CN110163067A - Panoramic view data acquisition device, collecting vehicle and acquisition method - Google Patents
Panoramic view data acquisition device, collecting vehicle and acquisition method Download PDFInfo
- Publication number
- CN110163067A CN110163067A CN201811508007.9A CN201811508007A CN110163067A CN 110163067 A CN110163067 A CN 110163067A CN 201811508007 A CN201811508007 A CN 201811508007A CN 110163067 A CN110163067 A CN 110163067A
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- China
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- view data
- panoramic view
- antenna
- acquisition device
- data acquisition
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Classifications
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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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/35—Categorising the entire scene, e.g. birthday party or wedding scene
- G06V20/38—Outdoor scenes
- G06V20/39—Urban scenes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/265—Mixing
Abstract
The present invention provides a kind of panoramic view data acquisition device comprising fixed bracket, camera lens composite structure, antenna positioning structure, laser scanning structure and inertial navigation set；Fixed bracket includes horizontal bracket and vertical support frame interconnected；Camera lens composite structure includes the cylindrical holder being arranged on horizontal bracket and multiple camera lens for being arranged on cylindrical holder outer；Antenna positioning structure includes the antenna being arranged on cylindrical holder；Laser scanning structure includes the Laser Scanning Equipment being arranged on cylindrical holder；Inertial navigation set is arranged on vertical support frame；The present invention also provides a kind of panoramic view data collecting vehicle and the acquisition methods of panoramic view data.Camera lens composite structure, antenna positioning structure, laser scanning structure and inertial navigation set are arranged by the fixation bracket with horizontal bracket and vertical support frame by the present invention, the precision of acquisition data can be greatly improved, and can preferably realize the automation control of data acquisition.
Description
Technical field
The present invention relates to Image Acquisition fields, more particularly to a kind of panoramic view data acquisition device, collecting vehicle and acquisition
Method.
Background technique
With the development of science and technology, requirement of the people to city map information is higher and higher and wants to the quality of data of acquisition
Ask also higher and higher.Therefore existing streetscape map production manufacturer needs and in order to meet the acquisition of high definition streetscape map to drive
It sails vehicle and better streetscape map service is provided, street view image can be acquired using streetscape map collecting vehicle, the general street
Scape map collecting vehicle will be installed the equipment such as camera, laser navigation and inertial navigation.
Existing streetscape map collecting vehicle usually supports camera and laser using upright bar on top holder, and
And camera can be arranged in metal-back, inertial navigation set can be arranged in the car, to guarantee that camera and inertial navigation are set
Standby job stability.But the volume of existing streetscape map collecting vehicle is larger, and each data acquisition equipment has no setting position
It sets and is installed, cause accuracy of data acquisition lower, and data acquisition automatic control degree is lower.
Summary of the invention
The embodiment of the present invention provides that a kind of accuracy of data acquisition is higher and data acquisition automatic control degree is also higher complete
Scape data acquisition device, collecting vehicle and acquisition method；To solve existing panoramic view data acquisition device, collecting vehicle and acquisition
The technical problem that the accuracy of data acquisition of method is lower and data acquisition automatic control degree is lower.
The embodiment of the present invention provides a kind of panoramic view data acquisition device comprising:
Fixed bracket, including horizontal bracket interconnected and vertical support frame；
Camera lens composite structure including the cylindrical holder being arranged on the horizontal bracket and is arranged in the cylinder branch
Multiple camera lens on frame outer；
Antenna positioning structure, including the antenna being arranged on the cylindrical holder；
Laser scanning structure, including the Laser Scanning Equipment being arranged on the cylindrical holder；And
Inertial navigation set is arranged on the vertical support frame；
Wherein the inertial navigation set is electrically connected with the antenna and the Laser Scanning Equipment respectively.
The embodiment of the present invention also provides a kind of panoramic view data collecting vehicle comprising:
Car body,
Panoramic view data acquisition device fixed frame, is arranged in the tail end of the car body top；And
Above-mentioned panoramic view data acquisition device acquires fixed mount setting in the car body top by the panoramic view data.
The embodiment of the present invention also provides a kind of acquisition method that panoramic view data is carried out using above-mentioned panoramic view data acquisition device,
Comprising:
By the camera lens of the camera lens composite structure, by scene image number around the first setting time interval acquiring
According to；
By the Laser Scanning Equipment of the laser scanning structure, by laser point cloud around the first setting time interval acquiring
Data；
To the point cloud in the image characteristic point and the surrounding laser point cloud data in the surrounding scene image data
Characteristic point is demarcated；
Image characteristic point and point cloud characteristic point based on calibration, swash the surrounding scene image data and the surrounding
Light point cloud data is matched；
To the surrounding's scene image data and the progress data fusion operation of surrounding laser point cloud data after matching, to generate
Corresponding panoramic image data；And
Three-dimensional map model based on panoramic image data creation panoramic view data.
The embodiment of the present invention also provides a kind of computer readable storage medium, is stored with processor-executable instruction,
Described instruction is loaded by one or more processors, to execute the acquisition method of above-mentioned panoramic view data.
The embodiment of the present invention also provides a kind of electronic equipment, including processor and memory, and the memory storage has meter
Calculation machine program, the processor is by calling the computer program, for executing the acquisition method of above-mentioned panoramic view data.
Compared to the prior art, panoramic view data acquisition device, collecting vehicle and acquisition method of the invention pass through with water
The fixation bracket of flat bracket and vertical support frame is arranged camera lens composite structure, antenna positioning structure, laser scanning structure and used
Property navigation equipment, can greatly improve acquisition data precision, and can preferably realize data acquisition automation control；Effectively
The accuracy of data acquisition for solving existing panoramic view data acquisition device, collecting vehicle and acquisition method is lower and data acquire
The lower technical problem of automatic control degree.
Detailed description of the invention
Fig. 1 is the three-dimensional structure diagram of the embodiment of panoramic view data acquisition device of the invention；
Fig. 2 is the overlooking structure figure of the embodiment of panoramic view data acquisition device of the invention；
Fig. 3 is the right view structure chart of the embodiment of panoramic view data acquisition device of the invention；
Fig. 4 is the main structure figure of the embodiment of panoramic view data acquisition device of the invention；
Fig. 5 is the detonation configuration figure of the embodiment of panoramic view data acquisition device of the invention；
Fig. 6 is the main structure figure of the embodiment of panoramic view data collecting vehicle of the invention；
Fig. 7 is the three-dimensional structure diagram of the embodiment of panoramic view data collecting vehicle of the invention；
Fig. 8 a and Fig. 8 b are the knot of two kinds of working conditions of the protective cover of the embodiment of panoramic view data collecting vehicle of the invention
Structure schematic diagram；
Fig. 9 is the flow chart of the embodiment of the acquisition method of panoramic view data of the invention；
Figure 10 is the work of the electronic equipment where the corresponding data processing terminal of acquisition method of panoramic view data of the invention
Make environmental structure diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole embodiments.Based on this
Embodiment in invention, those of ordinary skill in the art are obtained every other under the premise of not making creative labor
Embodiment shall fall within the protection scope of the present invention.
Panoramic view data acquisition device of the invention can be used for being acquired the data of streetscape map, so that basis collects
Data generate corresponding three-dimensional map model.The mirror that panoramic view data acquisition device of the invention is dispersed by fixed bracket
Head composite structure, antenna positioning structure, laser scanning structure and inertial navigation set carry out integration fixation, improve each number
According to the relevance between acquisition equipment, data acquisition and plant maintenance are carried out convenient for personal, improves the precision of acquisition data
And the automation control of data acquisition.
Fig. 1 to Fig. 5 is please referred to, Fig. 1 is the three-dimensional structure diagram of the embodiment of panoramic view data acquisition device of the invention；Fig. 2
For the overlooking structure figure of the embodiment of panoramic view data acquisition device of the invention；Fig. 3 is panoramic view data acquisition device of the invention
Embodiment right view structure chart；Fig. 4 is the main structure figure of the embodiment of panoramic view data acquisition device of the invention；Fig. 5 is
The detonation configuration figure of the embodiment of panoramic view data acquisition device of the invention.
The panoramic view data acquisition device 10 of the embodiment of the present invention is fixed including fixed bracket 11, camera lens composite structure 12, antenna
Bit architecture 13, laser scanning structure 14 and inertial navigation set 15.
It wherein fixes bracket 11 and includes horizontal bracket 111 interconnected and vertical support frame 112, wherein horizontal bracket
111 are used for fixed lens composite structure 12, antenna positioning structure 13 and laser scanning structure 14；Vertical support frame 112 is for solid
Determine inertial navigation set 15.Here the placement that the fixed pan of horizontal bracket is roughly parallel to panoramic view data acquisition device is flat
Face, such as horizontal plane；Here the fixed pan of vertical support frame is approximately perpendicular to the holding plane of panoramic view data acquisition device, such as
Perpendicular to the plane etc. of horizontal plane.
Camera lens composite structure 12 is for shooting surrounding scene image data, including the cylinder being arranged on horizontal bracket 111
Bracket 121, the multiple camera lens 122 being arranged in 121 extension of cylindrical holder and it is sealingly disposed in the upper of cylindrical holder 121
The bracket top cover 123 on surface.Here it is screwed, 4-8 camera mirror is uniformly set in the extension of cylindrical holder 121
First 122, each camera lens 122 can be responsible for shooting surrounding's scene image data of corresponding angle.Each camera lens 122 are
Settable camera lens outer cover is to prevent destruction of the external object to camera lens.Bracket top cover 123 can be fixed by screws in cylinder
Cylindrical holder 121 can be fully sealed for the upper surface of bracket 121, such bracket top cover 123, ensure that camera lens 122
The airtightness of rear end.
Further, in the also settable closing rubber pad in the inside of camera lens 122, rainwater is avoided to enter camera lens
In, play certain dampproof effect.
Antenna positioning structure 13 is for obtaining antenna location information, such as Beidou antenna information or GPS positioning information (Global
Positioning System, global positioning system) etc..The antenna positioning structure 13 includes being arranged on cylindrical holder 121
Antenna fixing structure 131 is fixed on antenna 132 on cylindrical holder 121 by the antenna fixing structure 131 and is arranged in day
The crash bar 133 in 132 outside of line.As shown in figure 4, the acquisition direction of the antenna location information of antenna 132 is 30 degree to 150 degree.
Antenna 132 can be fixed on antenna fixing structure 131 by bolt matched with antenna 132, such as the type of antenna 132
When number changing, it is only necessary to which carrying out corresponding replacement to mating bolt can be fixed on antenna fixing structure 131.Antenna is fixed
Structure 131 can pass through the cabling and inertia in antenna fixing structure 131 for the hollow structure convenient for cabling, such antenna 132
Navigation equipment 15 is electrically connected.Crash bar 133 is arranged on cylindrical holder 121 by antenna fixing structure 131, to prevent external object
Body causes to damage to antenna 132.
Laser scanning structure 14 is for shooting surrounding laser point cloud data.The laser scanning structure 14 includes being arranged in cylinder
Laser fixed structure 141 on bracket 121 and the laser being fixed on by the laser fixed structure 141 on cylindrical holder 121
Scanning device 142.As shown in figure 4, the setting plane of antenna 132 is parallel to the upper surface of cylindrical holder 121, Laser Scanning Equipment
14 setting plane and the upper surface shape of cylindrical holder 121 are (such as 45 degree to 55 degree) in an acute angle.
If the upper surface of cylindrical holder 121 is reference planes, the acquisition side of the laser point cloud data of Laser Scanning Equipment 142
It is -45 degree to -65 degree and 135 degree to 155 degree to the angle with reference planes.Due to the acquisition side of Laser Scanning Equipment 142
To with certain inclination, therefore camera lens composite structure 12 and antenna positioning structure 13 can preferably be avoided to set laser scanning
The influence of the pickup area of standby 142 laser point cloud data.Here the acquisition of the laser point cloud data of Laser Scanning Equipment 142
To avoid influence of the modular structure of panoramic view data acquisition device 10 to pickup area as principle, user specifically makes for the setting in region
Used time can be adjusted according to pickup area of the situation to the laser point cloud data of Laser Scanning Equipment 142.
Here laser point cloud data refers to that the laser reflected when beam of laser is irradiated to body surface can the side of carrying
The information such as position, distance.If the laser beam is scanned according to certain track, the laser point of reflection will be recorded in scanning
Information, it is extremely fine due to scanning, a large amount of laser point can be obtained, corresponding laser point cloud data is formed.
Laser fixed structure 141 can be the hollow structure convenient for cabling, and such Laser Scanning Equipment 142 can be solid by laser
The cabling determined in structure 141 is electrically connected with inertial navigation set 15.
Inertial navigation set 15 is used to obtain the inertial acceleration information of panoramic view data acquisition device.The inertial navigation set
15 are arranged on vertical support frame 112, and inertial navigation set 15 is electrically connected with antenna 132 and Laser Scanning Equipment 142 respectively.This
Sample inertial navigation set 15 can obtain antenna location information from antenna 132, and surrounding laser is obtained from Laser Scanning Equipment 142
Point cloud data, in this way can be by surrounding laser point cloud data and antenna location information to the inertia of panoramic view data acquisition device 10
Acceleration information is modified.Since inertial navigation set 15 is arranged on vertical support frame 112, by inertial navigation set 15
The direction+z be set as the direction of advance of corresponding panoramic view data collecting vehicle.
Here inertial acceleration information refer to from the position of a known point according to the heading of moving vehicle angle that continuously measures and
Speed calculation goes out the position of next point, therefore can continuously measure the current location of movable body.
As shown in figure 4, the first end of cylindrical holder 121 is arranged in antenna 132, Laser Scanning Equipment 142 is arranged in cylinder
The line of the second end of bracket 121, the first end and second end of cylindrical holder 121 is located at or is located substantially at panoramic view data acquisition dress
It sets on 10 vertical central axis face.The center of cylindrical holder 121 and the center of inertial navigation set 15 are respectively positioned on or are located substantially at
On the vertical central axis face of panoramic view data acquisition device 10.
In order to preferably feed back the position of panoramic view data acquisition device 10, the center B of antenna 132, laser scanning are set
Standby 142 center C, the center D of cylindrical holder 121 and the center E of inertial navigation set 15 should be arranged at panoramic view data and adopt
On the vertical central axis face of acquisition means 10.The center location information of antenna location information feedback, surrounding laser point cloud data are anti-in this way
In the center location information of feedback, the center location information of surrounding scene image data feedback and inertial acceleration information feedback
Heart location information is almost the same, is respectively positioned on the vertical central axis face of panoramic view data acquisition device 10.Here vertical central axis face is such as
Section A in Fig. 2.
Therefore the panoramic view data acquisition device 10 of the present embodiment distinguishes fixed lens composite structure by fixed bracket 11
12, antenna positioning structure 13, laser scanning structure 14 and inertial navigation set 15, antenna positioning structure 13 and laser scanning
Structure 14 is arranged at the top of camera lens composite structure 12, and the lower section of camera lens composite structure 12 is arranged in inertial navigation set 15；
So that the center C and inertial navigation set of the center B of the center D of camera lens 122, antenna 132, Laser Scanning Equipment 142
15 center E is as close to so as to use collected data to be mutually matched, raising acquires the precision of data.
The data collection zone domain of camera lens 122, the data collection zone domain of antenna 132 and Laser Scanning Equipment simultaneously
142 data collection zone domain will not be clashed with the setting position of each module under panoramic view data acquisition device 10, and used
Property navigation equipment 15 it is shorter with the connecting line of antenna 132 and Laser Scanning Equipment 142 respectively, the acquisition of the data that are further ensured that
Integrality and avoid data transmission when deviation of signal.
The panoramic view data acquisition device of the present embodiment is arranged by the fixation bracket with horizontal bracket and vertical support frame
Camera lens composite structure, antenna positioning structure, laser scanning structure and inertial navigation set can greatly improve acquisition data
Precision, and can preferably realize the automation control of data acquisition.
The present invention also provides a kind of panoramic view data collecting vehicles, please refer to Fig. 6 and Fig. 7, and Fig. 6 is that panoramic view data of the invention is adopted
Collect the main structure figure of the embodiment of vehicle；Fig. 7 is the three-dimensional structure diagram of the embodiment of panoramic view data collecting vehicle of the invention.This reality
The panoramic view data collecting vehicle 60 for applying example includes car body 61, panoramic view data acquisition device fixed frame 62 and panoramic view data acquisition device
63。
The tail end of car body top is arranged in the panoramic view data acquisition device fixed frame 62, and panoramic view data acquisition device 63 passes through
Panoramic view data acquires fixed mount setting in car body top, panoramic view data acquisition device 63 include fixed bracket, camera lens composite structure,
The specific structure description of antenna positioning structure, laser scanning structure and inertial navigation set, panoramic view data acquisition device 63 is asked
Referring to Fig. 1 to Fig. 5.
Fixed bracket includes horizontal bracket and vertical support frame interconnected；Camera lens composite structure is for shooting surrounding field
Scape image data, including the cylindrical holder being arranged on horizontal bracket and the multiple camera mirrors being arranged on cylindrical holder outer
Head；Antenna positioning structure is for obtaining antenna location information, including the antenna being arranged on cylindrical holder；Laser scanning structure is used
In shooting surrounding laser point cloud data, including the Laser Scanning Equipment being arranged on cylindrical holder；Inertial navigation set is for obtaining
Inertial acceleration information is taken, is arranged on vertical support frame；Inertial navigation set is electrically connected with antenna and Laser Scanning Equipment respectively.
The first end of cylindrical holder is arranged in antenna, and the second end of cylindrical holder, cylinder branch is arranged in Laser Scanning Equipment
The line of the first end and second end of frame is located substantially at line and is located substantially on the vertical central axis face of panoramic view data acquisition device 63.
The center of cylindrical holder and the center of inertial navigation set are located substantially at the vertical central axis face of panoramic view data acquisition device 63
On.The center of car body also is located on the vertical central axis face of panoramic view data acquisition device 63 simultaneously, so that camera lens, day
Line, Laser Scanning Equipment and the collected data of inertial navigation set can accurately feed back the location information of car body with
And the periphery streetscape information of car body.
If the line direction of the first end and second end of cylindrical holder is 0 degree of direction, then the antenna location information of antenna
Acquiring direction is 30 degree to 150, and the acquisition direction of the laser point cloud data of Laser Scanning Equipment is -45 degree extremely -65 degree and 135
For degree to 155 degree, i.e. the data acquisition direction of Laser Scanning Equipment has certain inclination.
In order to avoid data collection zone domain of the car body 61 to Laser Scanning Equipment has an impact, the second end phase of cylindrical holder
To the first end of cylindrical holder close to the tail end of car body 61, i.e., Laser Scanning Equipment relative antenna close to car body 61 tail end, this
Sample can reduce influence of the body construction to the pickup area of the laser point cloud data of Laser Scanning Equipment as far as possible.
Furthermore antenna positioning structure further includes the crash bar being arranged on the outside of antenna, and crash bar is arranged in car body 61 close to vehicle
The direction of head, when can preferably prevent panoramic view data collecting vehicle from moving forward, exterior object causes to damage to antenna.
Furthermore the panoramic view data acquisition device fixed frame 62 of the panoramic view data collecting vehicle 60 of the present embodiment includes to panorama number
The lifting structure 64 of descending operation is carried out according to acquisition device 63 and the protective cover 65 for protecting panoramic view data acquisition device 63.
As figures 8 a and 8 b show, Fig. 8 a and Fig. 8 b is two kinds of work of the protective cover of the embodiment of panoramic view data collecting vehicle of the invention
The structural schematic diagram of state.When the panoramic view data acquisition device 63 of panoramic view data collecting vehicle 60 works, panoramic view data acquisition dress
It sets 63 to rise under the driving of lifting structure 64, to be preferably acquired data, at this moment protective cover 65 is in open shape
State, protective cover 65 is located at the two sides of panoramic view data acquisition device fixed frame 62, and (protective cover 65 can also be only located at panoramic view data here
The side of acquisition device fixed frame 62), as shown in Figure 8 a；When the panoramic view data acquisition device 63 of panoramic view data collecting vehicle 60 stops
When work, panoramic view data acquisition device 63 is fallen under the driving of lifting structure 64, and protective cover 65 is in closed state at this time,
Panoramic view data acquisition device 63 can be located in the memory space that protective cover 65 and panoramic view data acquisition device fixed frame 62 are formed,
As shown in Figure 8 b, it can prevent external object from acquiring to panoramic view data when panoramic view data acquisition device 63 stops working in this way and fill
Set 63 damage.
The panoramic view data collecting vehicle 60 of the present embodiment is arranged by the fixation bracket with horizontal bracket and vertical support frame
Camera lens composite structure, antenna positioning structure, laser scanning structure and inertial navigation set can greatly improve acquisition data
Precision, and can preferably realize the automation control of data acquisition.The position of panoramic view data acquisition device on the car body is set simultaneously
Set the influence that can further reduce body construction to data acquisition range；The lifting structure of panoramic view data acquisition device fixed frame
And the setting of protective cover further improves the job stability of panoramic view data acquisition device.
Panorama number is carried out using above-mentioned panoramic view data acquisition device or panoramic view data collecting vehicle the present invention also provides a kind of
According to acquisition method, the acquisition method of panoramic view data of the invention, which may be provided in arbitrary data processing terminal, to be implemented, and is asked
It is the flow chart of the embodiment of the acquisition method of panoramic view data of the invention referring to Fig. 9, Fig. 9.The panoramic view data of the present embodiment
Acquisition method includes:
Step S901, by the camera lens of camera lens composite structure, by scene figure around the first setting time interval acquiring
As data；
Step S902 is swashed by the Laser Scanning Equipment of laser scanning structure as around the first setting time interval acquiring
Light point cloud data；
Step S903, to the point cloud in the image characteristic point and surrounding laser point cloud data in scene image data around
Characteristic point is demarcated；
Step S904, graphic feature point and point cloud characteristic point based on calibration, to scene image data around and week
Laser point cloud data is enclosed to be matched；
Step S905, to after matching surrounding's scene image data and surrounding laser point cloud data carry out data fusion behaviour
Make, to generate corresponding panoramic image data；
Step S906, the three-dimensional map model based on panoramic image data creation panoramic view data (such as streetscape map).
The following detailed description of the panoramic view data collection process of the acquisition method of the panoramic view data of the present embodiment.
Wherein panoramic view data acquisition device includes fixed bracket, camera lens composite structure, antenna positioning structure, laser scanning knot
Structure and inertial navigation set.
Fixed bracket includes horizontal bracket and vertical support frame interconnected；Camera lens composite structure is for shooting surrounding field
Scape image data, including the cylindrical holder being arranged on horizontal bracket and the multiple camera mirrors being arranged on cylindrical holder outer
Head；Antenna positioning structure is for obtaining antenna location information, including the antenna being arranged on cylindrical holder；Laser scanning structure is used
In shooting surrounding laser point cloud data, including the Laser Scanning Equipment being arranged on cylindrical holder；Inertial navigation set is for obtaining
Inertial acceleration information is taken, is arranged on vertical support frame；Inertial navigation set is electrically connected with antenna and Laser Scanning Equipment respectively.
In step S901, data processing terminal, the i.e. acquisition device of panoramic view data pass through the camera of camera lens composite structure
Camera lens, by scene image data around the first setting time interval acquiring.Here each camera lens can obtain fixed angle
Multiple scene image datas, image mosaic operations can be carried out to above-mentioned multiple scene image datas, corresponding week can be obtained
Enclose scene image data, the i.e. panoramic picture of surrounding.Specific coverage is as shown in the region a in Fig. 6.
The first setting time interval can be set by the travel distance of vehicle, shooting time and vehicle can be passed through in this way
The rational allocation of travel speed, the side that the visual field of covering vehicle body tour is constantly advanced to panoramic view data collecting vehicle
To propulsion.
In step S902, data processing terminal passes through the Laser Scanning Equipment of laser scanning structure, when by the first setting
Between laser point cloud data around interval acquiring.Surrounding laser point cloud data can for surrounding laser reflection point three-dimensional coordinate data,
The information such as spatial resolution and light intensity illumination.The scanning range of Laser Scanning Equipment and the advancement of planar of panoramic view data collecting vehicle
It is in a certain angle, it is generated to avoid scanning range of each component of vehicle body and panoramic view data acquisition device to Laser Scanning Equipment
It influences.The scanning range of specific Laser Scanning Equipment is as shown in the region b in Fig. 6.
The first setting time interval can be set by the travel distance of vehicle, shooting time and vehicle can be passed through in this way
The rational allocation of travel speed, a similar circular scanning taper constantly to the side of panoramic view data collecting vehicle advance
To propulsion.Here the data acquisition time of Laser Scanning Equipment should be consistent with the data acquisition time of camera lens.
In step S903, data processing terminal obtains the image characteristic point in surrounding scene image data and around swashs
Point cloud characteristic point in light point cloud data, and obtain the calibration point in the image characteristic point in surrounding scene image data and week
The calibration point for enclosing the point cloud characteristic point in laser point cloud data, then using above-mentioned calibration point in scene image data around
Point cloud characteristic point in image characteristic point and surrounding laser point cloud data is demarcated.
In step S904, image characteristic point and point cloud characteristic point of the data processing terminal based on calibration, to field around
Scape image data and surrounding laser point cloud data are matched.
Specifically, data processing terminal can obtain the image characteristic point of calibration and the antenna mark of point cloud characteristic point by antenna
Positioning is set, and wherein the signal range of receiving of antenna is as shown in the region c of Fig. 6.Due to antenna antenna location information by weather and
Position is affected, such as encounter that weather is bad or panoramic view data collecting vehicle be in overpass, in tunnel, high building corner or underground
When garage, antenna can be obtained less than satellite-signal, so as to cause the inaccuracy of antenna location information.
Subsequent data processing terminal obtains the image characteristic point of calibration by inertial navigation set and puts the used of cloud characteristic point
Property navigation position.Inertial navigation position is to be carried out by the inertial acceleration information to panoramic view data collecting vehicle in set period of time
Integrate the location information obtained.Therefore the inertial navigation position not will receive the position shadow of weather and panoramic view data collecting vehicle
It rings, short-term accuracy is higher；But positioning operation is carried out for a long time, the position error of inertial navigation position can increase with the time.
Then data processing terminal judges whether antenna calibration position is located on acquisition route, which is panorama number
The geographical route of streetscape map acquisition is carried out according to collecting vehicle.If antenna calibration position is located on acquisition route, then antenna is determined
Antenna calibration position is more accurate, and data processing terminal demarcates position according to antenna, to scene image data around and surrounding
Laser point cloud data is matched.If antenna calibration position is not located on acquisition route, then the inertia of inertial navigation set is judged
Navigation position is more accurate, and data processing terminal is according to inertial navigation position, to scene image data around and surrounding laser
Point cloud data is matched.It may make scene image data around and the matching accuracy of surrounding laser point cloud data so more
It is high.
Specifically, due to using inertial navigation position to carry out prolonged positioning operation, can make position error with when
Between increase, therefore in the present embodiment, when antenna calibration position is located on acquisition route, data processing terminal can be by the second setting
Time interval is modified inertial navigation position using antenna calibration position, periodically to eliminate the positioning of inertial navigation position
Error.
In step S905, data processing terminal is to the surrounding's scene image data and surrounding laser point cloud number after matching
According to data fusion operation is carried out, the color data around subsequent use in scene image data is to fused panoramic image data
Color rendering is carried out, to generate corresponding panoramic image data.
In step S906, data processing terminal is based on the step S905 panoramic image data creation panoramic view data generated
Three-dimensional map model.
The panoramic view data collection process of the acquisition method of the panoramic view data of the present embodiment is completed in this way.
Panoramic view data acquisition device, collecting vehicle and acquisition method of the invention passes through with horizontal bracket and vertical support frame
Fixation bracket camera lens composite structure, antenna positioning structure, laser scanning structure and inertial navigation set, Ke Yi great be set
The big precision for improving acquisition data, and can preferably realize the automation control of data acquisition；Effective solution is existing complete
The accuracy of data acquisition of scape data acquisition device, collecting vehicle and acquisition method is lower and data acquisition automatic control degree is lower
The technical issues of.
" component ", " module ", " system ", " interface ", " process " etc. are generally intended to as used herein the term
Refer to computer related entity: hardware, the combination of hardware and software, software or software in execution.For example, component can be but not
It is limited to be the process on a processor of running, processor, object, executable application, thread, program and/or the computer executed.
By diagram, both the application and the controller run on the controller can be component.One or more components can have
It is in the process executed and/or thread, and component can be located on a computer and/or be distributed in two or more meters
Between calculation machine.
Figure 10 and the discussion below are provided to the corresponding data of acquisition method for realizing panoramic view data of the present invention
Brief, summary the description of the working environment of electronic equipment where processing terminal.The working environment of Figure 10 is only appropriate
One example of working environment and suggestion is not intended to about the purposes of working environment or any restrictions of the range of function.Example
Electronic equipment 1012 includes but is not limited to wearable device, helmet, medical treatment & health platform, personal computer, server meter
Calculation machine, hand-held or laptop devices, mobile device (such as mobile phone, personal digital assistant (PDA), media player etc.
Deng), multicomputer system, consumer electronic devices, minicomputer, mainframe computer including above-mentioned arbitrary system or equipment
Distributed computing environment, etc..
Although not requiring, in the common background that " computer-readable instruction " is executed by one or more electronic equipments
Lower description embodiment.Computer-readable instruction can be distributed via computer-readable medium and (be discussed below).It is computer-readable
Instruction can be implemented as program module, for example executes particular task or realize the function of particular abstract data type, object, application
Programming interface (API), data structure etc..Typically, the function of the computer-readable instruction can be in various environment arbitrarily
Combination or distribution.
Figure 10 illustrate one in the corresponding data processing terminal of acquisition method including panoramic view data of the invention or
The example of the electronic equipment 1012 of multiple embodiments.In one configuration, electronic equipment 1012 includes at least one processing unit
1016 and memory 1018.According to the exact configuration and type of electronic equipment, memory 1018 can be volatibility (such as
RAM), certain combination of non-volatile (such as ROM, flash memory etc.) or both.The configuration is illustrated in Figure 10 by dotted line 1014.
In other embodiments, electronic equipment 1012 may include supplementary features and/or function.For example, equipment 1012 is also
It may include additional storage device (such as removable and/or non-removable) comprising but it is not limited to magnetic memory apparatus, light
Storage device etc..This additional memory devices are illustrated in Figure 10 by storage device 1020.In one embodiment, for real
The computer-readable instruction of existing one or more embodiments provided in this article can be in storage device 1020.Storage device
1020 other computer-readable instructions that can also be stored for realizing operating system, application program etc..Computer-readable instruction
It can be loaded into memory 1018 and be executed by such as processing unit 1016.
Term as used herein " computer-readable medium " includes computer storage medium.Computer storage medium includes
The volatibility that any method or technique of the information of such as computer-readable instruction or other data etc is realized for storage
With non-volatile, removable and nonremovable medium.Memory 1018 and storage device 1020 are the realities of computer storage medium
Example.Computer storage medium includes but is not limited to RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, number
Universal disc (DVD) or other light storage devices, cassette tape, tape, disk storage device or other magnetic storage apparatus can be with
Any other medium for storing expectation information and can be accessed by electronic equipment 1012.Any such computer storage is situated between
Matter can be a part of electronic equipment 1012.
Electronic equipment 1012 can also include the communication connection 1026 for allowing electronic equipment 1012 to communicate with other equipment.It is logical
Letter connection 1026 can include but is not limited to modem, network interface card (NIC), integrated network interface, radiofrequency launcher/
Receiver, infrared port, USB connection or other interfaces for electronic equipment 1012 to be connected to other electronic equipments.Communication
Connection 1026 may include wired connection or wireless connection.Communication connection 1026 can emit and/or receive communication medium.
Term " computer-readable medium " may include communication media.Communication media typically comprises computer-readable instruction
Or other data in " the own modulated data signal " of such as carrier wave or other transmission mechanisms etc, and passed including any information
Send medium.Term " own modulated data signal " may include such signal: one or more of the characteristics of signals is according to general
Mode of the information coding into signal is set or changed.
Electronic equipment 1012 may include input equipment 1024, for example, keyboard, mouse, pen, voice-input device, touch it is defeated
Enter equipment, infrared camera, video input apparatus and/or any other input equipment.It also may include that output is set in equipment 1012
Standby 1022, such as one or more displays, loudspeaker, printer and/or other any output equipments.1024 He of input equipment
Output equipment 1022 can be connected to electronic equipment 1012 via wired connection, wireless connection or any combination thereof.In a reality
It applies in example, input equipment or output equipment from another electronic equipment are used as the input equipment of electronic equipment 1012
1024 or output equipment 1022.
The component of electronic equipment 1012 can be connected by various interconnection (such as bus).Such interconnection may include outer
Enclose component interconnection (PCI) (such as quick PCI), universal serial bus (USB), firewire (IEEE1394), optical bus structure etc.
Deng.In another embodiment, the component of electronic equipment 1012 can pass through network interconnection.For example, memory 1018 can be by
Multiple physical memory cells arcs composition in different physical locations, by network interconnection.
It would be recognized by those skilled in the art that the storage equipment for storing computer-readable instruction can be across network point
Cloth.For example, can store via the electronic equipment 1030 that network 1028 accesses for realizing one provided by the present invention or
The computer-readable instruction of multiple embodiments.The accessible electronic equipment 1030 of electronic equipment 1012 and downloading computer is readable
What is instructed is part or all of for execution.Alternatively, electronic equipment 1012 can be downloaded a plurality of computer-readable as needed
It instructs or some instruction can execute at electronic equipment 1012 and some instructions can be held at electronic equipment 1030
Row.
There is provided herein the various operations of embodiment.In one embodiment, one or more operations can be with structure
At the computer-readable instruction stored on one or more computer-readable mediums, will make to succeed in one's scheme when being executed by electronic equipment
It calculates equipment and executes the operation.Describing the sequences of some or all of operations, to should not be construed as to imply that these operations necessarily suitable
Sequence is relevant.It will be appreciated by those skilled in the art that the alternative sequence of the benefit with this specification.Furthermore, it is to be understood that
Not all operation must exist in each embodiment provided in this article.
Moreover, although the disclosure, this field skill has shown and described relative to one or more implementations
Art personnel will be appreciated that equivalent variations and modification based on the reading and understanding to the specification and drawings.The disclosure include it is all this
The modifications and variations of sample, and be limited only by the scope of the following claims.In particular, to by said modules (such as element,
Resource etc.) the various functions that execute, term for describing such components is intended to correspond to the specified function for executing the component
The random component (unless otherwise instructed) of energy (such as it is functionally of equal value), even if illustrated herein with execution in structure
The disclosure exemplary implementations in function open structure it is not equivalent.In addition, although the special characteristic of the disclosure
Through being disclosed relative to the only one in several implementations, but this feature can with such as can be to given or specific application
For be expectation and one or more other features combinations of other advantageous implementations.Moreover, with regard to term " includes ", " tool
Have ", " containing " or its deformation be used in specific embodiments or claims for, such term be intended to with term
The similar mode of "comprising" includes.
Each functional unit in the embodiment of the present invention can integrate in a processing module, be also possible to each unit list
It is solely physically present, can also be integrated in two or more units in a module.Above-mentioned integrated module can both use
Formal implementation of hardware can also be realized in the form of software function module.If the integrated module is with software function
The form of module is realized and when sold or used as an independent product, also can store in computer-readable storage Jie
In matter.Storage medium mentioned above can be read-only memory, disk or CD etc..Above-mentioned each device or system, can be with
Execute the method in correlation method embodiment.
Although the serial number before embodiment only makes for convenience of description in conclusion the present invention is disclosed above with embodiment
With not causing to limit to the sequence of various embodiments of the present invention.Also, above-described embodiment is not intended to limit the invention, this field
Those of ordinary skill, without departing from the spirit and scope of the present invention, can make it is various change and retouch, therefore it is of the invention
Protection scope subjects to the scope of the claims.
Claims (15)
1. a kind of panoramic view data acquisition device characterized by comprising
Fixed bracket, including horizontal bracket interconnected and vertical support frame；
Camera lens composite structure including the cylindrical holder being arranged on the horizontal bracket and is arranged outside the cylindrical holder
Along upper multiple camera lens；
Antenna positioning structure, including the antenna being arranged on the cylindrical holder；
Laser scanning structure, including the Laser Scanning Equipment being arranged on the cylindrical holder；And
Inertial navigation set is arranged on the vertical support frame；
Wherein the inertial navigation set is electrically connected with the antenna and the Laser Scanning Equipment respectively.
2. panoramic view data acquisition device according to claim 1, which is characterized in that the antenna is arranged in the cylinder branch
The first end of frame, the Laser Scanning Equipment are arranged in the second end of the cylindrical holder, the first end of the cylindrical holder and
The line of second end is located substantially on the vertical central axis face of the panoramic view data acquisition device；
The center of the cylindrical holder and the center of the inertial navigation set are located substantially at the panoramic view data acquisition dress
On the vertical central axis face set.
3. panoramic view data acquisition device according to claim 1, which is characterized in that the setting plane of the antenna is parallel to
The upper surface of the cylindrical holder, the setting plane of the Laser Scanning Equipment and the upper surface formation one of the cylindrical holder are sharp
Angle.
4. panoramic view data acquisition device according to claim 3, which is characterized in that as the upper surface of the cylindrical holder is
Reference planes, then the acquisition direction of the antenna location information of the antenna and the angle of the reference planes are 30 degree to 150 degree,
The acquisition direction of the laser point cloud data of the Laser Scanning Equipment and the angle of the reference planes be -45 degree to -65 degree with
And 135 degree to 155 degree.
5. panoramic view data acquisition device according to claim 1, which is characterized in that the camera lens composite structure further include:
Bracket top cover is sealingly disposed in the upper surface of the cylindrical holder.
6. panoramic view data acquisition device according to claim 1, which is characterized in that
The antenna positioning structure includes the antenna fixing structure being arranged on the cylindrical holder, and the antenna passes through the day
Line fixed structure is fixed on the cylindrical holder；
The laser scanning structure includes the laser fixed structure being arranged on the cylindrical holder, and the Laser Scanning Equipment is logical
The laser fixed structure is crossed to be fixed on the cylindrical holder.
7. panoramic view data acquisition device according to claim 6, which is characterized in that the antenna fixing structure and described
Laser fixed structure is the hollow structure convenient for cabling.
8. panoramic view data acquisition device according to claim 6, which is characterized in that the antenna positioning structure further includes setting
The crash bar on the outside of the antenna is set, the crash bar is arranged on the cylindrical holder by the antenna fixing structure.
9. a kind of panoramic view data collecting vehicle characterized by comprising
Car body,
Panoramic view data acquisition device fixed frame, is arranged in the tail end of the car body top；And
Any panoramic view data acquisition device in claim 1-8 acquires fixed mount setting described by the panoramic view data
Car body top.
10. panoramic view data collecting vehicle according to claim 9, which is characterized in that the Laser Scanning Equipment is relatively described
Tail end of the antenna close to the car body.
11. panoramic view data collecting vehicle according to claim 9, which is characterized in that the panoramic view data acquisition device is fixed
Frame includes the lifting structure for carrying out descending operation to the panoramic view data acquisition device.
12. panoramic view data collecting vehicle according to claim 9, which is characterized in that the panoramic view data acquisition device is fixed
Frame further includes the protective cover for protecting the panoramic view data acquisition device；
When the protective cover in the closure state, the protective cover and the panoramic view data acquisition device fixed frame form one and use
In the memory space for storing the panoramic view data acquisition device；
When the protective cover in the open state, the protective cover is located at the side of the panoramic view data acquisition device fixed frame
Or two sides.
13. a kind of panoramic view data acquisition device using in claim 1-8 carries out the acquisition method of panoramic view data, feature exists
In, comprising:
By the camera lens of the camera lens composite structure, by scene image data around the first setting time interval acquiring；
By the Laser Scanning Equipment of the laser scanning structure, by laser point cloud number around the first setting time interval acquiring
According to；
To the point Yun Tezheng in the image characteristic point and the surrounding laser point cloud data in the surrounding scene image data
It is fixed to click through rower；
Image characteristic point and point cloud characteristic point based on calibration, to the surrounding scene image data and the surrounding laser point
Cloud data are matched；
To the surrounding's scene image data and the progress data fusion operation of surrounding laser point cloud data after matching, to generate correspondence
Panoramic image data；And
Three-dimensional map model based on panoramic image data creation panoramic view data.
14. the acquisition method of panoramic view data according to claim 13, which is characterized in that the image based on calibration is special
Sign point and point cloud characteristic point, the step of matching to the surrounding scene image data and the surrounding laser point cloud data
Include:
The image characteristic point of calibration and the antenna calibration position of point cloud characteristic point are obtained by the antenna；
The image characteristic point of calibration and the inertial navigation position of point cloud characteristic point are obtained by the inertial navigation set；
Judge whether antenna calibration position is located on acquisition route, if antenna calibration position is located on acquisition route,
Position is then demarcated according to the antenna, to the surrounding scene image data and surrounding laser point cloud data progress
Match；If antenna calibration position is not located on acquisition route, then according to the inertial navigation position, to the surrounding scene figure
As data and the surrounding laser point cloud data are matched.
15. the acquisition method of panoramic view data according to claim 14, which is characterized in that the acquisition side of the panoramic view data
Method further include:
When antenna calibration position is located on acquisition route, by the second setting time interval, position is demarcated using the antenna
It sets and the inertial navigation position is corrected.
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| CN201811508007.9A CN110163067B (en) | 2018-12-11 | 2018-12-11 | Panoramic data acquisition device, acquisition vehicle and acquisition method |
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| CN201811508007.9A CN110163067B (en) | 2018-12-11 | 2018-12-11 | Panoramic data acquisition device, acquisition vehicle and acquisition method |
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| CN110163067B (en) | 2022-04-15 |
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