CN108007383B - Outline of house developing algorithm based on range of triangle - Google Patents
Outline of house developing algorithm based on range of triangle Download PDFInfo
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- CN108007383B CN108007383B CN201711252353.0A CN201711252353A CN108007383B CN 108007383 B CN108007383 B CN 108007383B CN 201711252353 A CN201711252353 A CN 201711252353A CN 108007383 B CN108007383 B CN 108007383B
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- turning point
- metope
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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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Abstract
The invention proposes a kind of outline of house developing algorithm based on range of triangle, it is projected on metope using the one word linear laser of level of three-dimensional laser scanner and vertical word linear laser, due to the presence of metope inside corner line, laser rays can be modulated into the form of broken line, the three-dimensional coordinate that the mathematical model that the image coordinate of turning point is updated to range of triangle calculates turning point, can be constructed the profile of metope by the turning point for detecting broken line come algorithm for design by the image of the industrial camera acquisition in reception device.Wherein a word linear laser of horizontal projection is used to construct the vertical profile of metope, and the word linear laser projected vertically is used to construct the horizontal profile in house.The building of outline of house is realized by the scan path planned, obtained cloud can imported into the three-dimensional drawings software such as CAXA the size for directly measuring house.It solves the work of mediating of upfitter indoors and measures size inconvenience, the lower problem of precision.
Description
Technical field
The present invention relates to construction account technical field more particularly to a kind of outline of house developing algorithms.
Background technique
In traditional interior decoration, need to carry out the measurement of wall size, it can be by measuring obtained size
Row cost accounting and the budget of finishing material etc..The size meeting in the especially large-scale house of house size is measured by manually
There are many inconveniences.Therefore efficiency can be improved in the size that house is measured by the instrument of automation, improves the essence of measurement
Degree.The present invention develops the developing algorithm of outline of house on the basis of designed three-dimensional laser scanner, realizes house size
Measurement.
Summary of the invention
The present invention is directed to develop a kind of developing algorithm of outline of house on the basis of three-dimensional laser scanner, pass through the algorithm
The profile in house can be constructed automatically, and is used to measure the size in house, it is intended to solve manual measurement room in finishing indoors
Room size is inconvenient, the lower problem of precision.
The present invention adopts the following technical scheme:
A kind of outline of house developing algorithm based on range of triangle, the algorithm is using three-dimensional laser scanner realization, institute
State three-dimensional laser scanner include pitching rotary, horizontal revolving stage, vertical word linear laser, one word linear laser of level and
Reception device；The one word linear laser of level and vertical word linear laser project on house wall surface, due to metope
The presence of inside corner line, laser rays can be appeared as the form of broken line, by image that industrial camera in reception device obtains come
The mathematical model that the image coordinate of turning point is updated to range of triangle, is calculated the three-dimensional of turning point by the turning point for detecting broken line
Coordinate can construct the profile of metope according to scanning Trajectory Arithmetic；Wherein, the turning point detection the following steps are included:
(1) initial option turning point
First step-length s of selected pixels traversal1, then the calculation formula of slope are as follows:
K (i)=(P (i+s1-1).v-P(i).v)/(P(i+s1-1).u-P(i).u)
Wherein, P (i) .u represents the i-th point of coordinate on pixel coordinate system u axis on striation, and P (i) .v represents striation
On the i-th point of coordinate on pixel coordinate system v axis；P (i) is defined as primary election turning point if i meets following criterion:
k(i+s2) × k (i) < 0, s2For first choice step-length；
(2) turning point is further selected
Choose the traversal step-length s of slope3, s1>s3, it obtains:
Kk (i)=(P (i+s3-1).v-P(i).v)/(P(i+s3-1).u-P(i).u)
P (i) is defined as approximate turning point if i meets following criterion:
kk(i+s4) × kk (i) < 0, s4For the second selection step-length；
(3) intersection point of fitting a straight line is sought
In order to acquire more accurate turning point information, turning point is carried out by the way of finding intersection by straight line fitting
It solves；On the basis of approximate turning point, forward with respectively select N number of pixel backward, and straight line is done by least square method respectively
Fitting, the intersection point for then acquiring two straight lines is turning point.
Further, by tripod supporting pitch turntable, horizontal revolving stage is installed on the pitching rotary, in the water
Two word linear lasers and reception device are installed on flat turn platform.
Further, outline of house includes the building and the building of vertical profile of horizontal profile, wherein the structure of horizontal profile
The building of the building and metope lower part inside corner line that are divided into metope top inside corner line is built, metope top inside corner line is constructed by rotation
Pitching rotary is rotated further by horizontal revolving stage to elevation angle state to realize；The rotation pitching rotary that is constructed by of metope lower part inside corner line arrives
Angle of depression state is rotated further by horizontal revolving stage to realize；The operating process of the building of vertical profile is as follows: being turned first by rotation pitching
Platform realizes the building of a vertical inside corner line of metope, later by rotation horizontal revolving stage to the position of other vertical inside corner lines, then
Rotation pitching rotary realizes the building of the vertical inside corner line of other metopes.
Further, the building of metope lower part inside corner line includes: that pitching rotary is turned to angle of depression state in horizontal profile,
The detection of a turning point is done in every 0.3 ° of the rotation of horizontal revolving stage later, and horizontal revolving stage rotates 360 ° of scannings for realizing one week；Industry
Camera gets image, and by distortion correction, gray processing handles and pass through the pixel coordinate that grey scale centre of gravity method obtains striation；Definition
Pixel coordinate on striation is followed successively by P1,P2,…Pn, step (1)-(3) acquire turning point PB, are then based on PB and acquire vertical side
The testing process of upward turning point PA, PA are as follows:
A. it selects 80 pixels to do straight line fitting forward on the basis of PB, and this straight line is defined as L2；
B. the distance d from point P1 to PB to straight line L2 is acquired；
C. given threshold d is traversed from P1 to PB to the distance of straight line L2, and is less than threshold value d for first
Point be defined as Pk；
D. P is used1,P2,…PkThese points do straight line fitting, this straight line is defined as L1.
E. the intersection point of straight line L1 and straight line L2 are defined as PA.
Further, the scanning Trajectory Arithmetic includes:
S1, spatial digitizer is placed among house, pitch rotation plate is adjusted to horizontality, adjusts and sweeps vertically
The angular range retouched, principle are in camera fields of view it can be seen that the top and lower part of the horizontal inside corner line of metope；
S2, pitching rotary are rotated up α degree and stop, and start turning horizontal revolving stage and realize 360 ° of metope top inside corner line
Scanning, scanned horizontal revolving stage return to initial position；
S3, pitching rotary rotate down 2 α degree and stop, and start turning horizontal revolving stage and realize 360 ° of metope lower part inside corner line
Scanning, scanned horizontal revolving stage returns to initial position；
The detection that a turning point is made in every 0.45 ° of rotation upwards of S4, pitching rotary, turns to 2 α degree and stops, and completes the
The building of one vertical inside corner line；Horizontal revolving stage 1 degree of θ of rotation simultaneously stops, and primary turnover is done in every 0.45 ° of rotation to pitching rotary downwards
The detection of point, turns to 2 α degree and stops, and completes the building of the vertical inside corner line of Article 2；Remaining vertical inside corner line is according to identical
Method construct.
The calculation method of θ 1, θ 2 ... is as follows: firstly, obtaining P1 or Pn to the distance of straight line L2 is D, passing through given threshold
D ' thinks there are three sections of straight lines if D > D '；As D > D ', 0.3 ° of every turn of horizontal revolving stage saves the current angle of a horizontal revolving stage
Degree, as D < D ', the angle sequence saved is averaged as θ 1, the container for storing angle is emptied；Work as again D >
The current angle of horizontal revolving stage of 0.3 ° of every turn of horizontal revolving stage preservation seeks the angle sequence saved as D < D ' when D '
Average value is θ 2 ..., to obtain the level angle of metope every vertical inside corner line.
Detailed description of the invention
Fig. 1 is three-dimensional laser scanner structural schematic diagram of the invention；
Fig. 2 is three-dimensional laser scanner working principle diagram of the invention；
Fig. 3 (a) is the building schematic diagram of metope lower part inside corner line；
Fig. 3 (b) is the building schematic diagram of metope top inside corner line；
Fig. 4 is vertical profile building schematic diagram of the invention；
Fig. 5 is the experimental verification effect picture using inventive algorithm.
Specific embodiment
The present invention is further described for explanation and specific embodiment with reference to the accompanying drawing.
Firstly, the present invention devises a three-dimensional laser scanner, as shown in Fig. 1, including horizontal revolving stage 101, pitching
102, two word linear lasers 103,104 of turntable and reception device 105.Tripod support level turntable 101, In can be passed through
Pitching rotary 102 is installed on horizontal revolving stage 101, the word linear laser 103,104 is installed on pitching rotary 102 and is connect
Receiving apparatus 105.Two word linear lasers 103,104 include one word linear laser of vertical word linear laser and level
Device.
Then, the detection algorithm that outline of house is developed on the basis of designed three-dimensional laser scanner, by this
Algorithm can detect automatically the profile in house, and generate the point cloud chart of outline of house.
The building of house wall surface profile is divided into the building and the building of vertical profile of horizontal profile.The building of horizontal profile point
For the building of metope top inside corner line and the building of metope lower part inside corner line.Wherein, being constructed by for metope top inside corner line turns
Dynamic pitching rotary is rotated further by horizontal revolving stage to elevation angle state to realize；Metope lower part inside corner line is constructed by rotation pitching rotary
Horizontal revolving stage is rotated further by angle of depression state to realize.The operating process of the building of vertical profile is as follows: passing through rotation pitching first
Turntable realizes the building of a vertical inside corner line of metope, later by rotation horizontal revolving stage to the position of other vertical inside corner lines,
It is rotated further by the building that pitching rotary realizes the vertical inside corner line of other metopes.It is given below and is constructing the vertical inner corner trim of metope
After the building of line, horizontal revolving stage needs to rotate every time the building that how many degree are just able to achieve remaining vertical inside corner line.
The working principle of three-dimensional laser scanner of the invention is as shown in Fig. 2, one word linear laser 201 of level and vertical
One word linear laser 202 projects on metope, and due to the presence of metope inside corner line, laser rays can be appeared as the shape of broken line
Formula detects the turning point of broken line by the image of the industrial camera acquisition in reception device, by the figure of turning point come algorithm for design
As three-dimensional coordinate that mathematical model that coordinate is updated to range of triangle calculates turning point can construct the profile of metope.
[building of horizontal profile]
Shown in building principle such as Fig. 3 (a) of metope lower part inside corner line, specific testing process is as follows: by pitching rotary
Angle of depression state is turned to, the detection of a turning point is done in every 0.3 ° of the rotation of horizontal revolving stage later, and horizontal revolving stage rotates 360 ° of realizations
Scanning in one week.Wherein, industrial camera gets image, and by distortion correction, the image preprocessings such as gray processing simultaneously pass through gray scale
The pixel coordinate of gravity model appoach acquisition striation.The pixel coordinate defined on striation is followed successively by P1,P2,…Pn.PA seek be by means of
Turning point PB's, therefore, first detect turning point PB.
● the detection of turning point PB
(1) initial option turning point
The step-length of selected pixels traversal first is 30 pixels, then the calculation formula of slope are as follows:
K (i)=(P (i+29) .v-P (i) .v)/(P (i+29) .u-P (i) .u)
Wherein, P (i) .u represents the i-th point of coordinate on pixel coordinate system u axis on striation；P (i) .v represents striation
On the i-th point of coordinate on pixel coordinate system v axis.
Turning point be by two o'clock near slope variation differentiate, in order to avoid the same time-varying of slope near turning point
To change, needs to select a suitable step-length, selected step-length is 5 pixels by the present invention, then there is following criterion:
k(i+5)×k(i)<0
P (i) is defined as primary election turning point if i meets the above criterion.
(2) turning point is further selected
Based on the turning point of step (1) institute initial option, available turning point is located in section (i, i+29).This time
The traversal step-length of slope is selected as 10 pixels.Therefore, available:
Kk (i)=(P (i+9) .v-P (i) .v)/(P (i+9) .u-P (i) .u)
In order to avoid step-length is selected as 2 pixels by variation while slope, therefore available:
kk(i+2)×kk(i)<0
If i meets this criterion, P (i) is defined as approximate turning point.
(3) intersection point of fitting a straight line is sought
In order to acquire more accurate turning point information, we are transferred by the way of being found intersection by straight line fitting
The solution of point.On the basis of approximate turning point, 80 pixels are selected with each backward forward, and do respectively by least square method
Then straight line fitting acquires the intersection point of two straight lines.This intersection point is defined as turning point PB, PB is one on horizontal profile
Point.
● the detection of turning point PA
Vertical word linear laser 201, which projects, will form turning point PA on metope, but seek being to borrow due to PA
Help turning point PB, only when PB and PA are appeared in camera fields of view simultaneously, can detect PA, and works as pitching rotary position
When some of the elevation angle and the angle of depression states, PA can occur in camera fields of view, but PB do not occur, so PA can not be direct
The detection of reconstruction as vertical metope inside corner line, PA will be used for the angle that horizontal revolving stage rotates when detecting vertical inside corner line,
Scanning below will introduce in track.The testing process of PA is as follows:
A. it selects 80 pixels to do straight line fitting forward on the basis of PB, and this straight line is defined as L2；
B. the distance d from point P1 to PB to straight line L2 is acquired；
C. given threshold d is traversed from P1 to PB to the distance of straight line L2, and is less than threshold value d for first
Point be defined as Pk；
D. P is used1,P2,…PkThese points do straight line fitting, this straight line is defined as L1.
E. the intersection point of straight line L1 and straight line L2 are defined as PA.
The detection of turning point is similar with the detection of lower part inside corner line in the building of metope top inside corner line, does not do detailed retouch
It states.
[building of vertical profile]
The detection that a turning point PC is in every 0.45 ° of the rotation of pitching rotary is led to after having constructed a vertical inside corner line
Complete the building of remaining vertical inside corner line in the position for crossing rotation horizontal revolving stage to other vertical metope inside corner lines.As shown in figure 4,
The detection of turning point PC is similar with the detection of PB in Fig. 3 (a):
(1) initial option turning point
The step-length of selected pixels traversal first is 30 pixels, then the calculation formula of slope are as follows:
K (i)=(P (i+29) .v-P (i) .v)/(P (i+29) .u-P (i) .u)
Turning point be by two o'clock near slope variation differentiate, in order to avoid the same time-varying of slope near turning point
To change, needs to select a suitable step-length, selected step-length is 5 pixels by the present invention, then there is following criterion:
k(i+5)×k(i)<0
P (i) is defined as primary election turning point if i meets the above criterion.
(2) turning point is further selected
Based on the turning point of step (1) institute initial option, available turning point is located in section (i, i+29).This time
The traversal step-length of slope is selected as 10 pixels.Therefore, available:
Kk (i)=(P (i+9) .v-P (i) .v)/(P (i+9) .u-P (i) .u)
In order to avoid step-length is selected as 2 pixels by variation while slope, therefore available:
kk(i+2)×kk(i)<0
If i meets this criterion, P (i) is defined as approximate turning point.
(3) intersection point of fitting a straight line is sought
In order to acquire more accurate turning point information, we are transferred by the way of being found intersection by straight line fitting
The solution of point.On the basis of approximate turning point, 80 pixels are selected with each backward forward, and do respectively by least square method
Then straight line fitting acquires the intersection point of two straight lines.This intersection point is defined as turning point PC (on as vertical profile a bit).
(2) scanning Trajectory Arithmetic design
Scanning Trajectory Arithmetic process is as follows in the building of metope profile:
S1, spatial digitizer is placed among house, pitch rotation plate is adjusted to horizontality, adjusts and sweeps vertically
The angular range retouched, principle are in camera fields of view it can be seen that the top and lower part of the horizontal inside corner line of metope；
S2, pitching rotary are rotated up α degree and stop, and start turning horizontal revolving stage and realize 360 ° of metope top inside corner line
Scanning, scanned horizontal revolving stage return to initial position；
S3, pitching rotary rotate down 2 α degree and stop, and start turning horizontal revolving stage and realize 360 ° of metope lower part inside corner line
Scanning, scanned horizontal revolving stage returns to initial position；
The detection that a turning point is made in every 0.45 ° of rotation upwards of S4, pitching rotary, turns to 2 α degree and stops, and completes the
The building of one vertical inside corner line.Horizontal revolving stage 1 degree of θ of rotation simultaneously stops, and primary turnover is done in every 0.45 ° of rotation to pitching rotary downwards
The detection of point, turns to 2 α degree and stops, and completes the building of the vertical inside corner line of Article 2.Remaining vertical inside corner line is according to identical
Method construct.
The calculation method of θ 1, θ 2 ... is as follows: firstly, by Fig. 3 (a) and Fig. 3 (b) available P1 or Pn to straight line L2's
Distance thinks there are three sections of straight lines by given threshold D ' for D if D > D ', that is, occurs in the PA or Fig. 3 (b) in Fig. 3 (a)
PB.By taking Fig. 3 (a) as an example, as D>D ', 0.3 ° of every turn of horizontal revolving stage saves the current angle of a horizontal revolving stage, as D<D '
When, the angle sequence saved is averaged as θ 1, the container for storing angle is emptied.As D > D ', level turns again
0.3 ° of every turn of platform saves the current angle of a horizontal revolving stage and the angle sequence saved is averaged as θ as D < D '
2 ... and so on, the level angle of metope every vertical inside corner line can be obtained.
Fig. 5 is algorithm simulating result figure of the invention, and outline of house detection algorithm designed by the present invention has following features:
Two word linear lasers are housed, wherein a word linear laser of horizontal projection is used to construct wall on three-dimensional laser scanner
The vertical profile in face；The word linear laser projected vertically is used to construct the horizontal profile in house.Pass through the scanning planned
The building of outline of house is realized in path, and obtained cloud can imported into the three-dimensional drawings software such as CAXA and directly measure house
Size.It solves the work of mediating of upfitter indoors and measures size inconvenience, the lower problem of precision.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, In
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (5)
1. a kind of outline of house developing algorithm based on range of triangle, it is characterised in that: the outline of house developing algorithm uses
Three-dimensional laser scanner realizes that the three-dimensional laser scanner includes pitching rotary, horizontal revolving stage, vertical word linear laser
Device, one word linear laser of level and reception device；The one word linear laser of level and vertical word linear laser are thrown
It is mapped on house wall surface, due to the presence of metope inside corner line, laser rays is appeared as the form of broken line, by reception device
The image that industrial camera obtains detects the turning point of broken line, and the image coordinate of turning point is updated to the mathematical modulo of range of triangle
The three-dimensional coordinate that type calculates turning point can construct the profile of metope according to scanning Trajectory Arithmetic；Wherein, the turning point
Detection the following steps are included:
(1) initial option turning point
First step-length s of selected pixels traversal1, then the calculation formula of slope are as follows:
K (i)=(P (i+s1-1).v-P(i).v)/(P(i+s1-1).u-P(i).u)
Wherein, P (i) .u represents the i-th point of coordinate on pixel coordinate system u axis on striation, and P (i) .v is represented on striation
The i-th point of coordinate on pixel coordinate system v axis；P (i) is defined as primary election turning point if i meets following criterion:
k(i+s2) × k (i) < 0, s2For first choice step-length；
(2) turning point is further selected
Choose the traversal step-length s of slope3, S1> S3, it obtains:
Kk (i)=(P (i+s3-1).v-P(i).v)/(P(i+s3-1).u-P(i).u)
P (i) is defined as approximate turning point if i meets following criterion:
kk(i+s4) × kk (i) < 0, s4For the second selection step-length；
(3) intersection point of fitting a straight line is sought
In order to acquire more accurate turning point information, asking for turning point is carried out by the way of finding intersection by straight line fitting
Solution；On the basis of approximate turning point, forward with respectively select N number of pixel backward, and it is quasi- by least square method to do straight line respectively
It closes, the intersection point for then acquiring two straight lines is turning point.
2. outline of house developing algorithm according to claim 1, it is characterised in that: by tripod supporting pitch turntable,
Horizontal revolving stage is installed on the pitching rotary, two word linear lasers are installed on the horizontal revolving stage and receives dress
It sets.
3. outline of house developing algorithm according to claim 1, it is characterised in that: outline of house includes the structure of horizontal profile
Build the building with vertical profile, wherein the building of horizontal profile is divided into building and the metope lower part inner corner trim of metope top inside corner line
The rotation pitching rotary that is constructed by of the building of line, metope top inside corner line is rotated further by horizontal revolving stage to elevation angle state to realize；
The rotation pitching rotary that is constructed by of metope lower part inside corner line is rotated further by horizontal revolving stage to angle of depression state to realize；Vertical profile
The operating process of building is as follows: realizing the building of a vertical inside corner line of metope by rotation pitching rotary first, passes through later
Horizontal revolving stage is rotated to the position of other vertical inside corner lines, is rotated further by the structure that pitching rotary realizes the vertical inside corner line of other metopes
It builds.
4. outline of house developing algorithm according to claim 3, it is characterised in that: metope lower part inside corner line in horizontal profile
Building include: that pitching rotary is turned into angle of depression state, the detection that a turning point is made in every 0.3 ° of the rotation of horizontal revolving stage later,
Horizontal revolving stage rotates 360 ° of scannings for realizing one week；Industrial camera gets image, and by distortion correction, gray processing handles and leads to
Cross the pixel coordinate that grey scale centre of gravity method obtains striation；The pixel coordinate defined on striation is followed successively by P1, P2... Pn, according to step
(1) turning point PB is acquired in-(3), is then based on the testing process of turning point PA, PA that PB is acquired on vertical direction are as follows:
A. it selects 80 pixels to do straight line fitting forward on the basis of PB, and this straight line is defined as L2；
B. the distance d from point P1 to PB to straight line L2 is acquired；
C. given threshold d is traversed from P1 to PB to the distance of straight line L2, and first point less than threshold value d is defined as Pk；
D. P is used1, P2...PkThese points do straight line fitting, this straight line is defined as L1；
E. the intersection point of straight line L1 and straight line L2 are defined as PA.
5. outline of house developing algorithm according to claim 4, it is characterised in that: the scanning Trajectory Arithmetic includes:
S1, three-dimensional laser scanner is placed among house, pitch rotation plate is adjusted to horizontality, adjusts and sweeps vertically
The angular range retouched, principle are in camera fields of view it can be seen that the top and lower part of the horizontal inside corner line of metope；
S2, pitching rotary are rotated up α degree and stop, and start turning horizontal revolving stage and realize sweeping for 360 ° of metope top inside corner line
It retouches, scanned horizontal revolving stage returns to initial position；
S3, pitching rotary rotate down 2 α degree and stop, and start turning horizontal revolving stage and realize sweeping for 360 ° of metope lower part inside corner line
It retouches, scanned horizontal revolving stage returns to initial position；
S4, pitching rotary are every upwards to rotate 0.45 ° of detection for making a turning point, turns to 2 α degree and stops, completing first
The building of vertical inside corner line；Horizontal revolving stage 1 degree of θ of rotation simultaneously stops, and a turning point is made in every 0.45 ° of rotation to pitching rotary downwards
Detection, turns to 2 α degree and stops, and completes the building of the vertical inside corner line of Article 2；Remaining vertical inside corner line is according to identical side
Method constructs；
θ 1, θ 2 ... calculation method it is as follows: firstly, obtain P1 or Pn to the distance of straight line L2 be D, by given threshold D ',
Think there are three sections of straight lines if D > D '；As D > D ', 0.3 ° of every turn of horizontal revolving stage saves the current angle of a horizontal revolving stage
Degree, as D < D ', the angle sequence saved is averaged as θ 1, the container for storing angle is emptied；Work as D again
The current angle of a horizontal revolving stage is saved for 0.3 ° of every turn of horizontal revolving stage when > D ', as D < D ', the angle sequence that will be saved
It averages as θ 2 ... and so on, to obtain the level angle of metope every vertical inside corner line.
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| CN110332926B (en) * | 2019-07-17 | 2021-07-06 | 重庆耘在大数据有限公司 | Method for automatically calculating other accurate coordinate points based on known coordinate points |
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| CN113375601B (en) * | 2020-02-25 | 2023-03-14 | 广东博智林机器人有限公司 | Wall body yin-yang angle measuring method, device, equipment and storage medium |
| CN112833815B (en) * | 2020-12-30 | 2022-07-05 | 广东工业大学 | Laser-based house measurement and wall flatness detection method |
| CN116858200B (en) * | 2023-09-04 | 2023-12-05 | 中国建筑第二工程局有限公司 | House mapping system for constructional engineering and mapping method thereof |
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| CN105574521A (en) * | 2016-02-25 | 2016-05-11 | 民政部国家减灾中心 | House contour extraction method and apparatus thereof |
| CN107014307A (en) * | 2017-04-17 | 2017-08-04 | 深圳广田机器人有限公司 | The acquisition methods of three-dimensional laser scanner and three-dimensional information |
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| CN101836077A (en) * | 2007-10-26 | 2010-09-15 | 莱卡地球系统公开股份有限公司 | Distance-finding method and this datum line projection device of being used for the datum line projection device |
| CN102230785A (en) * | 2011-06-23 | 2011-11-02 | 上海大学 | Indoor 3D (3-dimensional) dimension measurement method |
| CN203241029U (en) * | 2013-04-23 | 2013-10-16 | 上海大学 | Intelligent indoor three-dimensional measuring instrument |
| CN105574521A (en) * | 2016-02-25 | 2016-05-11 | 民政部国家减灾中心 | House contour extraction method and apparatus thereof |
| CN107014307A (en) * | 2017-04-17 | 2017-08-04 | 深圳广田机器人有限公司 | The acquisition methods of three-dimensional laser scanner and three-dimensional information |
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