement three-dimensional data process is further described.
In Fig. 2, when a point and scanner survey station 1 are respectively for the first time to target progress three-dimensional vision information, total station
The positional relationship of position and spatial digitizer.Judge whether to need in mobile total station position step 5 in human eye of the present invention, when complete
When standing the distance between instrument and spatial digitizer less than 30 meters, spatial digitizer is moved to scanner from 1 position of scanner survey station
2 position of survey station measures.When the distance between total station and spatial digitizer are greater than 30 meters, total station is moved to b from a point
Point continues to measure.Prism I, prism II are respectively two prisms used in measuring prism coordinate step 2 of the present invention, rib
Mirror III is prism fixed near scanner in measuring prism coordinate step 6 of the present invention.
Claims (9)
1. a kind of three-dimensional vision information method that spatial digitizer is combined with total station, which is characterized in that comprise the following steps:
(1) spatial digitizer coordinate system is established:
(1a) use total station, respectively measure 6 reflecting pieces of desktop three-dimensional coordinate, by each three-dimensional coordinate composition one arrange to
Amount, 6 Column vector groups carry out singular value decomposition to 3 × 6 matrixes, obtain at one 3 × 6 matrix using singular value decomposition formula
To three characteristic values of 3 × 6 matrixes, three characteristic values are constituted to the normal vector of spatial digitizer holding plane；
(1b) uses total station, measures the three-dimensional coordinate of prism I and prism II when scanner is located at original state respectively, turns every time
After dynamic scanner, the three-dimensional coordinate of total station survey prism I, corotation is moved scanner 5 times, obtains 6 coordinates of prism I, is utilized
Least square method calculates the center of circle of circle where 6 three-dimensional coordinates of prism I；
(1c) intersects formula using vector, the D coordinates value of plane and desktop normal vector intersection point where calculating spatial digitizer；
(1d) utilizes center calculation formula, calculates D coordinates value of the spatial digitizer center under total station instrument coordinate system；
(1e) using spatial digitizer laser center as coordinate origin, when spatial digitizer is set to initial position, by prism I and rib
Mirror II direction is Y-axis, and desktop normal vector is Z-direction, establishes right hand three-dimensional system of coordinate, and utilize matrix operation formula,
Calculate the transformation matrix between spatial digitizer coordinate system and total station instrument coordinate system；
(1f) total station survey prism I and prism II coordinate calculate two prisms in spatial digitizer using matrix multiple formula
Coordinate under coordinate system；
(1g) utilize vector calculation formula, calculate separately spatial digitizer center to two prisms distance；
(2) coordinate position of measuring prism I and prism II:
(2a) spatial digitizer is placed on measurement position, and 60 degree of spatial digitizer of rotation manually, uses total station survey clockwise
The coordinate position of prism I and prism II；
(2b) utilizes Newton iterative, calculates the D coordinates value at the spatial digitizer center under total station instrument coordinate system；
(3) three-dimensional data of target is measured:
(3a) sets spatial digitizer time of measuring to 15 minutes；
(3b) using the three-dimensional data of spatial digitizer acquisition target position, total station survey prism I and the three-dimensional of prism II are sat
Mark calculates the transformation matrix between spatial digitizer coordinate system and total station instrument coordinate system using corresponding points calculation formula；
(3c) utilizes matrix multiple formula, calculates the transformation matrix between spatial digitizer and total station initial position；
(4) judge whether whole three-dimensional datas of acquired complete target, if so, thening follow the steps (8), otherwise, execute step
(5)；
(5) whether judge the distance between spatial digitizer and total station more than 30 meters, if so, then follow the steps (6), otherwise,
By spatial digitizer be moved to measurement target another do not survey the position of three-dimensional data after execute step (2)；
(6) measuring prism III coordinate position:
A prism III is being placed apart from 0.5 meter of spatial digitizer remote position, is being sat with the three-dimensional of total station survey prism III
Cursor position；
(7) mobile total station position:
Mobile total station is to apart from 10 meters of remote positions of spatial digitizer, measuring prism I respectively, and the three of prism II and prism III
Coordinate position is tieed up, the transformation square using Matrix Computation Formulas, after the position and movement before calculating total station movement between volume position
Battle array；
(8) three-dimensional vision information of target is completed.
2. the three-dimensional vision information method that spatial digitizer according to claim 1 is combined with total station, feature exist
In: least square method described in step (1b) is as follows:
Wherein, f indicates the minimum value of superposition sum, and min indicates operation of minimizing, and ∑ indicates sum operation,Indicate squared
Root operation, xi, yiAnd ziTotal station i-th measuring prism I is respectively indicated in X-axis, the value of Y-axis and Z-direction, i=1,2 ...,
6, xop, yopAnd zopThe center of circle of 6 three-dimensional coordinate locus circles of prism I is respectively indicated in X-axis, the value of Y-axis and Z-direction, r table
Show the radius of 6 three-dimensional coordinate locus circles of prism I.
3. the three-dimensional vision information method that spatial digitizer according to claim 1 is combined with total station, feature exist
In: it is as follows that vector described in step (1c) intersects formula:
xsx+ysy+zsZ+1=0
Wherein, x, y and z respectively indicate plane X-axis corresponding with the intersection point of desktop normal vector where spatial digitizer, Y-axis and Z axis side
To value；xs, ysAnd zsIt respectively indicates desktop normal vector and corresponds to X-axis, the value of Y-axis and Z-direction；xop, yopAnd zopIt respectively indicates
The center of circle of 6 three-dimensional coordinate locus circles of prism I is in X-axis, the value of Y-axis and Z-direction.
4. the three-dimensional vision information method that spatial digitizer according to claim 1 is combined with total station, feature exist
In: center calculation formula described in step (1d) is as follows:
Wherein, x1, y1 and z1 are illustrated respectively in spatial digitizer center under total station instrument coordinate system and correspond to X-axis, Y-axis and Z-direction
Value, h indicates the height between spatial digitizer center and spatial digitizer pedestal；X, y and z respectively indicate spatial digitizer institute
In plane X-axis corresponding with the intersection point of desktop normal vector, the value of Y-axis and Z-direction；xs, ysAnd zsRespectively indicate desktop normal vector pair
Answer X-axis, the value of Y-axis and Z-direction.
5. the three-dimensional vision information method that spatial digitizer according to claim 1 is combined with total station, feature exist
In: matrix operation formula described in step (1e) is as follows:
[A, X1, Y1, Z1]=R [a, a+ax, a+ay, a+az]
Wherein, A indicates the coordinate origin of spatial digitizer coordinate system, and X1, Y1 and Z1 respectively indicate spatial digitizer coordinate system
Three axis directions, R indicate that the transformation matrix between spatial digitizer coordinate system and total station instrument coordinate system, a indicate to sit in total station
Mark is the three-dimensional coordinate at lower spatial digitizer center, and ax indicates X-direction, and ay indicates the Y-axis side that prism I and prism II is constituted
To az indicates that desktop normal vector constitutes Z-direction.
6. the three-dimensional vision information method that spatial digitizer according to claim 1 is combined with total station, feature exist
In: matrix multiple formula described in step (1f) is as follows:
II (xi, yi, zi, 1)=RI (xI,yI,zI,1)
IIII (xii, yii, zii, 1)=RIII (xII,yII,zII,1)
Wherein, II (xi, yi, zi, 1), IIII (xii, yii, zii, 1) respectively indicate prism I and prism II in spatial digitizer
Three-dimensional coordinate under coordinate system, I (xI,yI,zI, 1), III (xII,yII,zII, 1) and prism I and prism II are respectively indicated in total station
Three-dimensional coordinate under coordinate system, R indicate the transformation matrix between spatial digitizer coordinate system and total station instrument coordinate system.
7. the three-dimensional vision information method that spatial digitizer according to claim 1 is combined with total station, feature exist
In: Newton iterative described in step (2b) is as follows:
Minf (x, y, z)=((x-xa)2+(y-ya)2+(z-za)2-((x-xa_)2+(y-ya_)2+(z-za_)2))2+((x-xb)2+
(y-yb)2+(z-zb)2-((x-xb_)2+(y-yb_)2+(z-zb_)2))2+((x-xa)2+(y-ya)2+(z-za)2-Ra 2))2+((x-
xb)2+(y-yb)2+(z-zb)2-Rb 2))2
Wherein, f (x, y, z) indicates minimum value, xa,ya,zaTotal station survey prism I is respectively indicated in X-axis, Y-axis and Z-direction
Value, xb,yb,zbTotal station survey prism II is respectively indicated in X-axis, the value of Y-axis and Z-direction, xa_,ya_,za_It respectively indicates
When spatial digitizer is in initial position, total station survey prism I is in X-axis, the value of Y-axis and Z-direction, xb_,yb_,zb_Respectively
When indicating that spatial digitizer is in initial position, total station survey prism II is in X-axis, the value of Y-axis and Z-direction, x, y, z difference
Indicate that spatial digitizer center corresponds to X-axis, the value of Y-axis and Z-direction, R under total station instrument coordinate systemaIndicate prism I and scanner
The distance between center, RbIndicate the distance between prism II and scanner center.
8. the three-dimensional vision information method that spatial digitizer according to claim 1 is combined with total station, feature exist
In: corresponding points calculation formula described in step (3b) is as follows:
[a I II]=Rr[A markerI markerII]
Wherein, a indicates the three-dimensional coordinate at the spatial digitizer center under total station instrument coordinate system, and I, II respectively indicate prism I and rib
Coordinate of the mirror II under total station instrument coordinate system, RrIndicate the transformation square between spatial digitizer coordinate system and total station instrument coordinate system
Battle array, A indicate the coordinate origin of spatial digitizer coordinate system, markerI and markerII respectively indicates prism I and prism II is being swept
Retouch the coordinate under instrument coordinate system.
9. the three-dimensional vision information method that spatial digitizer according to claim 1 is combined with total station, feature exist
In: Matrix Computation Formulas described in step (7) is as follows:
[I1 II2 III3]=Rtemp [I1' II2' III3']
Wherein, I1, II2And III3Respectively indicate measuring prism I before total station moves, the coordinate of prism II and prism III, I1',
II2'And III3'Measuring prism I, prism II and prism III coordinate after total station moves are respectively indicated, Rtemp indicates total station
The transformation matrix between the position after position and movement before movement.
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| CN108844490A (en) * | 2018-06-25 | 2018-11-20 | 中国铁建重工集团有限公司 | A kind of tunnel contour positioning scanning device and relevant apparatus and method |
| JP7120723B2 (en) * | 2018-08-03 | 2022-08-17 | 株式会社トプコン | laser scanner system |
| CN109360267B (en) * | 2018-09-29 | 2023-06-06 | 杭州蓝芯科技有限公司 | Rapid three-dimensional reconstruction method for thin object |
| CN111982057A (en) * | 2020-03-25 | 2020-11-24 | 中铁大桥局集团第二工程有限公司 | Main bridge steel beam closure opening distance monitoring method |
| CN113592989B (en) * | 2020-04-14 | 2024-02-20 | 广东博智林机器人有限公司 | Three-dimensional scene reconstruction system, method, equipment and storage medium |
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