CN111402171A - Point cloud projection correction method based on tunnel general section - Google Patents
Point cloud projection correction method based on tunnel general section Download PDFInfo
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- CN111402171A CN111402171A CN202010211657.8A CN202010211657A CN111402171A CN 111402171 A CN111402171 A CN 111402171A CN 202010211657 A CN202010211657 A CN 202010211657A CN 111402171 A CN111402171 A CN 111402171A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000012937 correction Methods 0.000 title claims abstract description 18
- 241000350052 Daniellia ogea Species 0.000 claims description 19
- 238000002310 reflectometry Methods 0.000 claims description 10
- 238000000265 homogenisation Methods 0.000 claims description 8
- 239000011159 matrix material Substances 0.000 claims description 8
- 230000010354 integration Effects 0.000 claims description 4
- 238000013461 design Methods 0.000 abstract description 9
- 238000012544 monitoring process Methods 0.000 abstract description 5
- 238000005070 sampling Methods 0.000 abstract description 4
- 238000010276 construction Methods 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 abstract 1
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- 238000001514 detection method Methods 0.000 description 3
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/80—Geometric correction
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
- G06T3/4007—Scaling of whole images or parts thereof, e.g. expanding or contracting based on interpolation, e.g. bilinear interpolation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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Abstract
The invention discloses a point cloud projection correction method based on a tunnel general section, which comprises the steps of collecting tunnel laser scanning data; the laser scanner is placed on a movable carrier platform and is perpendicular to the central axis direction of a track or a tunnel, a 2D section scanning mode is adopted, and the sampling rate of section scanning points is higher as much as possible; equally dividing the designed section of the tunnel at intervals; the design section of the tunnel is equally divided according to a certain distance interval, so that the 2D curve of the section of the tunnel is a series of discrete points and stored as a sequential list of the 2D points which are at a certain distance interval from each other. The invention can more intuitively reflect the inner wall condition of the tunnel, provides convenience for monitoring measurement and operation maintenance of tunnel engineering, is suitable for various universal sections of the tunnel, can integrate deformation monitoring, construction working conditions and other information in the tunnel into the tunnel at the later stage, and has the advantages of strong intuition, high image definition, high authenticity and high implementation efficiency.
Description
Technical Field
The invention relates to the technical field of civil engineering, in particular to a point cloud projection correction method based on a tunnel general section.
Background
At present, in the monitoring and deformation monitoring in the field of rail transit tunnels, the spatial distribution of accessory equipment and the represented disease information can be identified and measured through interpretation of image information of the inner walls of the tunnels. The traditional image acquisition generally adopts a method based on stereoscopic vision detection, after left and right images of a region to be detected are acquired through a binocular camera, contour, position and depth information of an object to be detected is acquired through threshold segmentation, feature point detection, extraction, stereoscopic matching and the like, and the method has the advantages of strong flexibility, low cost and the like. The laser scanning technology can rapidly acquire the three-dimensional coordinates and the laser reflectivity of a measured object in a laser ranging mode, the acquired high-density point cloud data can visually reflect the size and the laser reflectivity difference information of the object, the method can be used for rapidly reconstructing the outline of the object, generating the gray image of the object and the like, has the advantages of high speed, high precision, small influence of weather change, strong robustness and the like, and is gradually applied to the field of large-scale engineering, such as subway tunnel detection and the like. At present, the tunnel inner wall image is collected based on the laser scanning technology, generally, the point cloud is directly subjected to projection processing and analysis, the length deformation correction effect is not ideal, the tunnel-suitable section is single in type, and the universality cannot be realized.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides a point cloud projection correction method based on a tunnel general section.
The invention provides a point cloud projection correction method based on a tunnel general section, which comprises the following steps:
s1: acquiring tunnel laser scanning data; placing a laser scanner on a movable carrier platform, wherein the laser scanner is perpendicular to the central axis direction of a track or a tunnel and adopts a 2D section scanning mode;
s2: equally dividing the designed section of the tunnel at intervals; equally dividing the designed section of the tunnel according to a certain distance interval, so that the 2D curve of the section of the tunnel is converted into a series of discrete points and stored as a sequential list of the 2D points which are at a certain distance interval from each other;
s3: establishing an angle relation between a section distance equal division point and a laser scanner as a center; acquiring a relationship of angle increment by taking a laser scanner as a center corresponding to points which are continuously increased in the sequence list of the 2D points by using a fixed integration method, and acquiring laser reflection intensity information of the 2D points in the sequence list equally divided by a section distance;
s4: angle homogenization and establishing an interpolation function; carrying out homogenization treatment on the scanning angle of the laser scanner, and establishing an interpolation function of the angle by utilizing linear spline interpolation;
s5: interpolating the equally divided angles at a fixed distance and generating an image of the inner wall of the tunnel; and based on an interpolation function, interpolating the fixed-distance and equally-divided angles to obtain corresponding laser reflection intensity information, and generating a tunnel inner wall image.
Preferably, the laser scanner is a Faro laser scanner.
Preferably, the laser scanner is a Z + F laser scanner.
Preferably, in S1, the laser reflection intensity and the coordinate information are synchronously acquired, and the mileage position of the current scanning section is recorded at the same time.
Preferably, in S1, the complete laser reflectivity of the tunnel inner wall around the scanner center and the coordinate point cloud information of the tunnel inner wall with the gray scale information along the mileage direction of the tunnel are obtained through mobile acquisition.
Preferably, the series of discrete points in S2 are cross-sectional points.
Preferably, in S4, the scanning angle of the scanner is normalized by converting from the start scanning angle to the end scanning angle of the laser scanner to 0-1.
Preferably, in S5, the image gray-scale matrix is acquired based on the laser reflection intensity information, and the tunnel inner wall image is generated.
The beneficial effects of the invention are as follows:
1. based on tunnel design section distance partition, the length deformation that can effectual correction tunnel image based on the projection of distance information can be more audio-visual response tunnel's inner wall condition, and it is convenient to measure and operate the maintenance for tunnel engineering's control.
2. The method is suitable for various tunnel general sections, and meanwhile, deformation monitoring, construction conditions and other information in the tunnel can be integrated into the tunnel in the later period, so that the method is strong in intuition, high in image definition, high in authenticity and high in implementation efficiency.
Drawings
FIG. 1 is a flow chart of a point cloud projection correction method based on a tunnel general section according to the present invention;
FIG. 2 is a scanning schematic diagram of a point cloud projection correction method based on a tunnel general section according to the present invention;
FIG. 3 is a tunnel design section equal division schematic diagram of a point cloud projection correction method based on a tunnel general section provided by the invention;
FIG. 4 is a schematic diagram of a relationship between a section distance equal division point and an angle with a laser scanner as a center in a point cloud projection correction method based on a tunnel universal section according to the present invention;
fig. 5 is a tunnel inner wall image schematic diagram of a point cloud projection correction method based on a tunnel general section according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
s1: acquiring tunnel laser scanning data; erecting a Faro laser scanner on a movable carrier platform, setting parameters such as carrier moving speed, instrument section scanning resolution, sampling frequency and quality in a 2D section spiral scanning mode perpendicular to the central axis direction of a track or a tunnel, wherein the sampling rate is higher as much as possible, movably collecting section point clouds with laser reflectivity on the tunnel wall, taking the center of the Faro laser scanner instrument as the center of a circle at the moment, carrying out steady estimation and analysis on collected tunnel section scanning points, and eliminating coarse difference points to prevent the coarse difference points from influencing final tunnel inner wall images;
s2: equally dividing the designed section of the tunnel at intervals; acquiring a design section of the tunnel, setting section equal division intervals to be 0.001m, calculating equal division quantity according to the perimeter of the design section and the section equal division intervals, equally dividing the design section of the tunnel according to the section equal division intervals, taking a certain point as a starting point, and storing all section equal division points into a sequence list of 2D points with the mutual distance of the section equal division intervals;
s3: establishing an angle relation between a section distance equal division point and a Faro laser scanner as a center; in order to be suitable for the universal section, acquiring a corresponding relation with an increasing angle by taking a Faro laser scanner as a center when points are continuously increased in a sequence list of 2D points by adopting a constant integration method;
s4: angle homogenization and establishing an interpolation function; for the condition that the scanning angles of the scanner are fixed at intervals and cannot be in one-to-one correspondence with the existing angles, carrying out angle homogenization treatment on the scanning angles of the Faro laser scanner, converting the angles from the initial scanning angle to the end angle of the Faro laser scanner into 0-1, and establishing an interpolation function of the angles by utilizing linear spline interpolation; based on a linear spline interpolation function, establishing an interpolation function of the angle of the projection point of the Faro laser scanner, so as to obtain the corresponding relation between the 2D point in the fixed-distance equipartition sequence list and the scanning angle of the Faro laser scanner;
s5: interpolating the equally divided angles at a fixed distance and generating an image of the inner wall of the tunnel; based on an interpolation function, the laser reflection intensity of 2D points in a fixed-distance equal division sequence list is obtained, a corresponding image reflectivity matrix is obtained, a tunnel inner wall image with fixed resolution can be obtained by utilizing the obtained image reflectivity matrix through linear spline interpolation, the image can be regarded as a pixel matrix with certain resolution, each pixel has corresponding gray scale information, and the higher the resolution is, the stronger the identifiability of the image is.
Embodiment 2, referring to fig. 1 to 5, a point cloud projection correction method based on a tunnel general section includes the following steps:
s1: acquiring tunnel laser scanning data; erecting a Faro laser scanner on a movable carrier platform, setting the carrier moving speed to be 3-10km/h, setting the scanning resolution to be 4 and the sampling frequency to be 50-200Hz, adopting a 2D section spiral scanning mode, movably collecting a section point cloud with laser reflectivity on the tunnel wall, taking the coordinates of scanning points as the center of a circle by using the center of the Faro laser scanner instrument, carrying out steady estimation and analysis on the collected tunnel section scanning points, and eliminating coarse difference points to prevent the coarse difference points from influencing the final tunnel inner wall image;
s2: equally dividing the designed section of the tunnel at intervals; acquiring a design section of the tunnel, setting section equal division intervals to be 0.001m, calculating equal division quantity according to the perimeter of the design section and the section equal division intervals, equally dividing the design section of the tunnel according to the section equal division intervals, taking a certain point as a starting point, and storing all section equal division points into a sequence list of 2D points with the mutual distance of the section equal division intervals;
s3: establishing an angle relation between a section distance equal division point and a Faro laser scanner as a center; in order to be suitable for the universal section, acquiring a corresponding relation with an increasing angle by taking a Faro laser scanner as a center when points are continuously increased in a sequence list of 2D points by adopting a constant integration method;
s4: angle homogenization and establishing an interpolation function; for the condition that the scanning angles of the scanner are fixed at intervals and cannot be in one-to-one correspondence with the existing angles, carrying out angle homogenization treatment on the scanning angles of the Faro laser scanner, converting the angles from the initial scanning angle to the end angle of the Faro laser scanner into 0-1, and establishing an interpolation function of the angles by utilizing linear spline interpolation; based on a linear spline interpolation function, establishing an interpolation function of the angle of the projection point of the Faro laser scanner, so as to obtain the corresponding relation between the 2D point in the fixed-distance equipartition sequence list and the scanning angle of the Faro laser scanner;
s5: interpolating the equally divided angles at a fixed distance and generating an image of the inner wall of the tunnel; based on an interpolation function, the laser reflection intensity of 2D points in a fixed-distance equal division sequence list is obtained, a corresponding image reflectivity matrix is obtained, a tunnel inner wall image with fixed resolution can be obtained by utilizing the obtained image reflectivity matrix through linear spline interpolation, the image can be regarded as a pixel matrix with a certain resolution, each pixel has corresponding gray scale information, the higher the resolution is, the stronger the identifiability of the image is
Example 3, with reference to fig. 1-5, differs from examples 1 and 2 in that: the sectional equal interval was set to 0.002 m.
Example 4, with reference to fig. 1-5, differs from examples 1, 2 and 3 in that: the Faro laser scanner was replaced with a Z + F laser scanner.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. A point cloud projection correction method based on a tunnel general section comprises the following steps:
s1: acquiring tunnel laser scanning data; placing a laser scanner on a movable carrier platform, wherein the laser scanner is perpendicular to the central axis direction of a track or a tunnel and adopts a 2D section scanning mode;
s2: equally dividing the designed section of the tunnel at intervals; equally dividing the designed section of the tunnel according to a certain distance interval, so that the 2D curve of the section of the tunnel is converted into a series of discrete points and stored as a sequential list of the 2D points which are at a certain distance interval from each other;
s3: establishing an angle relation between a section distance equal division point and a laser scanner as a center; acquiring a relationship of angle increment by taking a laser scanner as a center corresponding to points which are continuously increased in the sequence list of the 2D points by using a fixed integration method, and acquiring laser reflection intensity information of the 2D points in the sequence list equally divided by a section distance;
s4: angle homogenization and establishing an interpolation function; carrying out homogenization treatment on the scanning angle of the laser scanner, and establishing an interpolation function of the angle by utilizing linear spline interpolation;
s5: interpolating the equally divided angles at a fixed distance and generating an image of the inner wall of the tunnel; and based on an interpolation function, interpolating the fixed-distance and equally-divided angles to obtain corresponding laser reflection intensity information, and generating a tunnel inner wall image.
2. The method for correcting point cloud projection based on the tunnel general section as claimed in claim 1, wherein the laser scanner is a Faro laser scanner.
3. The point cloud projection correction method based on the tunnel general section as claimed in claim 1, wherein the laser scanner is a Z + F laser scanner.
4. The point cloud projection correction method based on the tunnel general section as claimed in claim 1, wherein in S1, laser reflection intensity and coordinate information are synchronously collected, and the mileage position of the current scanning section is recorded.
5. The method for correcting projection of point cloud based on a tunnel general section as claimed in claim 1, wherein in S1, the complete laser reflectivity of the tunnel inner wall around the scanner center and the coordinate point cloud information of the tunnel inner wall with gray scale information along the tunnel mileage direction are obtained by mobile acquisition.
6. The method for correcting point cloud projection based on the universal tunnel section of claim 1, wherein the series of discrete points in S2 are section points.
7. The method for correcting projection of point cloud based on a tunnel general section as claimed in claim 1, wherein in S4, the scanning angle of the scanner is normalized to be converted from the starting scanning angle to the ending scanning angle of the laser scanner to 0-1.
8. The method for correcting point cloud projection based on a tunnel general section as claimed in claim 1, wherein in S5, an image gray matrix is obtained based on the laser reflection intensity information to generate an image of the tunnel inner wall.
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Cited By (2)
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| CN117132709A (en) * | 2023-08-28 | 2023-11-28 | 中山大学 | Method, device, equipment and storage medium for generating orthographic image of tunnel |
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