CN107797129B - 无gnss信号下的点云数据采集方法及装置 - Google Patents
无gnss信号下的点云数据采集方法及装置 Download PDFInfo
- Publication number
- CN107797129B CN107797129B CN201710954082.7A CN201710954082A CN107797129B CN 107797129 B CN107797129 B CN 107797129B CN 201710954082 A CN201710954082 A CN 201710954082A CN 107797129 B CN107797129 B CN 107797129B
- Authority
- CN
- China
- Prior art keywords
- data
- point cloud
- odometer
- position information
- whole
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000005259 measurement Methods 0.000 claims abstract description 33
- 238000012952 Resampling Methods 0.000 claims abstract description 6
- 238000012545 processing Methods 0.000 claims description 12
- 238000005457 optimization Methods 0.000 claims description 11
- 238000005070 sampling Methods 0.000 claims description 6
- 238000013480 data collection Methods 0.000 claims 5
- 238000010586 diagram Methods 0.000 description 5
- 238000012937 correction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- 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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
-
- 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
- G01C21/1652—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 with ranging devices, e.g. LIDAR or RADAR
-
- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
-
- 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
-
- 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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4808—Evaluating distance, position or velocity data
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Description
Claims (10)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710954082.7A CN107797129B (zh) | 2017-10-13 | 2017-10-13 | 无gnss信号下的点云数据采集方法及装置 |
US16/300,963 US11385359B2 (en) | 2017-10-13 | 2017-12-25 | Point cloud data acquisition method and device under situation of no GNSS signal |
PCT/CN2017/118367 WO2019071840A1 (zh) | 2017-10-13 | 2017-12-25 | 无gnss信号下的点云数据采集方法及装置 |
EP17908768.9A EP3696577A4 (en) | 2017-10-13 | 2017-12-25 | METHOD AND DEVICE FOR ACQUIRING POINT CLOUD DATA IN THE ABSENCE OF GNSS SIGNAL |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710954082.7A CN107797129B (zh) | 2017-10-13 | 2017-10-13 | 无gnss信号下的点云数据采集方法及装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107797129A CN107797129A (zh) | 2018-03-13 |
CN107797129B true CN107797129B (zh) | 2020-06-05 |
Family
ID=61533028
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710954082.7A Active CN107797129B (zh) | 2017-10-13 | 2017-10-13 | 无gnss信号下的点云数据采集方法及装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US11385359B2 (zh) |
EP (1) | EP3696577A4 (zh) |
CN (1) | CN107797129B (zh) |
WO (1) | WO2019071840A1 (zh) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111220992B (zh) * | 2018-11-26 | 2022-05-20 | 长沙智能驾驶研究院有限公司 | 雷达数据融合方法、装置及系统 |
CN109993700B (zh) * | 2019-04-03 | 2023-07-04 | 百度在线网络技术(北京)有限公司 | 数据处理方法、装置、电子设备及计算机可读存储介质 |
CN109975848B (zh) * | 2019-04-19 | 2023-03-31 | 重庆市勘测院 | 基于rtk技术的移动测量系统精度优化方法 |
CN110501712B (zh) * | 2019-09-05 | 2022-06-28 | 北京百度网讯科技有限公司 | 无人驾驶中用于确定位置姿态数据的方法、装置和设备 |
CN111007554A (zh) * | 2019-12-11 | 2020-04-14 | 武汉海达数云技术有限公司 | 数据采集时间同步系统和方法 |
WO2021218620A1 (zh) * | 2020-04-30 | 2021-11-04 | 上海商汤临港智能科技有限公司 | 地图构建方法、装置、设备及存储介质 |
CN112235041A (zh) * | 2020-12-18 | 2021-01-15 | 成都纵横大鹏无人机科技有限公司 | 实时点云的处理系统、方法及机载数据采集装置、方法 |
CN113280798B (zh) * | 2021-07-20 | 2021-10-01 | 四川省公路规划勘察设计研究院有限公司 | 隧道gnss拒止环境下车载扫描点云的几何纠正方法 |
CN113721255B (zh) * | 2021-08-17 | 2023-09-26 | 北京航空航天大学 | 基于激光雷达与视觉融合的列车站台停车点精准检测方法 |
CN113959436A (zh) * | 2021-10-14 | 2022-01-21 | 重庆数字城市科技有限公司 | 一种激光点云数据实时处理系统和方法 |
CN114362867B (zh) * | 2021-12-14 | 2023-08-01 | 山东科技大学 | 一种用于深拖系统的时间同步和数据存储工作方法 |
CN114710228B (zh) * | 2022-05-31 | 2022-09-09 | 杭州闪马智擎科技有限公司 | 一种时间的同步方法、装置、存储介质及电子装置 |
CN114754769B (zh) * | 2022-06-15 | 2022-11-18 | 天津大学四川创新研究院 | 激光雷达与惯性传感器的数据同步授时系统和方法 |
CN115308724B (zh) * | 2022-08-09 | 2023-07-07 | 四川大学 | 一种立木树高测量方法 |
CN115061211B (zh) * | 2022-08-18 | 2022-11-18 | 国网山东省电力公司滨州市沾化区供电公司 | 一种城网地埋电缆路径图校正方法及系统 |
CN116931037B (zh) * | 2023-09-15 | 2023-12-22 | 中国科学院国家空间科学中心 | 一种掩星探测的数据校正方法、装置及设备 |
CN117570972B (zh) * | 2023-11-20 | 2024-06-28 | 重庆市测绘科学技术研究院 | 基于多条件约束的车载移动测量点云精度提升方法及装置 |
CN117668574B (zh) * | 2024-01-31 | 2024-05-14 | 利亚德智慧科技集团有限公司 | 光影秀的数据模型优化方法、装置、设备及存储介质 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102338616A (zh) * | 2010-07-22 | 2012-02-01 | 首都师范大学 | 三维测量系统及方法 |
CN105628026A (zh) * | 2016-03-04 | 2016-06-01 | 深圳大学 | 一种移动物体的定位定姿方法和系统 |
CN105808672A (zh) * | 2016-03-01 | 2016-07-27 | 重庆市勘测院 | 基于浏览器的海量三维点云数据的发布方法 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9846232B1 (en) * | 2012-01-05 | 2017-12-19 | Teledyne Reson A/S | Use of multi-beam sonar systems to generate point cloud data and models; data registration in underwater metrology applications |
US9523763B2 (en) * | 2013-03-03 | 2016-12-20 | The Boeing Company | Satellite-based integer cycle ambiguity resolution of local medium wave radio signals |
CN105203023B (zh) * | 2015-07-10 | 2017-12-05 | 中国人民解放军信息工程大学 | 一种车载三维激光扫描系统安置参数的一站式标定方法 |
JP2022502784A (ja) * | 2018-10-29 | 2022-01-11 | ディージェイアイ テクノロジー、インコーポレイテッド | 可動物体環境におけるリアルタイムマッピングシステム、方法、及びコンピュータプログラム |
WO2020264060A1 (en) * | 2019-06-24 | 2020-12-30 | DeepMap Inc. | Determining weights of points of a point cloud based on geometric features |
-
2017
- 2017-10-13 CN CN201710954082.7A patent/CN107797129B/zh active Active
- 2017-12-25 EP EP17908768.9A patent/EP3696577A4/en active Pending
- 2017-12-25 US US16/300,963 patent/US11385359B2/en active Active
- 2017-12-25 WO PCT/CN2017/118367 patent/WO2019071840A1/zh active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102338616A (zh) * | 2010-07-22 | 2012-02-01 | 首都师范大学 | 三维测量系统及方法 |
CN105808672A (zh) * | 2016-03-01 | 2016-07-27 | 重庆市勘测院 | 基于浏览器的海量三维点云数据的发布方法 |
CN105628026A (zh) * | 2016-03-04 | 2016-06-01 | 深圳大学 | 一种移动物体的定位定姿方法和系统 |
Also Published As
Publication number | Publication date |
---|---|
WO2019071840A1 (zh) | 2019-04-18 |
EP3696577A1 (en) | 2020-08-19 |
US20210223408A1 (en) | 2021-07-22 |
US11385359B2 (en) | 2022-07-12 |
CN107797129A (zh) | 2018-03-13 |
EP3696577A4 (en) | 2021-07-14 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107797129B (zh) | 无gnss信号下的点云数据采集方法及装置 | |
WO2022127532A1 (zh) | 一种激光雷达与imu的外参标定方法、装置及设备 | |
Puente et al. | Accuracy verification of the Lynx Mobile Mapper system | |
CN102575933B (zh) | 地图图像综合数据库生成系统以及地图图像综合数据库生成程序 | |
EP3989170A1 (en) | Vehicle position and posture determination method and apparatus, and electronic device | |
CN113820735B (zh) | 位置信息的确定方法、位置测量设备、终端及存储介质 | |
CN109807911B (zh) | 基于gnss、uwb、imu、激光雷达、码盘的室外巡逻机器人多环境联合定位方法 | |
CN114444158B (zh) | 一种基于三维重建的地下巷道形变预警方法及系统 | |
CN104236522A (zh) | 三维可视化测量系统 | |
CN106370435A (zh) | 道路谱采集系统、车辆和道路谱采集方法 | |
CN110262538B (zh) | 地图数据采集方法、装置、设备及存储介质 | |
CN106996795A (zh) | 一种车载激光外参标定方法和装置 | |
CN116399324A (zh) | 建图方法、装置及控制器、无人驾驶车辆 | |
WO2021048971A1 (ja) | 位置計測装置、位置計測方法、及びプログラム | |
Yadav et al. | Developing basic design and mathematical framework for a mobile mapping system—a case study using available sensors | |
US8244431B2 (en) | Determining velocity using multiple sensors | |
JP6773473B2 (ja) | 測量情報管理装置および測量情報管理方法 | |
Yakar et al. | The use of laser scanner in caves, encountered problems and solution suggestion | |
CN107869990B (zh) | 室内位置数据的采集方法及装置、计算机设备及可读介质 | |
WO2022256976A1 (zh) | 稠密点云真值数据的构建方法、系统和电子设备 | |
CN111693043B (zh) | 地图数据处理方法以及设备 | |
CN113607051B (zh) | 一种非暴露空间数字化数据的采集方法、系统及存储介质 | |
Shi et al. | Reference-plane-based approach for accuracy assessment of mobile mapping point clouds | |
Halgaš et al. | Technical devices cooperation to obtain data for 3D environment modelling | |
CN109932739A (zh) | 适应性权重调适的定位方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240305 Address after: 401120 No. 6, Qingzhu East Road, Dazhulin, Yubei District, Chongqing Patentee after: Chongqing Institute of Surveying and Mapping Science and Technology (Chongqing Map Compilation Center) Country or region after: China Address before: No. 231 Diance Village, Jiangbei District, Chongqing, 401121 Patentee before: CHONGQING SURVEY INSTITUTE Country or region before: China Patentee before: CHONGQING CYBERCITY SCI-TECH Co.,Ltd. |
|
TR01 | Transfer of patent right |