CN116299367A - 一种多激光空间标定方法 - Google Patents
一种多激光空间标定方法 Download PDFInfo
- Publication number
- CN116299367A CN116299367A CN202310558027.1A CN202310558027A CN116299367A CN 116299367 A CN116299367 A CN 116299367A CN 202310558027 A CN202310558027 A CN 202310558027A CN 116299367 A CN116299367 A CN 116299367A
- Authority
- CN
- China
- Prior art keywords
- laser
- point cloud
- transformation matrix
- indoor
- calibration field
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000009466 transformation Effects 0.000 claims abstract description 38
- 239000011159 matrix material Substances 0.000 claims abstract description 33
- 230000009977 dual effect Effects 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 6
- 238000005457 optimization Methods 0.000 claims description 4
- 230000001131 transforming effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 241000350052 Daniellia ogea Species 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
Description
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202310558027.1A CN116299367B (zh) | 2023-05-18 | 2023-05-18 | 一种多激光空间标定方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202310558027.1A CN116299367B (zh) | 2023-05-18 | 2023-05-18 | 一种多激光空间标定方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN116299367A true CN116299367A (zh) | 2023-06-23 |
CN116299367B CN116299367B (zh) | 2024-01-26 |
Family
ID=86803535
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202310558027.1A Active CN116299367B (zh) | 2023-05-18 | 2023-05-18 | 一种多激光空间标定方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN116299367B (zh) |
Citations (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108510587A (zh) * | 2018-02-11 | 2018-09-07 | 上海电力学院 | 一种基于2d激光扫描的室内室外环境建模方法及系统 |
CN108871236A (zh) * | 2018-05-04 | 2018-11-23 | 深圳朗呈医疗科技有限公司 | 一种基于三维成像的孔角度测量装置及测量方法 |
CN109099901A (zh) * | 2018-06-26 | 2018-12-28 | 苏州路特工智能科技有限公司 | 基于多源数据融合的全自动压路机定位方法 |
CN109655024A (zh) * | 2019-01-24 | 2019-04-19 | 大连理工大学 | 采用空间变换技术的位移传感器外部参数标定方法 |
CN109872354A (zh) * | 2019-01-28 | 2019-06-11 | 深圳市易尚展示股份有限公司 | 基于非线性优化的多视角点云配准方法及系统 |
CN110261870A (zh) * | 2019-04-15 | 2019-09-20 | 浙江工业大学 | 一种用于视觉-惯性-激光融合的同步定位与建图方法 |
CN111102926A (zh) * | 2020-01-02 | 2020-05-05 | 青岛国信海天中心建设有限公司 | 一种基于bim的工程质量检测方法及系统 |
WO2021253193A1 (zh) * | 2020-06-15 | 2021-12-23 | 深圳市大疆创新科技有限公司 | 多组激光雷达外参的标定方法、标定装置和计算机存储介质 |
CN114646932A (zh) * | 2022-05-23 | 2022-06-21 | 深圳元戎启行科技有限公司 | 基于外置雷达的雷达外参标定方法、装置和计算机设备 |
WO2022165793A1 (zh) * | 2021-02-07 | 2022-08-11 | 深圳市大疆创新科技有限公司 | 外参标定方法、装置及计算机可读存储介质 |
WO2022165876A1 (zh) * | 2021-02-06 | 2022-08-11 | 湖南大学 | 一种基于wgan的无监督多视角三维点云联合配准方法 |
CN115372989A (zh) * | 2022-08-19 | 2022-11-22 | 中国人民解放军陆军工程大学 | 基于激光雷达的越野自动小车长距离实时定位系统及方法 |
WO2023040137A1 (zh) * | 2021-09-16 | 2023-03-23 | 上海仙途智能科技有限公司 | 数据处理 |
-
2023
- 2023-05-18 CN CN202310558027.1A patent/CN116299367B/zh active Active
Patent Citations (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108510587A (zh) * | 2018-02-11 | 2018-09-07 | 上海电力学院 | 一种基于2d激光扫描的室内室外环境建模方法及系统 |
CN108871236A (zh) * | 2018-05-04 | 2018-11-23 | 深圳朗呈医疗科技有限公司 | 一种基于三维成像的孔角度测量装置及测量方法 |
CN109099901A (zh) * | 2018-06-26 | 2018-12-28 | 苏州路特工智能科技有限公司 | 基于多源数据融合的全自动压路机定位方法 |
CN109655024A (zh) * | 2019-01-24 | 2019-04-19 | 大连理工大学 | 采用空间变换技术的位移传感器外部参数标定方法 |
CN109872354A (zh) * | 2019-01-28 | 2019-06-11 | 深圳市易尚展示股份有限公司 | 基于非线性优化的多视角点云配准方法及系统 |
CN110261870A (zh) * | 2019-04-15 | 2019-09-20 | 浙江工业大学 | 一种用于视觉-惯性-激光融合的同步定位与建图方法 |
CN111102926A (zh) * | 2020-01-02 | 2020-05-05 | 青岛国信海天中心建设有限公司 | 一种基于bim的工程质量检测方法及系统 |
WO2021253193A1 (zh) * | 2020-06-15 | 2021-12-23 | 深圳市大疆创新科技有限公司 | 多组激光雷达外参的标定方法、标定装置和计算机存储介质 |
CN114080547A (zh) * | 2020-06-15 | 2022-02-22 | 深圳市大疆创新科技有限公司 | 多组激光雷达外参的标定方法、标定装置和计算机存储介质 |
WO2022165876A1 (zh) * | 2021-02-06 | 2022-08-11 | 湖南大学 | 一种基于wgan的无监督多视角三维点云联合配准方法 |
WO2022165793A1 (zh) * | 2021-02-07 | 2022-08-11 | 深圳市大疆创新科技有限公司 | 外参标定方法、装置及计算机可读存储介质 |
WO2023040137A1 (zh) * | 2021-09-16 | 2023-03-23 | 上海仙途智能科技有限公司 | 数据处理 |
CN114646932A (zh) * | 2022-05-23 | 2022-06-21 | 深圳元戎启行科技有限公司 | 基于外置雷达的雷达外参标定方法、装置和计算机设备 |
CN115372989A (zh) * | 2022-08-19 | 2022-11-22 | 中国人民解放军陆军工程大学 | 基于激光雷达的越野自动小车长距离实时定位系统及方法 |
Non-Patent Citations (1)
Title |
---|
郭清达;全燕鸣;于广平;武彦林;: "基于ICP算法的双目标定改进方法研究", 光学学报, vol. 36, no. 12 * |
Also Published As
Publication number | Publication date |
---|---|
CN116299367B (zh) | 2024-01-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US9020240B2 (en) | Method and surveying system for noncontact coordinate measurement on an object surface | |
CN107167788B (zh) | 获取激光雷达校准参数、激光雷达校准的方法及系统 | |
CN106871787B (zh) | 大空间线扫描成像三维测量方法 | |
US8284240B2 (en) | System for adaptive three-dimensional scanning of surface characteristics | |
US8036452B2 (en) | Method and measurement system for contactless coordinate measurement on an object surface | |
CN111815716A (zh) | 一种参数标定方法及相关装置 | |
CN114998499A (zh) | 一种基于线激光振镜扫描的双目三维重建方法及系统 | |
CN110246191B (zh) | 相机非参数模型标定方法及标定精度评估方法 | |
CN111612768A (zh) | 一种采用结构光空间定位和二维工业ct检测叶片方法 | |
CN112465732A (zh) | 一种车载激光点云与序列全景影像的配准方法 | |
CN102221331A (zh) | 一种基于不对称双目立体视觉技术的测量方法 | |
CN112254680B (zh) | 一种多自由度的智能视觉3d信息采集设备 | |
CN109272555A (zh) | 一种rgb-d相机的外部参数获得及标定方法 | |
Muñumer et al. | Fusion of 3D data from different image-based and range-based sources for efficient heritage recording | |
CN113947638A (zh) | 鱼眼相机影像正射纠正方法 | |
JP2023505891A (ja) | 環境のトポグラフィを測定するための方法 | |
CN116051659A (zh) | 一种线阵相机与2d激光扫描仪联合标定方法 | |
CN116299367B (zh) | 一种多激光空间标定方法 | |
CN113920201A (zh) | 极线几何约束的鱼眼相机标定方法 | |
CN116824067B (zh) | 一种室内三维重建方法及其装置 | |
CN117115272A (zh) | 用于降水粒子多角度成像的远心相机标定和三维重构方法 | |
CN112581505A (zh) | 一种简易的激光雷达点云与光学影像自动配准方法 | |
CN108458692B (zh) | 一种近距离三维姿态测量方法 | |
CN116147534A (zh) | 一种基于镜面辅助的多视角三维激光扫描系统及复杂表面全景测量方法 | |
WO2022078433A1 (zh) | 一种多点组合式3d采集系统及方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information | ||
CB03 | Change of inventor or designer information |
Inventor after: Wei Zhanying Inventor after: Zhang Xiangjun Inventor after: Yu Xiaowei Inventor after: Zhong Bin Inventor after: Lv Shuisheng Inventor after: Du Sheng Inventor after: Zhang Yanling Inventor before: Wei Zhanying Inventor before: Zhang Xiangjun Inventor before: Yu Xiaowei Inventor before: Zhong Bin Inventor before: Lv Shuisheng |
|
GR01 | Patent grant | ||
GR01 | Patent grant |