CN108549068A - A kind of 3 d scan data processing method and data processing system - Google Patents
A kind of 3 d scan data processing method and data processing system Download PDFInfo
- Publication number
- CN108549068A CN108549068A CN201810504904.6A CN201810504904A CN108549068A CN 108549068 A CN108549068 A CN 108549068A CN 201810504904 A CN201810504904 A CN 201810504904A CN 108549068 A CN108549068 A CN 108549068A
- Authority
- CN
- China
- Prior art keywords
- data
- measurement error
- elevation angle
- measurement
- factor
- 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.)
- Granted
Links
- 238000003672 processing method Methods 0.000 title claims abstract description 20
- 238000012545 processing Methods 0.000 title claims description 35
- 238000005259 measurement Methods 0.000 claims abstract description 232
- 238000012937 correction Methods 0.000 claims abstract description 71
- 238000000034 method Methods 0.000 claims description 20
- 230000008569 process Effects 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 5
- 230000009897 systematic effect Effects 0.000 abstract description 2
- 230000003287 optical effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000012417 linear regression Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000002366 time-of-flight method Methods 0.000 description 1
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
- 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
- G01S7/497—Means for monitoring or calibrating
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to a kind of 3 d scan data processing method, which includes the following steps：Measurement error data information obtains, first correction data obtains, measurement error data value obtains, second correction data obtains, correction and etc., when the elevation angle of measuring apparatus is in early warning elevation coverage, measurement data is corrected using any one group of correction data of multigroup second correction data, when the elevation angle of measuring apparatus is not in early warning elevation coverage, measurement data is corrected using the first correction data.Data processing method using the present invention can greatly reduce systematic error and random error, improve the accuracy of data.
Description
Technical Field
The invention relates to a three-dimensional scanning data processing method. The invention also relates to a three-dimensional scanning data processing system.
Background
In the three-dimensional scanning system, a distance measurement accuracy is required to be high, and a method of measuring a round trip time of light and calculating a distance to a measurement target, that is, a so-called TOF (TimeOfFlight) method is generally known as a conventional distance measurement method. The distance measuring method comprises the following steps: since it is known that the light velocity c is 3.0 × 108m/s, the distance L to the object is calculated by the following equation (1) by measuring the round trip time t 1.
L＝(c·t1)/2；
A specific signal processing method in the TOF method is to continuously accumulate (or discharge) charges in an integrator until an end pulse (light reception signal) is detected, using a start pulse (synchronized with a light emitting element) as a start signal, and to increase (or decrease) the round trip time of light by an amount. In all of these methods, a detection signal from a light receiving element that detects light reflected by an object to be measured is processed to obtain distance information. In this case, an error occurs in the distance information due to a variation in the response speed of the light emitting element, a variation in the response speed of the light receiving element, a change in the characteristics of the two elements due to an influence of the environment (mainly, temperature), or the like.
Therefore, in order to reduce the error, a first optical path in which the light emitted from the light emitting element is reflected by the object to be measured and detected by a light receiving element and a second optical path different from the first optical path in which the light emitted from the light emitting element is detected by the light receiving element are used, and if the length of the second optical path is known and constant, the distance information calculated based on the first optical path can be corrected with reference to the second optical path. However, the above documents have the following problems: in order to correct the distance information calculated based on the first optical path, it is important that the length of the second optical path is always constant.
However, there are a lot of factors in three-dimensional scanning that affect measurement errors (systematic errors, random errors), temperature, humidity, distance, material factors of the object to be measured, and the like. No solution is given in the prior art to these measurement errors.
Disclosure of Invention
In order to solve the above technical problem, the present invention provides a three-dimensional scanning data processing method, which includes the following steps:
measurement error data information acquisition: acquiring measurement error data information under the current environment, wherein the measurement error data information comprises a plurality of groups of measurement error information, and the measurement error information at least comprises first factor measurement error information and second factor measurement error information;
measurement error data value acquisition: acquiring a plurality of first factor measurement error data values according to the first factor measurement error information; acquiring a plurality of second factor measurement error data values according to the second factor measurement error information;
second correction data acquisition: recombining a plurality of groups of second correction data according to the first factor measurement error data value and the second factor measurement error data value;
first correction data acquisition: acquiring first correction data according to the current environment, wherein the first correction data is used for correcting the measurement data in the current environment and is obtained by calculating the measurement error data information in the current environment;
and (3) correction: and when the elevation angle of the measuring equipment is not in the early warning elevation angle range, correcting the measuring data by adopting the first correction data.
The environment is temperature, humidity, distance and material of the object to be measured in the three-dimensional scanning process.
The early warning elevation angle range is 30-70% of the maximum elevation angle of the measuring equipment, the elevation angle of the measuring equipment is the angle of the measuring light emitted by the measuring equipment relative to the fixed plane, and the measuring equipment is fixed on the fixed plane.
The data processing method further comprises the following early warning elevation angle acquisition step:
the measurement error data value acquisition step specifically includes the steps of:
dividing all data in the first factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M first factor measurement error data values A1-Am;
dividing all data in the second factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M second factor measurement error data values B1-Bm;
the first factor measurement error data values A1-Am and the second factor measurement error data values B1-Bm are grouped into sets of second correction data.
A three-dimensional scan data processing method, the data processing method further comprising:
acquiring measurement line data: the measurement line data comprises a plurality of measurement data, the measurement data comprises coordinate data and elevation angle data, the measurement data form a line vertical to the ground in a real scene from top to bottom, and the difference between the maximum elevation angle and the minimum elevation angle in the measurement data is not more than 1 degree;
and (3) calculating: and calculating an included angle between a straight line formed by the plurality of measurement data and the ground, wherein when the included angle is larger than a preset included angle, the maximum elevation angle and the minimum elevation angle in the plurality of measurement data are an early warning elevation angle range.
The invention also relates to a three-dimensional scanning data processing system, comprising:
the device comprises a measurement error data information acquisition module, a data processing module and a data processing module, wherein the measurement error data information acquisition module is used for acquiring measurement error data information under the current environment, the measurement error data information comprises a plurality of groups of measurement error information, and the measurement error information at least comprises first factor measurement error information and second factor measurement error information;
the first correction data acquisition module is used for acquiring first correction data according to the current environment, and the first correction data is used for correcting the measurement data in the current environment and is obtained by calculating the measurement error data information in the current environment;
the measurement error data value acquisition module is used for acquiring a plurality of first factor measurement error data values according to the first factor measurement error information; acquiring a plurality of second factor measurement error data values according to the second factor measurement error information;
a second correction data obtaining module, configured to recombine the first factor measurement error data values and the second factor measurement error data values into a plurality of groups of second correction data;
and the correction module corrects the measurement data by adopting any one group of correction data of the multiple groups of second correction data when the elevation angle of the measurement equipment is within the early warning elevation angle range, and corrects the measurement data by adopting the first correction data when the elevation angle of the measurement equipment is not within the early warning elevation angle range.
The environment is temperature, humidity, distance and material of the object to be measured in the three-dimensional scanning process.
The early warning elevation angle range is 30-70% of the maximum elevation angle of the measuring equipment, the elevation angle of the measuring equipment is the angle of the measuring light emitted by the measuring equipment relative to the fixed plane, and the measuring equipment is fixed on the fixed plane.
The data processing system further comprises a measurement error data value acquisition module, wherein the measurement error data value acquisition module comprises a first factor measurement error data value processing module, a second factor measurement error data value processing module and a second correction data acquisition module.
The first factor measurement error data value processing module is used for grouping all data in the first factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M first factor measurement error data values A1-Am;
the second factor measurement error data value processing module is used for grouping all data in the second factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M second factor measurement error data values B1-Bm;
the second correction data acquisition module is used for forming a plurality of groups of second correction data by the first factor measurement error data values A1-Am and the second factor measurement error data values B1-Bm.
A three-dimensional scanning data processing system, the data processing system further comprising:
the measurement line data acquisition module is used for acquiring measurement line data, wherein the measurement line data comprises a plurality of measurement data, the measurement data comprises coordinate data and elevation angle data, the plurality of measurement data form a line vertical to the ground in a real scene from top to bottom, and the difference between the maximum elevation angle and the minimum elevation angle in the plurality of measurement data is not more than 1 degree;
and the calculation module is used for calculating an included angle between a straight line formed by the plurality of measurement data and the ground, and when the included angle is larger than a preset included angle, the maximum elevation angle and the minimum elevation angle in the plurality of measurement data are an early warning elevation angle range.
Because a large number of uncertain factors exist in the data collection process, all the uncertain factors are required to be subjected to early processing, and the error acquisition is more and more difficult, and the data processing method can greatly reduce the system error and the random error. The accuracy of the data is improved.
The above-described and other features, aspects, and advantages of the present application will become more apparent with reference to the following detailed description.
Drawings
Fig. 1 is a schematic flow chart of a three-dimensional scanning data processing method.
Fig. 2 is a schematic view of a structural model of the measuring apparatus.
FIG. 3 is a schematic diagram of a three-dimensional scan data processing system.
Fig. 4 is a schematic diagram of a measurement error data value acquisition module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one.
As shown in fig. 1, the three-dimensional scanning data processing method includes the following steps:
first correction data acquisition: acquiring first correction data according to the current environment, wherein the first correction data is used for correcting the measurement data in the current environment and is obtained by calculating the measurement error data information in the current environment;
the data information of the measurement error of the invention is classified by the measurement error, and then the errors of different types are calculated by a large amount of data, thereby obtaining the error data, as shown in figure 2, the data information is arranged on a pan-tilt, the position relationship between the coordinate system of the pan-tilt and the coordinate system of the laser radar is shown in figure 2, the distance between the origin and the origin is P, the plane S (the rotating shaft of the fixed platform, the horizontal plane) and the plane R (the plane where the laser radar transmitting point is located can rotate), the elevation angle of the laser radar is β, the distance between the measured point A and the point S is l, and the included angle between the left rotation and the right rotation of the laser radar is α.
In the actual measurement process, it can be known that the following three errors exist: elevation angle error delta of laser radar coordinate system relative to holder coordinate systemsβ(ii) a Point distance error delta between origin s of laser radar coordinate system and origin r of holder coordinate systemsp(ii) a Plane distance error delta of plane S and plane R not in same planesy. From the correlation, it can be seen that the mathematical model with system error is as follows:
and respectively solving the partial derivatives of the formulas to obtain the system errors in three directions:
as can be seen from the above equation, δsβ、δsp、δsyAll the unknown data are unknown, and the errors in three directions of the coordinate point can be accurately obtained only by obtaining the unknown data through a certain method. The invention adopts the least square method to solve the linear parameters, and can adopt the method to solve under the condition that the number of equations is more than the number of unknown quantities, and the general expression is as follows:
scanning a specific material of an object to be measured, monitoring the temperature and humidity around scanning equipment, sorting the data of the same temperature and humidity together to obtain data of the same temperature, the same humidity and the same material, respectively measuring at 3 different positions, wherein p and β are estimated values at a measuring point, measuring at each position for 5000 times, and taking a mean value l of distancesiTo perform the calculation.
Wherein,
can learn through the aforesaid, scan specific determinand material, the peripheral temperature and humidity of monitoring scanning equipment, put together the data arrangement of same temperature and humidity, obtain the data under same temperature, same humidity, the same material, can calculate through these data and obtain first correction parameter, first correction parameter includes the elevation angle error, point distance error and face distance error, can rectify A's coordinate from this.
The correction formula is as follows:
。
measurement error data information acquisition: acquiring measurement error data information under the current environment, wherein the measurement error data information comprises a plurality of groups of measurement error information, and the measurement error information at least comprises first factor measurement error information and second factor measurement error information;
the system error can be effectively solved through the method, but due to the existence of random errors, errors with mutual compensation are formed due to a series of tiny random fluctuations of related factors in the measuring process. The reasons for this are the influence of various random factors during the analysis, such as instability of ambient conditions such as room temperature, relative humidity and air pressure, small differences in the operation of the analysts, and instability of the instrument. The influence of temperature, humidity, distance and specific material environment of the object to be measured on the random error is difficult to obtain through early correction. Therefore, when the environment is determined, the influence of the temperature, humidity, distance and specific material environment of the object to be measured on the random error is difficult to obtain, and the influence of other factors, such as atmospheric pressure, longitude, latitude, altitude, etc., cannot be corrected.
The first factor measurement error information and the second factor measurement error information are a rotation angle error and a distance error. By collecting a plurality of measurement error data information (delta) under a specific environment1，δ2). Measurement error data value acquisition: acquiring a plurality of first factor measurement error data values according to the first factor measurement error information; acquiring a plurality of second factor measurement error data values according to the second factor measurement error information; second correction data acquisition: recombining a plurality of groups of second correction data according to the first factor measurement error data value and the second factor measurement error data value;
specifically, for example, according to the environment during actual measurement, the measurement error data information includes 1000 sets of rotation angle errors and distance errors, 5 errors can be selected from 1000 rotation angle errors, and 5 errors are selected from 1000 distance errors, and because of random selection, the selectable errors may have a larger difference from the actual data, but because all data are randomly selected each time the data are corrected, the data will be closer to the reality as a whole, and the problem of the influence of temperature, humidity, distance and specific material environment of the object to be measured on the random errors and the problem of the influence of a large number of uncertain factors on the errors are solved.
And (3) correction: and when the elevation angle of the measuring equipment is not in the early warning elevation angle range, correcting the measuring data by adopting the first correction data.
Through a large amount of test data, the influence on the whole error in the aspect of random error is large when the elevation angle of the measuring equipment is large, and the random error is small when the elevation angle is small, so that the judgment mechanism can be adopted to adopt a mode of randomly selecting data when the elevation angle is large, and the random error is greatly reduced.
The environment is the temperature, humidity, distance and material of the object to be measured in the three-dimensional scanning process.
The early warning elevation angle is 30-70% of the maximum elevation angle of the measuring equipment, the elevation angle of the measuring equipment is the angle of the measuring light emitted by the measuring equipment relative to the fixed plane, and the measuring equipment is fixed on the fixed plane.
A three-dimensional scan data processing method, the data processing method further comprising:
acquiring measurement line data: the measurement line data comprises a plurality of measurement data, the measurement data comprises coordinate data and elevation angle data, the measurement data form a line vertical to the ground in a real scene from top to bottom, and the difference between the maximum elevation angle and the minimum elevation angle in the measurement data is not more than 1 degree; and (3) calculating: and calculating an included angle between a straight line formed by the plurality of measurement data and the ground, wherein when the included angle is larger than a preset included angle, the maximum elevation angle and the minimum elevation angle in the plurality of measurement data are an early warning elevation angle range. The elevation angle data when measuring the data can be obtained again through the data by presetting an object to be measured vertical to the ground or selecting a plurality of data points on a three-dimensional graph formed in the later period, wherein the data points are a plurality of data vertical to the ground, such as the wall corner edge of a house. And acquiring parameters of a straight line formed by the data by adopting a linear regression or other modes, and calculating an included angle between the straight line and the ground so as to judge whether the error is in an abnormal state. It can be seen that the method of the present invention does not require physical re-calibration, and error correction can be achieved by re-calculation from the acquired data.
The measurement error data value acquisition step specifically includes the steps of:
dividing all data in the first factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M first factor measurement error data values A1-Am; dividing all data in the second factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M second factor measurement error data values B1-Bm; the first factor measurement error data values A1-Am and the second factor measurement error data values B1-Bm are grouped into sets of second correction data. The grouping method is random grouping. Through the steps, the randomness of the data grouping can be improved.
As shown in fig. 3, a three-dimensional scanning data processing system includes:
the device comprises a measurement error data information acquisition module, a data processing module and a data processing module, wherein the measurement error data information acquisition module is used for acquiring measurement error data information under the current environment, the measurement error data information comprises a plurality of groups of measurement error information, and the measurement error information at least comprises first factor measurement error information and second factor measurement error information;
the first correction data acquisition module is used for acquiring first correction data according to the current environment, and the first correction data is used for correcting the measurement data in the current environment and is obtained by calculating the measurement error data information in the current environment;
the measurement error data value acquisition module is used for acquiring a plurality of first factor measurement error data values according to the first factor measurement error information; acquiring a plurality of second factor measurement error data values according to the second factor measurement error information;
the second correction data acquisition module is used for recombining a plurality of groups of second correction data according to the error data values measured by the first factors and the error data values measured by the second factors;
and the correction module is used for correcting the measurement data by adopting any one group of correction data of the multiple groups of second correction data when the elevation angle of the measurement equipment is within the early warning elevation angle range, and correcting the measurement data by adopting the first correction data when the elevation angle of the measurement equipment is not within the early warning elevation angle range.
The environment is the temperature, humidity, distance and material of the object to be measured in the three-dimensional scanning process.
The early warning elevation angle is 30-70% of the maximum elevation angle of the measuring equipment, the elevation angle of the measuring equipment is the angle of the measuring light emitted by the measuring equipment relative to the fixed plane, and the measuring equipment is fixed on the fixed plane.
As shown in fig. 4, the data processing system further includes a measurement error data value acquisition module including a first factor measurement error data value processing module, a second factor measurement error data value processing module, and a second correction data acquisition module.
The first factor measurement error data value processing module is used for grouping all data in the first factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M first factor measurement error data values A1-Am;
the second factor measurement error data value processing module is used for grouping all data in the second factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M second factor measurement error data values B1-Bm;
the second correction data acquisition module is used for forming a plurality of groups of second correction data by the first factor measurement error data values A1-Am and the second factor measurement error data values B1-Bm. The grouping method is random grouping.
A three-dimensional scanning data processing system, the data processing system further comprising:
the measurement line data acquisition module is used for acquiring measurement line data, wherein the measurement line data comprises a plurality of measurement data, the measurement data comprises coordinate data and elevation angle data, the plurality of measurement data form a line vertical to the ground in a real scene from top to bottom, and the difference between the maximum elevation angle and the minimum elevation angle in the plurality of measurement data is not more than 1 degree;
and the calculation module is used for calculating an included angle between a straight line formed by the plurality of measurement data and the ground, and when the included angle is larger than a preset included angle, the maximum elevation angle and the minimum elevation angle in the plurality of measurement data are an early warning elevation angle range.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. All equivalent changes and modifications made according to the disclosure of the present invention are covered by the scope of the claims of the present invention.
Claims (10)
1. A three-dimensional scanning data processing method is characterized by comprising the following steps:
measurement error data information acquisition: acquiring measurement error data information under the current environment, wherein the measurement error data information comprises a plurality of groups of measurement error information, and the measurement error information at least comprises first factor measurement error information and second factor measurement error information;
measurement error data value acquisition: acquiring a plurality of first factor measurement error data values according to the first factor measurement error information; acquiring a plurality of second factor measurement error data values according to the second factor measurement error information;
second correction data acquisition: recombining a plurality of groups of second correction data according to the first factor measurement error data value and the second factor measurement error data value;
first correction data acquisition: acquiring first correction data according to the current environment, wherein the first correction data is used for correcting the measurement data in the current environment and is obtained by calculating the measurement error data information in the current environment;
and (3) correction: and when the elevation angle of the measuring equipment is not in the early warning elevation angle range, correcting the measuring data by adopting the first correction data.
2. The method as claimed in claim 1, wherein the environment is a temperature, a humidity, a distance and a material of the object to be measured during the three-dimensional scanning process.
3. The three-dimensional scanning data processing method according to claim 1, wherein the early warning elevation angle range is 30-70% of the maximum elevation angle of the measuring device, the elevation angle of the measuring device is the angle of the measuring light emitted by the measuring device relative to a fixed plane, and the measuring device is fixed on the fixed plane.
4. The three-dimensional scanning data processing method according to claim 1, wherein the step of obtaining the measurement error data value specifically comprises the steps of:
dividing all data in the first factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M first factor measurement error data values A1-Am;
dividing all data in the second factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M second factor measurement error data values B1-Bm;
the first factor measurement error data values A1-Am and the second factor measurement error data values B1-Bm are grouped into sets of second correction data.
5. The three-dimensional scanning data processing method according to claim 4, characterized in that the data processing method further comprises:
acquiring measurement line data: the measurement line data comprises a plurality of measurement data, the measurement data comprises coordinate data and elevation angle data, the measurement data form a line vertical to the ground in a real scene from top to bottom, and the difference between the maximum elevation angle and the minimum elevation angle in the measurement data is not more than 1 degree;
and (3) calculating: and calculating an included angle between a straight line formed by the plurality of measurement data and the ground, wherein when the included angle is larger than a preset included angle, the maximum elevation angle and the minimum elevation angle in the plurality of measurement data are an early warning elevation angle range.
6. A three-dimensional scanning data processing system, characterized in that the data processing system comprises:
the device comprises a measurement error data information acquisition module, a data processing module and a data processing module, wherein the measurement error data information acquisition module is used for acquiring measurement error data information under the current environment, the measurement error data information comprises a plurality of groups of measurement error information, and the measurement error information at least comprises first factor measurement error information and second factor measurement error information;
the measurement error data value acquisition module is used for acquiring a plurality of first factor measurement error data values according to the first factor measurement error information; acquiring a plurality of second factor measurement error data values according to the second factor measurement error information;
a second correction data obtaining module, configured to recombine the first factor measurement error data values and the second factor measurement error data values into a plurality of groups of second correction data;
the first correction data acquisition module is used for acquiring first correction data according to the current environment, and the first correction data is used for correcting the measurement data in the current environment and is obtained by calculating the measurement error data information in the current environment;
and the correction module corrects the measurement data by adopting any one group of correction data of the multiple groups of second correction data when the elevation angle of the measurement equipment is within the early warning elevation angle range, and corrects the measurement data by adopting the first correction data when the elevation angle of the measurement equipment is not within the early warning elevation angle range.
7. The system of claim 6, wherein the environment is a temperature, a humidity, a distance, and a material of the object to be measured during the three-dimensional scanning.
8. The system of claim 6, wherein the warning elevation angle ranges from 30% to 70% of the maximum elevation angle of the measuring device, the elevation angle of the measuring device is the angle of the measuring light emitted by the measuring device relative to a fixed plane to which the measuring device is fixed.
9. The system of claim 6, further comprising a measurement error data value acquisition module comprising a first factor measurement error data value processing module, a second factor measurement error data value processing module, and a second correction data acquisition module.
The first factor measurement error data value processing module is used for grouping all data in the first factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M first factor measurement error data values A1-Am;
the second factor measurement error data value processing module is used for grouping all data in the second factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M second factor measurement error data values B1-Bm;
the second correction data acquisition module is used for forming a plurality of groups of second correction data by the first factor measurement error data values A1-Am and the second factor measurement error data values B1-Bm.
10. The three-dimensional scanning data processing system of claim 6, wherein the data processing system further comprises:
the measurement line data acquisition module is used for acquiring measurement line data, wherein the measurement line data comprises a plurality of measurement data, the measurement data comprises coordinate data and elevation angle data, the plurality of measurement data form a line vertical to the ground in a real scene from top to bottom, and the difference between the maximum elevation angle and the minimum elevation angle in the plurality of measurement data is not more than 1 degree;
and the calculation module is used for calculating an included angle between a straight line formed by the plurality of measurement data and the ground, and when the included angle is larger than a preset included angle, the maximum elevation angle and the minimum elevation angle in the plurality of measurement data are an early warning elevation angle range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810504904.6A CN108549068B (en) | 2018-05-24 | 2018-05-24 | Three-dimensional scanning data processing method and data processing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810504904.6A CN108549068B (en) | 2018-05-24 | 2018-05-24 | Three-dimensional scanning data processing method and data processing system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108549068A true CN108549068A (en) | 2018-09-18 |
| CN108549068B CN108549068B (en) | 2022-07-15 |
Family
ID=63495427
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810504904.6A Active CN108549068B (en) | 2018-05-24 | 2018-05-24 | Three-dimensional scanning data processing method and data processing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108549068B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110687522A (en) * | 2019-12-10 | 2020-01-14 | 广州赛特智能科技有限公司 | Infrared system calibration method of indoor distribution vehicle, electronic equipment and storage medium |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003132068A (en) * | 2001-10-22 | 2003-05-09 | Nec Corp | Navigation system and navigation terminal |
| US20050273254A1 (en) * | 2003-03-02 | 2005-12-08 | Tomer Malchi | Passive target data acquisition method and system |
| CN102374845A (en) * | 2010-08-10 | 2012-03-14 | 冯黎 | Space coordinate gauge correcting system for linear laser scanning test head |
| JP2013003025A (en) * | 2011-06-20 | 2013-01-07 | Mitsubishi Electric Corp | Laser distance measuring device |
| CN103148832A (en) * | 2013-01-30 | 2013-06-12 | 天津市亚安科技股份有限公司 | Detection method of installation inclination angle of video camera |
| CN104820217A (en) * | 2015-04-14 | 2015-08-05 | 同济大学 | Calibration method for multi-element linear array detection imaging laser radar with multiple normal planes |
| US20160091295A1 (en) * | 2014-09-26 | 2016-03-31 | Canon Kabushiki Kaisha | Calculation method, measurement apparatus, storage medium, and information processing apparatus |
| CN106597417A (en) * | 2017-01-10 | 2017-04-26 | 北京航天计量测试技术研究所 | Remote scanning laser radar measurement error correction method |
| CN107290735A (en) * | 2017-08-22 | 2017-10-24 | 北京航空航天大学 | A kind of point cloud error calibration method based on self-control ground laser radar verticality error |
| CN107703499A (en) * | 2017-08-22 | 2018-02-16 | 北京航空航天大学 | A kind of point cloud error calibration method based on self-control ground laser radar alignment error |
| CN107966638A (en) * | 2017-12-29 | 2018-04-27 | 国网北京市电力公司 | Method and apparatus, storage medium and the processor of correction error |
-
2018
- 2018-05-24 CN CN201810504904.6A patent/CN108549068B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003132068A (en) * | 2001-10-22 | 2003-05-09 | Nec Corp | Navigation system and navigation terminal |
| US20050273254A1 (en) * | 2003-03-02 | 2005-12-08 | Tomer Malchi | Passive target data acquisition method and system |
| CN102374845A (en) * | 2010-08-10 | 2012-03-14 | 冯黎 | Space coordinate gauge correcting system for linear laser scanning test head |
| JP2013003025A (en) * | 2011-06-20 | 2013-01-07 | Mitsubishi Electric Corp | Laser distance measuring device |
| CN103148832A (en) * | 2013-01-30 | 2013-06-12 | 天津市亚安科技股份有限公司 | Detection method of installation inclination angle of video camera |
| US20160091295A1 (en) * | 2014-09-26 | 2016-03-31 | Canon Kabushiki Kaisha | Calculation method, measurement apparatus, storage medium, and information processing apparatus |
| JP2016070706A (en) * | 2014-09-26 | 2016-05-09 | キヤノン株式会社 | Calculation method, measurement device, program, and information processing device |
| CN104820217A (en) * | 2015-04-14 | 2015-08-05 | 同济大学 | Calibration method for multi-element linear array detection imaging laser radar with multiple normal planes |
| CN106597417A (en) * | 2017-01-10 | 2017-04-26 | 北京航天计量测试技术研究所 | Remote scanning laser radar measurement error correction method |
| CN107290735A (en) * | 2017-08-22 | 2017-10-24 | 北京航空航天大学 | A kind of point cloud error calibration method based on self-control ground laser radar verticality error |
| CN107703499A (en) * | 2017-08-22 | 2018-02-16 | 北京航空航天大学 | A kind of point cloud error calibration method based on self-control ground laser radar alignment error |
| CN107966638A (en) * | 2017-12-29 | 2018-04-27 | 国网北京市电力公司 | Method and apparatus, storage medium and the processor of correction error |
Non-Patent Citations (4)
| Title |
|---|
| Z. TAO AND T. XIAOMING: "《High-accuracy radar calibration based on ADS-B》", 《 IET INTERNATIONAL RADAR CONFERENCE 2015》, 16 October 2015 (2015-10-16), pages 1 - 6 * |
| 付梦印等: "移动机器人组合感知系统及其配准方法改进", 《兵工学报》, no. 06, 30 June 2011 (2011-06-30), pages 712 - 718 * |
| 李品: "《InSAR系统的定标方法研究》", 《中国博士学位论文全文数据库 信息科技辑》, 15 June 2009 (2009-06-15), pages 136 - 51 * |
| 李鹏: "《机载组合导航技术研究》", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》, 15 November 2007 (2007-11-15), pages 031 - 23 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110687522A (en) * | 2019-12-10 | 2020-01-14 | 广州赛特智能科技有限公司 | Infrared system calibration method of indoor distribution vehicle, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108549068B (en) | 2022-07-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110208771B (en) | Point cloud intensity correction method of mobile two-dimensional laser radar | |
| US10223793B1 (en) | Laser distance measuring method and system | |
| CN111427027A (en) | Method, device and system for calibrating multi-line laser radar | |
| CN110109149B (en) | Laser radar low-layer extinction coefficient profile correction method | |
| EP3194883B1 (en) | Method and relevant device for measuring distance with auto-calibration and temperature compensation | |
| CN109597040A (en) | A kind of field-free geometric calibration method of satellite-borne SAR image | |
| Villasante et al. | Measurement errors in the use of smartphones as low-cost forestry hypsometers | |
| CN111707374B (en) | Distance estimation method and system for human body infrared thermometer | |
| CN111385558B (en) | TOF camera module precision measurement method and system thereof | |
| CN106168662A (en) | The error registration method of passive sensor based on Maximum-likelihood estimation and device | |
| CN108549068B (en) | Three-dimensional scanning data processing method and data processing system | |
| CN111198041A (en) | Device and method for multi-dimensional non-contact high-precision detection of target temperature | |
| Liu et al. | A large scale 3D positioning method based on a network of rotating laser automatic theodolites | |
| CN110471078B (en) | Light quantum height measurement telescope and height measurement method | |
| CN110986784B (en) | Reference coordinate acquisition method and application thereof | |
| Lambertus et al. | Empirical investigation of a stochastic model based on intensity values for terrestrial laser scanning | |
| KR20190086951A (en) | System and Method for Calibration of Mobile Mapping System Using Terrestrial LiDAR | |
| CN113359122B (en) | Pulse radar measurement data rationality checking method and device | |
| CN104713476B (en) | Coplane degree detection method and device | |
| CN108226907B (en) | Ranging calibration method and device for laser ranging equipment | |
| CN111366254A (en) | Atmospheric transmittance detection method and device | |
| WO2016040239A1 (en) | Multi-sensor target location registration | |
| Yuan et al. | Laboratory geometric calibration of non-metric digital camera | |
| CN113989513A (en) | Method for recognizing reading of square pointer type instrument | |
| CN113705701A (en) | Multi-source detection signal integration processing method |
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 | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A 3D scanning data processing method and data processing system Granted publication date: 20220715 Pledgee: China Construction Bank Corporation Shanghai Sixth Branch Pledgor: SHANGHAI JOYFU INFORMATION TECH Co.,Ltd. Registration number: Y2024310000077 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |