CN108051837A - Multiple-sensor integration indoor and outdoor mobile mapping device and automatic three-dimensional modeling method - Google Patents
Multiple-sensor integration indoor and outdoor mobile mapping device and automatic three-dimensional modeling method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- 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
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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Abstract
The invention discloses a kind of multiple-sensor integration indoor and outdoor mobile mapping device and automatic three-dimensional modeling method, the mobile mapping device includes multiple sensors and mobile mapping hardware platform device；The multiple sensors are integrated on the mobile mapping hardware platform device, and the mobile mapping hardware platform device can move freely, for carrying out indoor and outdoor navigator fix and three-dimensional space environment mobile mapping；The relative position and posture of these sensors and the absolute position of mobile mapping hardware platform device can independently determine that the data of different sensors can carry out fusion treatment；The geological information of all the sensors and its data in three dimensions is determined using the relative position and attitude information of sensor and the absolute position of mobile mapping hardware platform device, realizes the automatic Reconstruction of three-dimensional space model.Compared with conventional method, the present invention is significantly increased in the degree of automation of data acquisition and three-dimensional modeling data processing stage.
Description
Technical field
The invention belongs to technical field of mapping, relate to the use of satellite positioning, inertial navigation and environment sensing sensor integration
The positioning of integrated indoor and outdoor, mobile mapping and reconstructing three-dimensional model, and in particular to a kind of multiple-sensor integration indoor and outdoor movement
Plotting board and automatic three-dimensional modeling method.
Background technology
With the miniaturization and popularization of the equipment such as laser radar scanner, camera, depth camera, more and more people take
With this data acquisition equipment, image data and cloud data are more and more extensive.The maturation of calibration technique between equipment, including such as
The calibration between calibration, IMU and LiDAR positions between IMU and camera position, the calibration between LiDAR and LiDAR positions,
Calibration between LiDAR and camera position, energy effective integration realize the quick mapping of large scale scene with merging a variety of data.
Structure From Motion (SFM) algorithms are calculated with simultaneous localization and mapping (SLAM)
The development of method, vision positioning become fast and effective.The development of the algorithm of Stereo matching and three-dimensional reconstruction, is more and more applied to
In the reconstruction of large scale scene.
Technical problem in the prior art is：Current positioner, laser scanning, mapping and other are special
Environment sensing equipment is all that relatively independent, current indoor and outdoor spaces three-dimensional modeling method is very time-consuming, is whether weighed
Established model or texture mapping are required for substantial amounts of manual operation.
The content of the invention
For the above-mentioned problems in the prior art, the present invention provides a kind of multisensor indoor and outdoor mobile mapping dresses
It puts and automatic three-dimensional modeling method, a variety of positioning and environmental sensor is integrated in a unified platform, form an interior
Outer positioning and the hardware unit of mobile mapping, using the device gathered data, automation carries out reconstructing three-dimensional model.
For this purpose, present invention employs following technical schemes：
A kind of multiple-sensor integration indoor and outdoor mobile mapping device is filled including multiple sensors and mobile mapping hardware platform
It puts；The multiple sensors are integrated on the mobile mapping hardware platform device, the mobile mapping hardware platform device energy
It enough moves freely, for carrying out indoor and outdoor navigator fix and three-dimensional space environment mobile mapping；The relative position of these sensors
It can independently be determined with the absolute position of posture and mobile mapping hardware platform device, the data of different sensors can carry out
Fusion treatment；It is determined using the relative position and attitude information of sensor and the absolute position of mobile mapping hardware platform device
All the sensors and its data realize the automatic Reconstruction of three-dimensional space model in the geological information of three dimensions.
It is swept as a preferred embodiment, the multiple sensors include GNSS receiver, Inertial Measurement Unit IMU, laser radar
Retouch instrument LiDAR, optical camera, RGB-D depth cameras, video camera, thermal imaging camera, EO-1 hyperion camera, multispectral camera；
The mobile mapping device includes the combination of above-mentioned one or more sensors.
Further, the definite and space configuration tasks synchronization of the mobile mapping hardware platform position carries out, while really
Determine mobile mapping hardware platform position and three-dimensional space environment composition；When carrying out mobile mapping, it is not required external locating source true
The position of this fixed platform, it is not required that external definition coordinate system or map reference point system are used to describe position location.
Further, the relative position of the multiple sensors and posture can be determined accurately；Utilize mobile mapping hardware
Relative position and posture between position of platform and sensor, the data of multiple sensors being capable of Precise fusion on spatial position.
Further, the device mobile mapping hardware platform can be accurately determined using integrated one or more sensors
Space absolute position, and then determine space absolute position and the posture of each sensor, the data of each sensor have accurate
Spatial reference position.
Further, the combination of the sensor includes following combination：GNSS receiver；GNSS receiver, inertia measurement
Unit IMU；GNSS receiver, Inertial Measurement Unit IMU, laser radar scanner LiDAR；GNSS receiver, inertia measurement list
First IMU, optical camera；Inertial Measurement Unit IMU, laser radar scanner LiDAR；Inertial Measurement Unit IMU, optical camera；
Inertial Measurement Unit IMU, RGB-D depth camera；Inertial Measurement Unit IMU, video camera.
Further, the GNSS receiver can receive the letter of processing one or more of satellite navigation and location system
The spatial position of number definite receiver, including：American global positioning system (GPS), Russian Glonass navigational satellite system
(GLONASS), European Union Galileo navigation satellite system (Galileo), Chinese Beidou navigation satellite system (Beidou), day
This quasi- zenith star navigational satellite system (QZSS), India's area navigation satellite system (IRNSS).
A kind of automatic three-dimensional modeling method of multiple-sensor integration indoor and outdoor mobile mapping device, comprises the following steps：
The data contents such as step 1, the three dimensions gathered as needed and environmental characteristic information determine to need integrated biography
Multiple sensors are integrated in mobile mapping hardware platform device by sensor type and quantity；
Between step 2, calibration multiple sensors and the relative position of sensor and mobile mapping hardware platform device and
Attitude information；
The external space carries out mobile mapping operation indoors for step 3, mobile mapping hardware platform device, automates mobile collection
Multi-sensor data；
Step 4, the processing of indoor and outdoor location data, it is arbitrary during mobile mapping to obtain mobile mapping hardware platform device
The exact position at moment provides Precision reference position for mobile mapping hardware platform device；
Between step 5, the Precision reference position with reference to mobile mapping hardware platform device and multiple sensors and sense
The relative position and attitude information of device and stage apparatus determine the spatial position of each sensor and its data；
Step 6, by the data of multiple sensors spatially precision registration, the multi-source Spatial Data merged；
Step 7 carries out automation modeling using spatial data to three dimensions, reconstructs the geometric attribute of three dimensions；It is right
The result of automation modeling carries out quality control, rejects mistake or unreasonable part；
Step 8 reflects the image data that the model that step 7 is established is gathered with mobile mapping hardware platform device
It penetrates, establishes the mapping relations of model and texture；
Step 9, the calculating for completing space three-dimensional Model Reconstruction export threedimensional model.
Further, the calculating process of the three-dimensional model reconfigurations such as the model construction and texture mapping is automatic by computer
It completes, artificial calculating operation is not required.
Compared with prior art, the beneficial effects of the invention are as follows：
(1) progress synchronous with environment sensing is positioned, mobile mapping is efficient.Online SLAM algorithms can calculate shifting in real time
Positioning is realized in the position of dynamic mapping hardware platform, while can generate the three-dimensional point cloud model of indoor scene, understands scanning knot in real time
Fruit, incomplete place will be scanned by, which facilitating, rescans.
(2) multiple sensors integrate, and once gather a variety of data, automatic to carry out reference position calibration.Mobile mapping hardware
Different sensors, such as optical camera, RGBD cameras, LiDAR equipment can be carried on stage apparatus, by different sensors
Between calibration, obtain the relative position parameters of different sensors.Camera is demarcated, obtains the intrinsic parameter of camera, is reduced
Computation complexity improves computational efficiency.After being positioned to a kind of data therein, joined by the conversion of relative position
Number, can effectively bring a variety of data in uniform coordinate frame into.
(3) automatized three-dimensional Model Reconstruction, high efficiency is high, reduces manual work burden.Artificial three-dimensional reconstruction is very
Time-consuming, whether reconstruction model or texture mapping are required for substantial amounts of manual operation.Line is generated by automatic three-dimensional reconstruction
Reason obtains optimal texture image according to the position relationship of texture and image, can greatly reduce manual operation.
Description of the drawings
Fig. 1 is a kind of structure diagram of multisensor indoor and outdoor mobile mapping device provided by the present invention.
Fig. 2 is a kind of automatic three-dimensional modeling method of multisensor indoor and outdoor mobile mapping device provided by the present invention
Flow chart.
Fig. 3 is mobile mapping provided by the present invention and the acquisition of automatic three-dimensional modeling data, the flow chart of processing step.
Fig. 4 is the subway entrance that a kind of multisensor indoor and outdoor mobile mapping device provided by the present invention obtains
Result figure.
Fig. 5 is the indoor scene that a kind of multisensor indoor and outdoor mobile mapping device provided by the present invention obtains
Result figure.
Reference sign：1st, mobile mapping hardware platform device；2nd, sensor；2-1, sensor one；2-2, sensor
Two；2-3, sensor three；2-4, sensor four.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment come the present invention will be described in detail, specific embodiment therein and explanation only
For explaining the present invention, but it is not as a limitation of the invention.
As shown in Figure 1, the present invention provides a kind of multiple-sensor integration indoor and outdoor mobile mapping device, including a variety of sensings
Device 2 and mobile mapping hardware platform device 1；The multiple sensors 2 are integrated on the mobile mapping hardware platform device 1,
The mobile mapping hardware platform device 1 can move freely, and be moved for carrying out indoor and outdoor navigator fix and three-dimensional space environment
Dynamic mapping；The relative position and posture of these sensors 2 and the absolute position of mobile mapping hardware platform device 1 can be autonomous
It determines, the data of different sensors 2 can carry out fusion treatment；Utilize the relative position and attitude information of sensor 2 and shifting
The absolute position of dynamic mapping hardware platform device 1 determines the geological information of all the sensors and its data in three dimensions, realizes
The automatic Reconstruction of three-dimensional space model.
The multiple sensors 2 include GNSS receiver, Inertial Measurement Unit IMU, laser radar scanner LiDAR, light
Learn camera, RGB-D depth cameras, video camera, thermal imaging camera, EO-1 hyperion camera, multispectral camera；The mobile mapping
Device includes the combination of above-mentioned one or more sensors.
1 position of mobile mapping hardware platform determines to carry out with space configuration tasks synchronization, while determines mobile survey
Paint 1 position of hardware platform and three-dimensional space environment composition；When carrying out mobile mapping, external locating source is not required to determine this platform
Position, it is not required that external definition coordinate system or map reference point system are for describing position location.
The relative position and posture of the multiple sensors 2 can be determined accurately；Utilize 1 position of mobile mapping hardware platform
Relative position and posture between sensor, the data of multiple sensors 2 being capable of Precise fusion on spatial position.
The space of the device mobile mapping hardware platform 1 can be accurately determined using integrated one or more sensors 2
Absolute position, and then determine space absolute position and the posture of each sensor 2, the data of each sensor 2 have accurate space
Reference position.
The combination of the sensor 2 includes following combination：GNSS receiver；GNSS receiver, Inertial Measurement Unit IMU；
GNSS receiver, Inertial Measurement Unit IMU, laser radar scanner LiDAR；GNSS receiver, Inertial Measurement Unit IMU, light
Learn camera；Inertial Measurement Unit IMU, laser radar scanner LiDAR；Inertial Measurement Unit IMU, optical camera；Inertia measurement
Unit IMU, RGB-D depth camera；Inertial Measurement Unit IMU, video camera.
The signal that the GNSS receiver can receive processing one or more of satellite navigation and location system determines to connect
The spatial position of receipts machine, including：American global positioning system (GPS), Russian Glonass navigational satellite system
(GLONASS), European Union Galileo navigation satellite system (Galileo), Chinese Beidou navigation satellite system (Beidou), day
This quasi- zenith star navigational satellite system (QZSS), India's area navigation satellite system (IRNSS).
As shown in Figures 2 and 3, the present invention also provides a kind of the automatic of multiple-sensor integration indoor and outdoor mobile mapping device
Three-dimensional modeling method comprises the following steps：
The data contents such as step 1, the three dimensions gathered as needed and environmental characteristic information determine to need integrated biography
Multiple sensors 2 are integrated in mobile mapping hardware platform device 1 by sensor type and quantity；
Between step 2, calibration multiple sensors 2 and the relative position of sensor 2 and mobile mapping hardware platform device 1
And attitude information；
The external space carries out mobile mapping operation indoors for step 3, mobile mapping hardware platform device 1, and automation movement is adopted
Collect multi-sensor data；
Step 4, the processing of indoor and outdoor location data, obtain mobile mapping hardware platform device 1 and appoint during mobile mapping
The exact position at meaning moment provides Precision reference position for mobile mapping hardware platform device 1；
Step 5, with reference between the Precision reference position of mobile mapping hardware platform device 1 and multiple sensors 2 and passing
The relative position and attitude information of sensor 2 and stage apparatus 1 determine the spatial position of each sensor and its data；
Step 6, by the data of multiple sensors 2 spatially precision registration, the multi-source Spatial Data merged；
Step 7 carries out automation modeling using spatial data to three dimensions, reconstructs the geometric attribute of three dimensions；It is right
The result of automation modeling carries out quality control, rejects mistake or unreasonable part；
Step 8 reflects the image data that the model that step 7 is established is gathered with mobile mapping hardware platform device 1
It penetrates, establishes the mapping relations of model and texture；
Step 9, the calculating for completing space three-dimensional Model Reconstruction export threedimensional model.
The calculating process of the three-dimensional model reconfigurations such as the model construction and texture mapping is automatically performed by computer, is not required to
Want artificial calculating operation.
Embodiment
A kind of multisensor indoor and outdoor mobile mapping device provided by the present invention, the data obtained by scanning car are main
It to be positioned using the LiDAR of horizontal single line, obtain the position of scanning car, by the LiDAR sensors for merging multiple single lines
The point cloud of scene can be obtained.The image that scanning car obtains is merged, by reconstruction, texture mapping, last model can be obtained
With texture.Fig. 4 and Fig. 5 is the ground that a kind of multisensor indoor and outdoor mobile mapping device provided by the present invention obtains respectively
The result of iron station entrance and the result of an indoor scene.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modification, equivalent substitution and improvement made within refreshing and spirit etc., should be included in protection scope of the present invention
Within.
Claims (9)
1. a kind of multiple-sensor integration indoor and outdoor mobile mapping device is filled including multiple sensors and mobile mapping hardware platform
It puts, it is characterised in that：The multiple sensors are integrated on the mobile mapping hardware platform device, the mobile mapping hardware
Stage apparatus can move freely, for carrying out indoor and outdoor navigator fix and three-dimensional space environment mobile mapping；These sensors
Relative position and the absolute position of posture and mobile mapping hardware platform device can independently determine, the number of different sensors
According to fusion treatment can be carried out；Using sensor relative position and attitude information and mobile mapping hardware platform device it is exhausted
To location determination all the sensors and its data in the geological information of three dimensions, the automatic Reconstruction of three-dimensional space model is realized.
2. a kind of multiple-sensor integration indoor and outdoor mobile mapping device according to claim 1, it is characterised in that：It is described more
Kind sensor includes GNSS receiver, Inertial Measurement Unit IMU, laser radar scanner LiDAR, optical camera, RGB-D depth
Camera, video camera, thermal imaging camera, EO-1 hyperion camera, multispectral camera；The mobile mapping device includes above-mentioned one kind
Or the combination of multiple sensors.
3. a kind of multiple-sensor integration indoor and outdoor mobile mapping device according to claim 2, it is characterised in that：The shifting
Dynamic mapping hardware platform position determines to carry out with space configuration tasks synchronization, at the same determine mobile mapping hardware platform position and
Three-dimensional space environment composition；When carrying out mobile mapping, external locating source is not required to determine the position of this platform, it is not required that outer
Portion defines coordinate system or map reference point system for describing position location.
4. a kind of multiple-sensor integration indoor and outdoor mobile mapping device according to claim 3, it is characterised in that：It is described more
The relative position and posture of kind sensor can be determined accurately；Using opposite between mobile mapping hardware platform position and sensor
Position and posture, the data of multiple sensors being capable of Precise fusion on spatial position.
5. a kind of multiple-sensor integration indoor and outdoor mobile mapping device according to claim 4, it is characterised in that：Utilize collection
Into one or more sensors can accurately determine the space absolute position of the device mobile mapping hardware platform, and then determine
The space absolute position of each sensor and posture, the data of each sensor have accurate spatial reference position.
6. a kind of multiple-sensor integration indoor and outdoor mobile mapping device according to claim 5, it is characterised in that：The biography
The combination of sensor includes following combination：GNSS receiver；GNSS receiver, Inertial Measurement Unit IMU；GNSS receiver, inertia
Measuring unit IMU, laser radar scanner LiDAR；GNSS receiver, Inertial Measurement Unit IMU, optical camera；Inertia measurement
Unit IMU, laser radar scanner LiDAR；Inertial Measurement Unit IMU, optical camera；Inertial Measurement Unit IMU, RGB-D are deep
Spend camera；Inertial Measurement Unit IMU, video camera.
7. a kind of multiple-sensor integration indoor and outdoor mobile mapping device according to claim 6, it is characterised in that：It is described
The signal that GNSS receiver can receive processing one or more of satellite navigation and location system determines the space bit of receiver
It puts, including：American global positioning system (GPS), Russian Glonass navigational satellite system (GLONASS), European Union gal
Profit slightly navigational satellite system (Galileo), Chinese Beidou navigation satellite system (Beidou), quasi- zenith star aeronautical satellite system of Japan
System (QZSS), India's area navigation satellite system (IRNSS).
8. automatic the three of a kind of multiple-sensor integration indoor and outdoor mobile mapping device according to any one of claims 1 to 7
Tie up modeling method, it is characterised in that：Comprise the following steps：
The data contents such as step 1, the three dimensions gathered as needed and environmental characteristic information determine to need integrated sensor
Multiple sensors are integrated in mobile mapping hardware platform device by type and quantity；
Between step 2, calibration multiple sensors and the relative position and posture of sensor and mobile mapping hardware platform device
Information；
The external space carries out mobile mapping operation indoors for step 3, mobile mapping hardware platform device, and automation mobile collection passes more
Sensor data；
Step 4, the processing of indoor and outdoor location data, obtain mobile mapping hardware platform device any time during mobile mapping
Exact position, provide Precision reference position for mobile mapping hardware platform device；
Between step 5, the Precision reference position with reference to mobile mapping hardware platform device and multiple sensors and sensor with
The relative position and attitude information of stage apparatus determine the spatial position of each sensor and its data；
Step 6, by the data of multiple sensors spatially precision registration, the multi-source Spatial Data merged；
Step 7 carries out automation modeling using spatial data to three dimensions, reconstructs the geometric attribute of three dimensions；To automatic
The result for changing modeling carries out quality control, rejects mistake or unreasonable part；
Step 8 maps the image data that the model that step 7 is established is gathered with mobile mapping hardware platform device, builds
The mapping relations of formwork erection type and texture；
Step 9, the calculating for completing space three-dimensional Model Reconstruction export threedimensional model.
9. a kind of automatic three-dimensional modeling side of multiple-sensor integration indoor and outdoor mobile mapping device according to claim 8
Method, it is characterised in that：The calculating process of the three-dimensional model reconfigurations such as the model construction and texture mapping is automatically complete by computer
Into artificial calculating operation is not required.
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