CN107741222A - A kind of rule method and system of unordered cloud - Google Patents
A kind of rule method and system of unordered cloud Download PDFInfo
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- CN107741222A CN107741222A CN201711012759.1A CN201711012759A CN107741222A CN 107741222 A CN107741222 A CN 107741222A CN 201711012759 A CN201711012759 A CN 201711012759A CN 107741222 A CN107741222 A CN 107741222A
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- laser spots
- division points
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- scan line
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of rule method of unordered cloud.This method includes：The trajectory of acquisition scans car；Trajectory is divided, obtains division points, the spacing of each division points is identical；Build the virtual scarf of each division points；Calculate laser spots on virtual scarf and be spatially less than the laser spots of threshold value apart from virtual scarf to the azimuth of division points；Laser spots are linked in sequence according to azimuthal size, obtain scan line, the wire size of mark scan line；Mark the period of laser spots in order according to azimuthal size；Each laser spots laser spots closest in adjacent scanning lines are searched, record the period of laser spots nearest corresponding to each laser spots；The wire size of scan line, the period of laser spots, the period of laser spots nearest corresponding to each laser spots are obtained, establishes the topological relation of point cloud.The present invention can realize the regularization of unordered cloud, improve the efficiency that point cloud automatically extracts, the threedimensional model of quick accurate structure target object.
Description
Technical field
The present invention relates to vehicle-mounted laser point cloud field, more particularly to a kind of rule method and system of unordered cloud.
Background technology
In recent years, laser scanner technique is increasingly favored by every field, and it can quickly obtain mesh on a large scale
Target surface information.Vehicle-borne Laser Scanning technology has begun to be widely used in geomatics industry, for obtaining city
Three-dimensional data, build digital city.The spatial sampling point collected by laser scanning is referred to as " point cloud ", contains in point cloud abundant
Landform and terrestrial object information, cloud data is automatically extracted can be with the characteristic information in identification point cloud, such as kerb line, isolation
Tens of kinds of road key elements such as band, street lamp, electric pole, electric wire, trunk, label, metope, so as to build the three-dimensional mould of target object
Type.
But current vehicle-mounted laser point cloud is mostly unordered, i.e. logic is indefinite in point cloud, it is impossible to which building topology closes
System.Unordered cloud can influence the efficiency automatically extracted, so as to influence the efficiency and accuracy of target object threedimensional model structure.
The content of the invention
It is an object of the invention to provide a kind of rule method and system of unordered cloud, to establish opening up inside a cloud
Relation is flutterred, the laser spots in a cloud is arranged in order, so as to improve the efficiency that a cloud automatically extracts, quick accurate structure mesh
Mark the threedimensional model of object.
To achieve the above object, the invention provides following scheme：
A kind of rule method of unordered cloud, methods described include：
The trajectory of acquisition scans car；
The trajectory is divided, obtains division points, the spacing of each division points is identical；
The virtual scarf of each division points of structure；
Calculate the laser spots on the virtual scarf and be spatially less than swashing for threshold value apart from the virtual scarf
Luminous point is to the azimuth of the division points；
The laser spots are linked in sequence according to azimuthal size, scan line is obtained, marks the scan line
Wire size；And mark the period of the laser spots in order according to azimuthal size；
Each laser spots laser spots closest in the adjacent scan line are searched, record each laser
The period of nearest laser spots corresponding to point；
Obtain the wire size of the scan line, the period of the laser spots, laser nearest corresponding to each laser spots
The period of point, the topological relation established inside point cloud.
Optionally, the spacing of each division points is 5cm-10cm.
Optionally, in the division points, the trajectory and the angle of the virtual scarf are 45 °.
Optionally, when the laser spots are linked in sequence according to azimuthal size, if multiple azimuths be present
Identical laser spots, then selection and the division points are apart from minimum laser spots.
Present invention also offers a kind of regularization system of unordered cloud, the system includes：
Acquisition module, the trajectory for acquisition scans car；
Division points acquisition module, for being divided to the trajectory, division points are obtained, between each division points
Away from identical；
Scarf builds module, for building the virtual scarf of each division points；
Azimuthal angle calculation module, for calculating the virtually laser spots on scarf and spatially apart from described virtual
Scarf is less than the laser spots of threshold value to the azimuth of the division points；
Scan line acquisition module, for the laser spots to be linked in sequence according to azimuthal size, scanned
Line, mark the wire size of the scan line；
Period mark module, for marking the period of the laser spots in order according to azimuthal size；
Searching modul, the laser spots closest in the adjacent scan line for searching each laser spots, note
Record the period of laser spots nearest corresponding to each laser spots；
Topological relation establishes module, for obtain the wire size of the scan line, the laser spots period, each described swash
The period of nearest laser spots corresponding to luminous point, the topological relation established inside point cloud.
Optionally, the spacing of each division points is 5cm-10cm.
Optionally, in the division points, the trajectory and the angle of the virtual scarf are 45 °.
Optionally, when the laser spots are linked in sequence according to azimuthal size, if multiple azimuths be present
Identical laser spots, then selection and the division points are apart from minimum laser spots.
Compared with prior art, the present invention has following technique effect：The invention provides a kind of rule of unordered cloud
Change method and system, the topological relation that can be established between a cloud by this method and system, make the laser spots in a cloud in suitable
Sequence arranges, and realizes the regularization of unordered cloud, ensures the relatively uniform of point cloud, so as to improve the efficiency that a cloud automatically extracts, soon
The threedimensional model of fast accurate structure target object.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is a kind of flow chart of the rule method of unordered cloud provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram provided in an embodiment of the present invention for establishing scan line；
Fig. 3 is the schematic diagram provided in an embodiment of the present invention for establishing point cloud inner topology relation.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
It is an object of the invention to provide a kind of rule method and system of unordered cloud, to establish opening up inside a cloud
Relation is flutterred, the laser spots in a cloud is arranged in order, so as to improve the efficiency that a cloud automatically extracts, quick accurate structure mesh
Mark the threedimensional model of object.
In order to facilitate the understanding of the purposes, features and advantages of the present invention, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is further detailed explanation.
Fig. 1 is a kind of flow chart of the rule method of unordered cloud provided in an embodiment of the present invention, as shown in figure 1, one
The rule method of unordered cloud of kind includes：
Step 101：The trajectory of acquisition scans car.
Specifically, fitted using onboard system acquisition trajectories line, or hand drawn trajectory, and to the trajectory
When smoothing processing.
Step 102：The trajectory is divided, obtains division points, the spacing of each division points is identical.
Specifically, divided to the trajectory, due to Riegl laser VMX450 in 70 kilometers of speed per hour line at intervals of
10cm, therefore, the spacing of each division points is 5cm-10cm.
Step 103：The virtual scarf of each division points of structure.
Specifically, in the division points, the trajectory and the angle of the virtual scarf are 45 °.If angle is set
For 0 degree (i.e. vertical plane), the boundary information of many montant class atural objects (lamp stand, trunk) will be lost；If angle is set excessive (near
Like horizontal plane), road tooth, hand over the characteristic information of the atural objects such as mark, electric wire to lose.The placement angular range of general vehicle-mounted laser device exists
30 degree~60 degree, so the trajectory and the angle of the virtual scarf are 45 ° in the present invention.
Step 104：Calculate the laser spots on the virtual scarf and be spatially less than apart from the virtual scarf
The laser spots of threshold value are to the azimuth of the division points.
Step 105：The laser spots are linked in sequence according to azimuthal size, obtain scan line, described in mark
The wire size of scan line；And mark the period of the laser spots in order according to azimuthal size.
Specifically, the schematic diagram for establishing scan line as shown in Figure 2, α is azimuth, and a1 is the period of laser spots, and L1 is
The laser spots are linked in sequence according to azimuthal size, obtain the wire size of scan line, T is the trajectory of scanning car.
When the laser spots are linked in sequence according to azimuthal size, if multiple azimuth identical laser spots be present,
The selection laser spots minimum with division points distance.
Step 106：Each laser spots laser spots closest in the adjacent scan line are searched, record is each
The period of nearest laser spots corresponding to the laser spots.
Step 107：Obtain the wire size of the scan line, the period of the laser spots, corresponding to each laser spots most
The period of near laser spots, the topological relation established inside point cloud.
Specifically, the schematic diagram of foundation point cloud inner topology relation as shown in Figure 3, L1 and L2 are two adjacent scannings
The wire size of line, b1 are the period of laser spots a1 laser spots closest on the adjacent scan line L2.Obtain the scanning
The wire size of line, the period of the laser spots, the period of laser spots nearest corresponding to each laser spots, you can establish a point cloud
Internal topological relation.
The topological relation that can be established between a cloud by above-described embodiment provided by the invention, make the laser spots in a cloud
Arranged in order, realize the regularization of unordered cloud, ensure the relatively uniform of point cloud, so as to improve the effect that a cloud automatically extracts
Rate, the threedimensional model of quick accurate structure target object.
Present invention also offers a kind of regularization system of unordered cloud, the system includes：
Acquisition module, the trajectory for acquisition scans car.
Specifically, fitted using onboard system acquisition trajectories line, or hand drawn trajectory, and to the trajectory
When smoothing processing.
Division points acquisition module, for being divided to the trajectory, division points are obtained, between each division points
Away from identical.
Specifically, divided to the trajectory, due to Riegl laser VMX450 in 70 kilometers of speed per hour line at intervals of
10cm, therefore, the spacing of each division points is 5cm-10cm.
Scarf builds module, for building the virtual scarf of each division points.
Specifically, in the division points, the trajectory and the angle of the virtual scarf are 45 °.If angle is set
For 0 degree (i.e. vertical plane), the boundary information of many montant class atural objects (lamp stand, trunk) will be lost；If angle is set excessive (near
Like horizontal plane), road tooth, hand over the characteristic information of the atural objects such as mark, electric wire to lose.The placement angular range of general vehicle-mounted laser device exists
30 degree~60 degree, so the trajectory and the angle of the virtual scarf are 45 ° in the present invention.
Azimuthal angle calculation module, for calculating the virtually laser spots on scarf and spatially apart from described virtual
Scarf is less than the laser spots of threshold value to the azimuth of the division points.
Scan line acquisition module, for the laser spots to be linked in sequence according to azimuthal size, scanned
Line；The wire size of the scan line is marked, if multiple azimuth identical laser spots be present, selection is with the division points apart from most
Small laser spots.
Period mark module, for marking the period of the laser spots in order according to azimuthal size.
Searching modul, the laser spots closest in the adjacent scan line for searching each laser spots, note
Record the period of laser spots nearest corresponding to each laser spots.
Topological relation establishes module, for obtain the wire size of the scan line, the laser spots period, each described swash
The period of nearest laser spots corresponding to luminous point, the topological relation established inside point cloud.
In this specification for system disclosed in embodiment, because it is corresponded to the method disclosed in Example, institute
With the fairly simple of description, related part is referring to method part illustration.
Specific case used herein is set forth to the principle and embodiment of the present invention, and above example is said
It is bright to be only intended to help the method and its core concept for understanding the present invention；Meanwhile for those of ordinary skill in the art, foundation
The thought of the present invention, in specific embodiments and applications there will be changes.In summary, this specification content is not
It is interpreted as limitation of the present invention.
Claims (8)
1. a kind of rule method of unordered cloud, it is characterised in that methods described includes：
The trajectory of acquisition scans car；
The trajectory is divided, obtains division points, the spacing of each division points is identical；
The virtual scarf of each division points of structure；
Calculate the laser spots on the virtual scarf and be spatially less than the laser spots of threshold value apart from the virtual scarf
To the azimuth of the division points；
The laser spots are linked in sequence according to azimuthal size, scan line is obtained, marks the wire size of the scan line；
And mark the period of the laser spots in order according to azimuthal size；
Each laser spots laser spots closest in the adjacent scan line are searched, record each laser spots pair
The period for the nearest laser spots answered；
Obtain the wire size of the scan line, the period of the laser spots, laser spots nearest corresponding to each laser spots
Period, the topological relation established inside point cloud.
2. according to the method for claim 1, it is characterised in that the spacing of each division points is 5cm-10cm.
3. according to the method for claim 1, it is characterised in that in the division points, the trajectory with it is described it is virtual tiltedly
The angle of section is 45 °.
4. according to the method for claim 1, it is characterised in that described in being linked in sequence according to azimuthal size
During laser spots, if multiple azimuth identical laser spots be present, the selection laser spots minimum with division points distance.
5. a kind of regularization system of unordered cloud, it is characterised in that the system includes：
Acquisition module, the trajectory for acquisition scans car；
Division points acquisition module, for being divided to the trajectory, division points are obtained, the spacing phase of each division points
Together；
Scarf builds module, for building the virtual scarf of each division points；
Azimuthal angle calculation module, for calculating the laser spots on the virtual scarf and spatially virtually being chamfer apart from described
Face is less than the laser spots of threshold value to the azimuth of the division points；
Scan line acquisition module, for the laser spots to be linked in sequence according to azimuthal size, scan line is obtained, marked
Remember the wire size of the scan line；
Period mark module, for marking the period of the laser spots in order according to azimuthal size；
Searching modul, the laser spots closest in the adjacent scan line for searching each laser spots, record are every
The period of nearest laser spots corresponding to individual laser spots；
Topological relation establishes module, for obtaining the wire size of the scan line, the period of the laser spots, each laser spots
The period of corresponding nearest laser spots, the topological relation established inside point cloud.
6. system according to claim 5, it is characterised in that the spacing of each division points is 5cm-10cm.
7. system according to claim 5, it is characterised in that in the division points, the trajectory with it is described it is virtual tiltedly
The angle of section is 45 °.
8. system according to claim 5, it is characterised in that described in being linked in sequence according to azimuthal size
During laser spots, if multiple azimuth identical laser spots be present, the selection laser spots minimum with division points distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711012759.1A CN107741222B (en) | 2017-10-26 | 2017-10-26 | regularization method and system for disordered point cloud |
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| CN201711012759.1A CN107741222B (en) | 2017-10-26 | 2017-10-26 | regularization method and system for disordered point cloud |
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| CN107741222A true CN107741222A (en) | 2018-02-27 |
| CN107741222B CN107741222B (en) | 2019-12-17 |
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| CN114202625A (en) * | 2021-12-10 | 2022-03-18 | 北京百度网讯科技有限公司 | Method and device for extracting road shoulder line and electronic equipment |
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