CN114866685A - Posture correction method and system of laser camera device - Google Patents
Posture correction method and system of laser camera device Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
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- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The present disclosure relates to the field of data processing technologies, and in particular, to a method and a system for correcting an attitude of a laser camera. The posture correction method of the laser camera device comprises the following steps: collecting a laser data set of a reference plane through a laser camera device; converting the laser data set into a coordinate data set in a three-dimensional space; processing the coordinate data set through a preset algorithm to obtain fitting parameters of the reference plane; calculating relevant parameters of the laser camera device relative to the reference plane according to the fitting parameters; selecting optimal related parameters according to preset measurement indexes; and adjusting the posture of the laser camera device according to the optimal related parameters. By the method, the posture of the laser camera device can be automatically corrected without manual participation, and errors caused by manual adjustment can be avoided.
Description
Technical Field
The present disclosure relates to the field of data processing technologies, and in particular, to a method and a system for correcting an attitude of a laser camera.
Background
The laser camera is equipped with a laser lamp source on an analog camera, and has the advantages of strong illumination and uniform picture, so that the laser camera is more and more widely used.
Whether the posture of the laser camera meets the requirements of customers after installation and whether bad postures occur in the subsequent use process are required to be confirmed in the manual site every time, the method is time-consuming and labor-consuming, and manual site correction is not necessarily accurate.
Disclosure of Invention
In view of the above problems, the present application provides a method for correcting a posture of a laser camera device, so as to solve the technical problems that the posture of the existing laser camera device cannot meet the requirements of customers, manual on-site confirmation and adjustment are required, time and labor are consumed, and errors possibly caused by manual adjustment still exist. The specific technical scheme is as follows:
a posture correction method of a laser camera device comprises the following steps:
collecting a laser data set of a reference plane through a laser camera device;
converting the laser data set into a coordinate data set in a three-dimensional space;
processing the coordinate data set through a preset algorithm to obtain fitting parameters of the reference plane;
calculating relevant parameters of the laser camera device relative to the reference plane according to the fitting parameters;
selecting optimal related parameters according to preset measurement indexes;
and adjusting the posture of the laser camera device according to the optimal related parameters.
Further, the "processing the coordinate data set by a preset algorithm to obtain the fitting parameter of the reference plane" specifically includes the steps of:
and fitting the coordinate data set by a fitting plane algorithm combining curvature and characteristic values to obtain fitting parameters of the reference plane.
Further, the "fitting the coordinate data set by a fitting plane algorithm combining curvature and characteristic values to obtain a fitting parameter of the reference plane" specifically includes the steps of:
calculating the curvature of each point field in the three-dimensional space, and selecting points with curvatures meeting preset conditions;
fitting the plane by a characteristic value method based on the elimination of gross errors;
and selecting a group of plane parameters with the highest fitting precision as a result.
Further, the "calculating curvature of each point field in three-dimensional space" specifically includes the steps of:
establishing a local k-order neighborhood structure N for each data point through a KNN algorithm or a kd-tree algorithm;
establishing a 3 multiplied by 3 neighborhood covariance matrix Cov for each k-order neighborhood;
computing eigenvalues λ of a neighborhood covariance matrix i ,i＝1,2,3；
The neighborhood curvature Cur for each point is calculated.
Further, before the step of converting the laser data set into a coordinate data set in a three-dimensional space, the method specifically includes the steps of:
and processing the laser data set to remove abnormal data.
Further, the "converting the laser data set into a coordinate data set in a three-dimensional space" specifically includes the steps of:
establishing a three-dimensional space coordinate system by using the laser camera device as a coordinate origin, knowing a horizontal rotation angle alpha and a vertical rotation angle beta of the laser camera device and a distance D from the laser camera device to a laser point, a horizontal rotation matrix A, a vertical rotation matrix B and a distance transformation matrix C, and then determining a coordinate D in the three-dimensional space as follows: d ═ AB -1 C，
Wherein
Further, the "calculating the relevant parameters of the laser imaging device relative to the reference plane according to the fitting parameters" specifically includes:
let the plane equation ax + by + cz be d, and a 2 +b 2 +c 2 1, plane normal vector w is (a, b, c), and the intersection point with the y-axis on the plane
The horizontal rotation angle of the laser camera with respect to the initial position is
A vertical rotation angle of
Distance from laser camera to laser point
Further, the "selecting the optimal related parameter according to the preset metric" specifically includes the following steps:
repeating the step of processing the coordinate data set through a preset algorithm to obtain fitting parameters of the reference plane; and calculating the relevant parameters of the laser camera relative to the reference plane according to the fitting parameters until the optimal relevant parameters meeting preset measurement indexes are obtained.
Further, the laser data set includes: a plurality of laser point data;
the laser point data includes: the horizontal rotation angle of the laser camera device, the vertical rotation angle of the laser camera device and the distance from the laser camera device to the laser point on the reference plane;
the three-dimensional space takes a laser camera device as an origin of coordinates, the reverse direction of laser emission is a Z axis, a Y axis points to the ground, and an X axis is determined according to a right-hand rule of a space coordinate system.
In order to solve the technical problem, the posture correction system of the laser camera device is further provided, and the specific technical scheme is as follows:
an attitude correction system of a laser camera device, comprising: a laser camera device and a server; the laser camera device is used for: collecting a laser data set of a reference plane and sending the laser data set to the server; the server is configured to: converting the laser data set into a coordinate data set in a three-dimensional space; processing the coordinate data set through a preset algorithm to obtain fitting parameters of the reference plane; calculating relevant parameters of the laser camera device relative to the reference plane according to the fitting parameters; selecting optimal related parameters according to preset measurement indexes; and adjusting the posture of the laser camera device according to the optimal related parameters.
The invention has the beneficial effects that: a posture correction method of a laser camera device comprises the following steps: collecting a laser data set of a reference plane through a laser camera device; converting the laser data set into a coordinate data set in a three-dimensional space; processing the coordinate data set through a preset algorithm to obtain fitting parameters of the reference plane; calculating relevant parameters of the laser camera device relative to the reference plane according to the fitting parameters; selecting optimal related parameters according to preset measurement indexes; and adjusting the posture of the laser camera device according to the optimal related parameters. By the method, the posture of the laser camera device can be accurately corrected, and errors caused by manual adjustment under the condition of no data guidance can be avoided.
The above description of the present invention is only an overview of the technical solutions of the present application, and in order to make the technical solutions of the present application more clearly understood by those skilled in the art, the present invention may be further implemented according to the content described in the text and drawings of the present application, and in order to make the above objects, other objects, features, and advantages of the present application more easily understood, the following description is made in conjunction with the detailed description of the present application and the drawings.
Drawings
The drawings are only for purposes of illustrating the principles, implementations, applications, features, and effects of particular embodiments of the present application, as well as others related thereto, and are not to be construed as limiting the application.
In the drawings of the specification:
fig. 1 is a first flowchart of a method for correcting an attitude of a laser imaging apparatus according to an embodiment;
fig. 2 is a second flowchart of a method for correcting a posture of a laser camera according to an embodiment;
fig. 3 is a flowchart of a third method for correcting a posture of a laser imaging apparatus according to an embodiment;
fig. 4 is a fourth flowchart of a posture correction method of a laser imaging apparatus according to an embodiment;
fig. 5 is a schematic block diagram of a posture correction system of a laser camera according to an embodiment.
The reference numerals referred to in the above figures are explained below:
500. a posture correction system of a laser camera device,
501. a laser camera device is arranged on the base plate,
502. and (4) a server.
Detailed Description
In order to explain in detail possible application scenarios, technical principles, practical embodiments, and the like of the present application, the following detailed description is given with reference to the accompanying drawings in conjunction with the listed embodiments. The embodiments described herein are merely for more clearly illustrating the technical solutions of the present application, and therefore, the embodiments are only used as examples, and the scope of the present application is not limited thereby.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase "an embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or related to other embodiments specifically defined. In principle, in the present application, the technical features mentioned in the embodiments can be combined in any manner to form a corresponding implementable technical solution as long as there is no technical contradiction or conflict.
Unless defined otherwise, technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the use of relational terms herein is intended only to describe particular embodiments and is not intended to limit the present application.
In the description of the present application, the term "and/or" is a expression for describing a logical relationship between objects, meaning that three relationships may exist, for example a and/or B, meaning: there are three cases of A, B, and both A and B. In addition, the character "/" herein generally indicates that the former and latter associated objects are in a logical relationship of "or".
In this application, terms such as "first" and "second" are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Without further limitation, in this application, the use of "including," "comprising," "having," or other similar expressions in phrases and expressions of "including," "comprising," or "having," is intended to cover a non-exclusive inclusion, and such expressions do not exclude the presence of additional elements in a process, method, or article that includes the recited elements, such that a process, method, or article that includes a list of elements may include not only those elements but also other elements not expressly listed or inherent to such process, method, or article.
As is understood in the examination of the guidelines, the terms "greater than", "less than", "more than" and the like in this application are to be understood as excluding the number; the expressions "above", "below", "within" and the like are understood to include the present numbers. In addition, in the description of the embodiments of the present application, "a plurality" means two or more (including two), and expressions related to "a plurality" similar thereto are also understood, for example, "a plurality of groups", "a plurality of times", and the like, unless specifically defined otherwise.
A posture correction method of a laser camera apparatus, which is applicable to a posture correction system of a laser camera apparatus and includes: laser camera device and server. The following detailed description is developed in conjunction with fig. 1:
in step S101, a laser data set of a reference plane is acquired by a laser camera. In this embodiment, the reference plane can be selected according to actual needs, such as a flat ground. The laser data set is a laser point data set which is acquired by rotating the laser camera device and is formed by the laser points on the reference plane, wherein each laser point data set comprises: the horizontal rotation angle of the laser camera device, the vertical rotation angle of the laser camera device and the distance from the laser camera device to the laser point on the reference plane.
After step S101, before step S102, preferably, the method further comprises the steps of: and processing the laser data set to remove abnormal data. The abnormal data elimination mainly refers to data with zero distance from a laser shooting device to a laser point on a reference plane due to improper operation or equipment problems in the data acquisition process, and the data belong to abnormal data and need to be eliminated.
In step S102, the laser data set is converted into a coordinate data set in a three-dimensional space. In this embodiment, the coordinate system of the three-dimensional space is determined by taking the laser camera device as the origin of coordinates, the opposite direction of laser emission is the Z axis, the Y axis points to the ground, and the X axis is determined according to the right-hand rule of the space coordinate system. If the horizontal rotation angle α and the vertical rotation angle β of the laser imaging device and the distance D from the laser imaging device to the laser point, the horizontal rotation matrix a, the vertical rotation matrix B, and the distance transformation matrix C are known, the coordinate D in the three-dimensional space is: d ═ AB -1 C，
Wherein
In step S103, the coordinate data set is processed by a preset algorithm to obtain a fitting parameter of the reference plane. Specifically, the fitting parameter of the reference plane may be obtained by fitting the coordinate data set through a fitting plane algorithm combining curvature and a characteristic value.
The specific steps are shown in figure 2:
in step S201, the curvatures of the respective point regions in the three-dimensional space are calculated, and a point having a curvature that meets a preset condition is selected. In this embodiment, points with curvature close to 0 are selected, the threshold range is determined by actual conditions, these points are considered as points that may form a plane, step S201 is described in detail with reference to fig. 3, and the step S301 to step S304 are further included in the "calculating curvature of each point field in three-dimensional space".
In step S301, a local k-order neighborhood structure N is established for each data point by a KNN algorithm or a kd-tree algorithm. Where the choice of the value of k is determined by reality.
In step S302, a 3 × 3 neighborhood covariance matrix Cov is established for each k-th order neighborhood.
In step S303, an eigenvalue λ of the neighborhood covariance matrix is calculated i ,i＝1,2,3。
In step S304, a neighborhood curvature Cur of each point is calculated.
Such as: let a given sample point P ∈ R 3 If the 3 × 3 covariance matrix of the local k-th neighborhood N at the point is Cov
Then, the characteristic value of the matrix Cov is determined as lambda i I is 1,2,3, the curvature of the neighborhood of the point is
In step S202, a plane is fitted by a feature value method based on the culling gross error. The method specifically comprises the following steps: firstly, solving and eliminating abnormal points deviating from a plane; and then, calculating the fitting parameters of the real plane by using a characteristic value method for the rest points. The threshold for judging the abnormal point deviating from the plane can be selected as three times of standard deviation of the distance from each data point to the fitting plane, the characteristic value method for solving the fitting parameter of the real plane is a classical fitting plane method, namely, the characteristic vector corresponding to the minimum characteristic value of the characteristic matrix of the plane parameter is obtained and is the plane equation coefficient, the solving formula and the solving step are the prior art, and the explanation is not carried out.
In step S203, a set of plane parameters with the highest fitting accuracy is selected as a result. Specifically, step S201 and step S202 may be repeated, and the set of plane parameters with higher fitting accuracy is selected as the final result, where the fitting accuracy may select a standard deviation of the distance from each data point to the fitting plane.
In step S104, the relevant parameters of the laser imaging device with respect to the reference plane are calculated from the fitting parameters. The method specifically comprises the following steps:
let the plane equation ax + by + cz be d, and a 2 +b 2 +c 2 1, plane normal vector w is (a, b, c), and the intersection point with the y-axis on the plane
The horizontal rotation angle of the laser camera with respect to the initial position is
A vertical rotation angle of
Distance from laser camera to laser point
Where the parameter T is the sign of the matrix transposition. The positive direction of the rotation direction of the horizontal rotation angle and the vertical rotation angle can be defined by itself, for example, the counterclockwise rotation is defined as the positive direction by the horizontal rotation, and the downward rotation is defined as the positive direction by the vertical rotation.
In step S105, an optimal correlation parameter is selected according to a preset metric. As shown in fig. 4, step S105 is specifically expanded to step S405: repeating the step of processing the coordinate data set through a preset algorithm to obtain fitting parameters of the reference plane; and calculating the relevant parameters of the laser camera relative to the reference plane according to the fitting parameters until the optimal relevant parameters meeting preset measurement indexes are obtained. The preset metric index may be a mode of a correlation parameter of the laser imaging apparatus with respect to the reference plane obtained by the method of step S405 as an optimal correlation parameter.
In step S106, the laser imaging device is adjusted according to the optimal correlation parameter. In this embodiment, when the laser camera device is correctly installed, the laser camera device should be parallel to the ground, and the horizontal rotation angle and the vertical rotation angle should be zero, the specific situation that the laser camera device deviates from the correct posture can be determined according to the optimal related parameters, and then the laser camera device is automatically adjusted or manually adjusted according to the optimal related parameters, so that the laser camera device is restored to the correct posture, if some situations cause the inclination of the camera head due to the loosening of the installed screw, manual correction is needed, and if some situations cause the change of the target area which the user needs to acquire by the laser camera device, the automatic adjustment can be automatically performed according to new requirements.
In practical application scenarios, if the initial state of the laser camera in the initial correct posture is that the horizontal rotation angle is 0, the vertical rotation angle is 60 degrees, and the distance from the laser camera to the laser point is d1, when the laser camera tilts, the data deviation between the laser camera and the correct posture can be solved through data, and then the adjustment is performed according to the data deviation, so that the accurate adjustment of the laser camera can be achieved.
If the data can be directly sent to corresponding maintenance personnel for guiding the maintenance personnel to carry out accurate correction when manual adjustment is needed, and the time-consuming and labor-consuming situations that the traditional manual work returns to a field for correction operation for many times due to correction errors caused by non-data guidance are avoided.
Referring to fig. 5, a detailed embodiment of a posture correction system 500 of a laser camera device is described below:
a posture correction system 500 of a laser camera device, comprising: a laser camera 501 and a server 502; the laser imaging apparatus 501 is configured to: collecting a laser data set of a reference plane and sending the laser data set to the server 502; the server 502 is configured to: converting the laser data set into a coordinate data set in a three-dimensional space; processing the coordinate data set through a preset algorithm to obtain fitting parameters of the reference plane; calculating relevant parameters of the laser camera 501 relative to the reference plane according to the fitting parameters; selecting optimal related parameters according to preset measurement indexes; and adjusting the posture of the laser camera 501 according to the optimal relevant parameters.
In this embodiment, the reference plane can be selected according to actual needs, such as a flat ground. The laser data set is a laser point data set acquired by rotating the laser camera 501, where the laser points are projected on the reference plane, and each laser point data set includes: the horizontal rotation angle of the laser camera 501, the vertical rotation angle of the laser camera 501, and the distance of the laser camera 501 from the laser point on the reference plane.
In this embodiment, the server 502 is further configured to: and acquiring and processing the laser data set to remove abnormal data before converting the laser data set into a coordinate data set in a three-dimensional space. The abnormal data elimination mainly refers to data with zero distance from the laser camera 501 to the laser spot on the reference plane due to improper operation or equipment problems in the data acquisition process, and the data belong to abnormal data and need to be eliminated.
In this embodiment, the coordinate system of the three-dimensional space is determined by taking the laser imaging device 501 as the origin of coordinates, the opposite direction of laser emission is the Z axis, the Y axis points to the ground, and the X axis is determined according to the right-hand rule of the space coordinate system. If the horizontal rotation angle α and the vertical rotation angle β of the laser imaging device 501 and the distance D from the laser imaging device 501 to the laser point, the horizontal rotation matrix a, the vertical rotation matrix B, and the distance transformation matrix C are known, the coordinate D in the three-dimensional space is: d ═ AB -1 C，
Wherein
Further, the server 502 is further configured to: and fitting the coordinate data set by a fitting plane algorithm combining curvature and characteristic values to obtain fitting parameters of the reference plane.
And (4) calculating the curvatures of all the point fields in the three-dimensional space, and selecting points with the curvatures meeting preset conditions. In the present embodiment, points with a curvature close to 0 are selected, and the threshold range thereof is determined by actual conditions, and these points are considered as points that may constitute a plane. Wherein calculating the curvature of each point field in the three-dimensional space comprises: and establishing a local k-order neighborhood structure N for each data point by a KNN algorithm or a kd-tree algorithm. Where the choice of the value of k is determined by reality. A 3 x 3 neighborhood covariance matrix Cov is established for each k-th order neighborhood. Computing eigenvalues λ of a neighborhood covariance matrix i And i is 1,2 and 3. The neighborhood curvature Cur for each point is calculated.
Such as: let a given sample point P ∈ R 3 If the 3 × 3 covariance matrix of the local k-th neighborhood N at the point is Cov
Then, the characteristic value of the matrix Cov is determined as lambda i I is 1,2,3, the curvature of the neighborhood of the point is
Further, the server 502 is further configured to: firstly, solving and eliminating abnormal points deviating from a plane; and then, calculating the fitting parameters of the real plane by using a characteristic value method for the rest points. The threshold for judging the abnormal point deviating from the plane can be selected as three times of standard deviation of the distance from each data point to the fitting plane, the characteristic value method for solving the fitting parameter of the real plane is a classical fitting plane method, namely, the characteristic vector corresponding to the minimum characteristic value of the characteristic matrix of the plane parameter is obtained and is the plane equation coefficient, the solving formula and the solving step are the prior art, and the explanation is not carried out.
And repeating the steps until the group of plane parameters with higher fitting precision is selected as a final result, wherein the fitting precision can select the standard deviation of the distance from each data point to the fitting plane.
Further, the server 502 is further configured to: let the plane equation ax + by + cz be d, and a 2 +b 2 +c 2 1, plane normal vector w is (a, b, c), and the intersection point with the y-axis on the plane
The horizontal rotation angle of the laser camera 501 with respect to the initial position is
A vertical rotation angle of
Distance from laser camera 501 to laser spot
Where the parameter T is the sign of the matrix transposition. The positive direction of the rotation direction of the horizontal rotation angle and the vertical rotation angle can be defined by itself, for example, the counterclockwise rotation is defined as the positive direction by the horizontal rotation, and the downward rotation is defined as the positive direction by the vertical rotation.
Further, the server 502 is further configured to: repeating the step of processing the coordinate data set through a preset algorithm to obtain fitting parameters of the reference plane; and calculating the relevant parameters of the laser camera 501 relative to the reference plane according to the fitting parameters until the optimal relevant parameters meeting preset measurement indexes are obtained. The preset metric index may be a mode of the correlation parameter of the laser imaging apparatus 501 with respect to the reference plane obtained by the above method, and the mode is selected as the optimal correlation parameter.
Further, the server 502 is further configured to: and sending the optimal related parameters to the laser camera 501, and performing attitude adjustment on the laser camera 501 according to the received optimal related parameters.
Further, the posture correction system 500 of the laser camera device further includes: and the server 502 sends the posture condition related to the laser camera 501 to the client.
The system can automatically correct the posture of the laser camera 501 without manual intervention, and can avoid errors caused by manual adjustment.
Finally, it should be noted that, although the above embodiments have been described in the text and drawings of the present application, the scope of the patent protection of the present application is not limited thereby. All technical solutions which are generated by replacing or modifying the equivalent structure or the equivalent flow according to the contents described in the text and the drawings of the present application, and which are directly or indirectly implemented in other related technical fields, are included in the scope of protection of the present application.
Claims (10)
1. A method for correcting the posture of a laser imaging apparatus, comprising the steps of:
collecting a laser data set of a reference plane through a laser camera device;
converting the laser data set into a coordinate data set in a three-dimensional space;
processing the coordinate data set through a preset algorithm to obtain fitting parameters of the reference plane;
calculating relevant parameters of the laser camera device relative to the reference plane according to the fitting parameters;
selecting optimal related parameters according to preset measurement indexes;
and adjusting the posture of the laser camera device according to the optimal related parameters.
2. The method for correcting the posture of the laser camera device according to claim 1, wherein the step of processing the coordinate data set by a preset algorithm to obtain the fitting parameters of the reference plane further comprises the steps of:
and fitting the coordinate data set by a fitting plane algorithm combining curvature and characteristic values to obtain fitting parameters of the reference plane.
3. The method for correcting the attitude of the laser imaging apparatus according to claim 2, wherein the step of fitting the coordinate data set by a fitting plane algorithm that combines a curvature and a feature value to obtain the fitting parameters of the reference plane further includes the steps of:
calculating the curvature of each point field in the three-dimensional space, and selecting points with curvatures meeting preset conditions;
fitting the plane by a characteristic value method based on the elimination of gross errors;
and selecting a group of plane parameters with the highest fitting precision as a result.
4. The method for correcting the posture of the laser imaging apparatus according to claim 3, wherein the step of "calculating the curvature of each point region in the three-dimensional space" further includes:
establishing a local k-order neighborhood structure N for each data point through a KNN algorithm or a kd-tree algorithm;
establishing a 3 multiplied by 3 neighborhood covariance matrix Cov for each k-order neighborhood;
computing eigenvalues λ of a neighborhood covariance matrix i ,i＝1,2,3；
The neighborhood curvature Cur for each point is calculated.
5. The method for correcting the posture of the laser imaging apparatus according to claim 1, wherein before the step of converting the laser data set into the coordinate data set in the three-dimensional space, the method specifically includes the steps of:
and processing the laser data set to remove abnormal data.
6. The method for correcting the posture of the laser imaging apparatus according to claim 1, wherein the step of converting the laser data set into a coordinate data set in a three-dimensional space further includes:
establishing a three-dimensional space coordinate system by using the laser camera device as a coordinate origin, knowing a horizontal rotation angle alpha and a vertical rotation angle beta of the laser camera device and a distance D from the laser camera device to a laser point, a horizontal rotation matrix A, a vertical rotation matrix B and a distance transformation matrix C, and then determining a coordinate D in the three-dimensional space as follows: d ═ AB -1 C，
Wherein
7. The method according to claim 1, wherein the "calculating the relevant parameter of the laser imaging apparatus with respect to the reference plane based on the fitting parameter" specifically includes:
let the plane equation ax + by + cz be d, and a 2 +b 2 +c 2 1, plane normal vector w is (a, b, c), and the intersection point with the y-axis on the plane
The horizontal rotation angle of the laser camera with respect to the initial position is
A vertical rotation angle of
Distance from laser camera to laser point
8. The method for correcting the posture of the laser camera device according to claim 1, wherein the "selecting the optimal related parameters according to the preset metric" specifically comprises the following steps:
repeating the step of processing the coordinate data set through a preset algorithm to obtain fitting parameters of the reference plane; and calculating the relevant parameters of the laser camera relative to the reference plane according to the fitting parameters until the optimal relevant parameters meeting preset measurement indexes are obtained.
9. The method of correcting the posture of the laser imaging apparatus according to any one of claims 1 to 8, wherein the laser data set includes: a plurality of laser point data;
the laser point data includes: the horizontal rotation angle of the laser camera device, the vertical rotation angle of the laser camera device and the distance from the laser camera device to the laser point on the reference plane;
the three-dimensional space takes a laser camera device as an origin of coordinates, the reverse direction of laser emission is a Z axis, a Y axis points to the ground, and an X axis is determined according to a right-hand rule of a space coordinate system.
10. An attitude correction system for a laser imaging apparatus, comprising: a laser camera device and a server;
the laser camera device is used for: collecting a laser data set of a reference plane and sending the laser data set to the server;
the server is configured to: converting the laser data set into a coordinate data set in a three-dimensional space; processing the coordinate data set through a preset algorithm to obtain fitting parameters of the reference plane; calculating relevant parameters of the laser camera device relative to the reference plane according to the fitting parameters; selecting optimal related parameters according to preset measurement indexes; and adjusting the posture of the laser camera device according to the optimal related parameters.
Priority Applications (1)
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