CN116907338A - A method and device for evaluating the external coincidence accuracy of three-dimensional laser scanner registration - Google Patents
A method and device for evaluating the external coincidence accuracy of three-dimensional laser scanner registration Download PDFInfo
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Abstract
本发明涉及一种评定三维激光扫描仪配准外符合精度的方法和装置，属于三维激光扫描仪技术领域，待评定三维激光扫描仪在第一测站对基准尺上第一靶座处放置的扫描球扫描得到第一激光点云，三维激光扫描仪在第二测站对基准尺上的第二靶座处放置的扫描球扫描得到第二激光点云，将第一激光点云与第二激光点云配准拟合得到第一靶座的第一球心与第二靶座的第二球心，并计算得到第一球心和第二球心的空间距离；通过对比空间距离与标定长度来评定三维激光扫描仪的配准外符合精度。本发明通过空间距离与标定长度的对比来评定三维激光扫描仪的配准外符合精度，能够检核激光点云配准误差与实际测量现场的符合情况。
The invention relates to a method and device for evaluating the external coincidence accuracy of a three-dimensional laser scanner, which belongs to the technical field of three-dimensional laser scanners. The three-dimensional laser scanner to be evaluated is placed at the first target base on the first measuring station alignment ruler. The scanning ball scans to obtain the first laser point cloud. The three-dimensional laser scanner scans the scanning ball placed at the second target base on the second measuring station to obtain the second laser point cloud. The first laser point cloud is compared with the second laser point cloud. The laser point cloud is registered and fitted to obtain the first sphere center of the first target base and the second sphere center of the second target base, and the spatial distance between the first sphere center and the second sphere center is calculated; by comparing the spatial distance and calibration length to evaluate the registration accuracy of the 3D laser scanner. The present invention evaluates the registration accuracy of the three-dimensional laser scanner by comparing the spatial distance with the calibration length, and can check the consistency between the laser point cloud registration error and the actual measurement site.
Description
技术领域Technical field
本发明涉及一种评定三维激光扫描仪配准外符合精度的方法和装置，属于三维激光扫描仪技术领域。The invention relates to a method and device for evaluating the external coincidence accuracy of three-dimensional laser scanner registration, and belongs to the technical field of three-dimensional laser scanners.
背景技术Background technique
地面架站式的三维激光扫描仪在采集被测物体的三维激光点云时，一般按照自由设站的方式获取激光点云。由于各测站的仪器坐标系不同，需要通过激光点云配准将各测站的激光点云数据统一到同一个坐标系内。常用的配准方式有基于平面靶标或靶标球的配准、人工选取特征点配准、利用PCL等算法自动配准等方式。配准误差通常通过计算多个同名点配准后的三维坐标偏差均方根来衡量。When the ground-mounted 3D laser scanner collects the 3D laser point cloud of the measured object, it generally obtains the laser point cloud in a free station manner. Since the instrument coordinate systems of each measuring station are different, it is necessary to unify the laser point cloud data of each measuring station into the same coordinate system through laser point cloud registration. Commonly used registration methods include registration based on plane targets or target balls, manual selection of feature points, and automatic registration using algorithms such as PCL. Registration error is usually measured by calculating the root mean square deviation of the three-dimensional coordinates after registering multiple points with the same name.
基准尺常应用在经纬仪交会测量、数字工业摄影测量等系统中，作为高精度的尺度基准。为了检核激光点云配准误差与实际测量现场的符合情况，评定三维激光扫描仪配准的外符合精度，发明了一种评定三维激光扫描仪配准外符合精度的方法和装置。The reference ruler is often used in theodolite intersection measurement, digital industrial photogrammetry and other systems as a high-precision scale benchmark. In order to check the consistency between the laser point cloud registration error and the actual measurement site and evaluate the external coincidence accuracy of the three-dimensional laser scanner registration, a method and device for assessing the external coincidence accuracy of the three-dimensional laser scanner registration were invented.
发明内容Contents of the invention
本发明的目的是提供一种能够检核激光点云配准误差与实际测量现场的符合情况的评定三维激光扫描仪配准外符合精度的方法和装置。The object of the present invention is to provide a method and device for evaluating the external coincidence accuracy of a three-dimensional laser scanner that can check the consistency between the laser point cloud registration error and the actual measurement site.
为实现上述目的，本发明的方案包括：In order to achieve the above objects, the solution of the present invention includes:
本发明的一种评定三维激光扫描仪配准外符合精度的方法：待评定三维激光扫描仪在第一测站对基准尺上第一靶座处放置的扫描球扫描得到第一激光点云，待评定三维激光扫描仪在第二测站对基准尺上的第二靶座处放置的扫描球扫描得到第二激光点云，将第一激光点云与第二激光点云配准拟合得到第一靶座的第一球心与第二靶座的第二球心，并计算得到第一球心和第二球心的空间距离；通过对比空间距离与标定长度来评定待评定三维激光扫描仪的配准外符合精度；标定长度为第一靶座的中心与第二靶座的中心的距离。The present invention provides a method for evaluating the registration accuracy of a three-dimensional laser scanner: the three-dimensional laser scanner to be evaluated scans the scanning ball placed at the first target base on the reference ruler at the first measuring station to obtain the first laser point cloud, The 3D laser scanner to be evaluated scans the scanning ball placed at the second target base on the second measuring station to obtain the second laser point cloud, and the first laser point cloud and the second laser point cloud are registered and fitted to obtain The first sphere center of the first target base and the second sphere center of the second target base are calculated, and the spatial distance between the first sphere center and the second sphere center is calculated; the three-dimensional laser scan to be evaluated is evaluated by comparing the spatial distance with the calibration length. The registration accuracy of the instrument is consistent; the calibration length is the distance between the center of the first target base and the center of the second target base.
本发明通过第一球心和第二球心的空间距离与标定长度的对比来评定三维激光扫描仪的配准外符合精度，能够检核激光点云配准误差与实际测量现场的符合情况，并通过作为高精度尺度基准的基准尺为标定长度提供可靠依据。This invention evaluates the registration accuracy of the three-dimensional laser scanner by comparing the spatial distance between the first sphere center and the second sphere center and the calibration length, and can check the consistency between the laser point cloud registration error and the actual measurement site. And it provides a reliable basis for calibrating the length through the reference ruler as a high-precision scale benchmark.
进一步地，第一靶座的中心与第二靶座的中心的距离通过待评定三维激光扫描仪的激光对设有第一靶座和第二靶座的基准尺标定得到。Further, the distance between the center of the first target base and the center of the second target base is obtained by calibrating the reference ruler provided with the first target base and the second target base using the laser of the three-dimensional laser scanner to be evaluated.
本发明通过待评定三维激光扫描仪的激光对设有第一靶座和第二靶座的基准尺标定得到第一靶座的中心与第二靶座的中心的距离，为评定待评定三维激光扫描仪的配准外符合精度提供可靠依据。In the present invention, the distance between the center of the first target base and the center of the second target base is obtained by calibrating the reference ruler provided with the first target base and the second target base using the laser of the three-dimensional laser scanner to be evaluated. This method is used to evaluate the three-dimensional laser to be evaluated. The scanner's registration accuracy provides a reliable basis.
进一步地，第一靶座和第二靶座为基准尺上开设的内凹座，扫描球放置在内凹座时，扫描球的中心与对应内凹座的中心分布在与基准尺垂直的同一垂线上。Further, the first target base and the second target base are inner concave seats opened on the reference ruler. When the scanning ball is placed in the inner concave seats, the center of the scanning ball and the center of the corresponding inner concave seat are distributed in the same direction perpendicular to the reference ruler. on the vertical line.
本发明的扫描球放置在内凹座时，扫描球的中心与对应内凹座的中心分布在与基准尺垂直的同一垂线上，使第一球心和第二球心的空间距离与标定长度的对比更加方便。When the scanning ball of the present invention is placed in the inner concave seat, the center of the scanning ball and the center of the corresponding inner concave seat are distributed on the same vertical line perpendicular to the reference ruler, so that the spatial distance between the first sphere center and the second sphere center is consistent with the calibration Length comparison is more convenient.
进一步地，扫描球的中心与对应内凹座的中心重合，内凹座为与扫描球外表面贴合的半球面。Further, the center of the scanning ball coincides with the center of the corresponding inner concave seat, and the inner concave seat is a hemispherical surface that fits the outer surface of the scanning ball.
本发明的扫描球放置在内凹座时，扫描球的中心与对应内凹座的中心重合，使第一球心和第二球心的空间距离与标定长度的对比更加方便。本发明的扫描球外表面分别与半球面的第一靶座、半球面的第二靶座贴合，使第一球心和第二球心的空间距离与标定长度的对比更加方便，得到评定三维激光扫描仪的配准外符合精度更加精准。When the scanning ball of the present invention is placed in the inner concave seat, the center of the scanning ball coincides with the center of the corresponding inner concave seat, making it easier to compare the spatial distance between the first sphere center and the second sphere center and the calibration length. The outer surface of the scanning ball of the present invention is respectively fitted with the first target base of the hemispheric surface and the second target base of the hemispheric surface, making it easier to compare the spatial distance and the calibration length between the first and second sphere centers and obtain evaluation. The registration accuracy of the 3D laser scanner is more accurate.
进一步地，扫描球的圆度误差趋近于0，扫描球的外表面为哑光面，第一靶座和第二靶座分别设置在基准尺的两端。Further, the roundness error of the scanning ball approaches 0, the outer surface of the scanning ball is a matte surface, and the first target base and the second target base are respectively provided at both ends of the reference ruler.
本发明的扫描球的圆度误差趋近于0，便于高精度地拟合计算出扫描球的球心坐标，为评定待评定三维激光扫描仪的配准外符合精度提供可靠依据。本发明的待评定三维激光扫描仪能够在扫描扫描球时，扫描球的哑光外表面反射的激光能够携带方位、距离信息原路返回，为评定待评定三维激光扫描仪的配准外符合精度提供可靠依据。The roundness error of the scanning ball of the present invention approaches 0, which facilitates high-precision fitting and calculation of the coordinates of the center of the scanning ball, and provides a reliable basis for evaluating the external coincidence accuracy of the registration of the three-dimensional laser scanner to be evaluated. When the three-dimensional laser scanner to be evaluated of the present invention scans the scanning ball, the laser reflected by the matte outer surface of the scanning ball can carry the orientation and distance information back along the original path, which is a good way to evaluate the registration accuracy of the three-dimensional laser scanner to be evaluated. Provide reliable basis.
一种评定三维激光扫描仪配准外符合精度的装置，包括基准尺和至少一个扫描球，在基准尺上分别设有用于放置扫描球的第一靶座和第二靶座。A device for evaluating the external coincidence accuracy of the registration of a three-dimensional laser scanner, including a reference ruler and at least one scanning ball. A first target base and a second target base for placing the scanning ball are respectively provided on the reference ruler.
本发明的在基准尺上分别设有用于放置扫描球的第一靶座和第二靶座，通过将扫描球分别放置在第一靶座和第二靶座时，待评定三维激光扫描仪分别获取扫描球的激光点云，通过对比两次激光点云配准拟合后的扫描球球心之间的距离与第一靶座中心和第二靶座中心之间的实际距离，完成对三维激光扫描仪配准外符合精度的评定，进而能够检核激光点云配准误差与实际测量现场的符合情况。In the present invention, a first target base and a second target base for placing scanning balls are respectively provided on the reference ruler. When the scanning balls are placed on the first target base and the second target base respectively, the three-dimensional laser scanners to be evaluated are respectively Obtain the laser point cloud of the scanning ball, and complete the three-dimensional alignment by comparing the distance between the center of the scanning ball after two laser point cloud registrations and the actual distance between the center of the first target base and the center of the second target base. The evaluation of the coincidence accuracy of laser scanner registration can then check the consistency between the laser point cloud registration error and the actual measurement site.
进一步地，扫描球分别放置在第一靶座和第二靶座时，通过待评定三维激光扫描仪分别获取扫描球的激光点云，通过对比两次激光点云配准拟合后的扫描球球心之间的距离与第一靶座中心和第二靶座中心之间的实际距离，完成对三维激光扫描仪配准外符合精度的评定。Further, when the scanning balls are placed on the first target base and the second target base respectively, the laser point clouds of the scanning balls are obtained through the three-dimensional laser scanner to be evaluated, and the scanning balls after the registration and fitting of the two laser point clouds are compared. The distance between the centers of the spheres and the actual distance between the center of the first target base and the center of the second target base completes the evaluation of the external coincidence accuracy of the three-dimensional laser scanner registration.
本发明通过对比两次激光点云配准拟合后的扫描球球心之间的距离与第一靶座中心和第二靶座中心之间的实际距离来评定三维激光扫描仪的配准外符合精度，能够检核激光点云配准误差与实际测量现场的符合情况，并通过作为高精度尺度基准的基准尺为标定长度提供可靠依据。This invention evaluates the registration performance of the three-dimensional laser scanner by comparing the distance between the centers of the scanning spheres after two laser point cloud registration fits and the actual distance between the center of the first target base and the center of the second target base. Compliance accuracy can check the consistency between the laser point cloud registration error and the actual measurement site, and provide a reliable basis for calibrating the length through the reference ruler as a high-precision scale benchmark.
进一步地，第一靶座和第二靶座为基准尺上开设的内凹座，扫描球放置在内凹座时，扫描球的中心与对应内凹座的中心分布在与基准尺垂直的同一垂线上。Further, the first target base and the second target base are inner concave seats opened on the reference ruler. When the scanning ball is placed in the inner concave seats, the center of the scanning ball and the center of the corresponding inner concave seat are distributed in the same direction perpendicular to the reference ruler. on the vertical line.
本发明的扫描球放置在内凹座时，扫描球的中心与对应内凹座的中心分布在与基准尺垂直的同一垂线上，使第一球心和第二球心的空间距离与标定长度的对比更加方便。When the scanning ball of the present invention is placed in the inner concave seat, the center of the scanning ball and the center of the corresponding inner concave seat are distributed on the same vertical line perpendicular to the reference ruler, so that the spatial distance between the first sphere center and the second sphere center is consistent with the calibration Length comparison is more convenient.
进一步地，扫描球的中心与对应内凹座的中心重合，内凹座为与扫描球外表面贴合的半球面。Further, the center of the scanning ball coincides with the center of the corresponding inner concave seat, and the inner concave seat is a hemispherical surface that fits the outer surface of the scanning ball.
本发明的扫描球放置在内凹座时，扫描球的中心与对应内凹座的中心重合，使第一球心和第二球心的空间距离与标定长度的对比更加方便。本发明的扫描球外表面分别与半球面的第一靶座、半球面的第二靶座贴合，使第一球心和第二球心的空间距离与标定长度的对比更加方便，得到评定三维激光扫描仪的配准外符合精度更加精准。When the scanning ball of the present invention is placed in the inner concave seat, the center of the scanning ball coincides with the center of the corresponding inner concave seat, making it easier to compare the spatial distance between the first sphere center and the second sphere center and the calibration length. The outer surface of the scanning ball of the present invention is respectively fitted with the first target base of the hemispheric surface and the second target base of the hemispheric surface, making it easier to compare the spatial distance and the calibration length between the first and second sphere centers and obtain evaluation. The registration accuracy of the 3D laser scanner is more accurate.
进一步地，扫描球的圆度误差趋近于0，扫描球的外表面为哑光面，第一靶座和第二靶座分别设置在基准尺的两端。Further, the roundness error of the scanning ball approaches 0, the outer surface of the scanning ball is a matte surface, and the first target base and the second target base are respectively provided at both ends of the reference ruler.
本发明的扫描球的圆度误差趋近于0，便于高精度地拟合计算出扫描球的球心坐标，为评定待评定三维激光扫描仪的配准外符合精度提供可靠依据。本发明的待评定三维激光扫描仪能够在扫描扫描球时，扫描球的哑光外表面反射的激光能够携带方位、距离信息原路返回，为评定待评定三维激光扫描仪的配准外符合精度提供可靠依据。The roundness error of the scanning ball of the present invention approaches 0, which facilitates high-precision fitting and calculation of the coordinates of the center of the scanning ball, and provides a reliable basis for evaluating the external coincidence accuracy of the registration of the three-dimensional laser scanner to be evaluated. When the three-dimensional laser scanner to be evaluated of the present invention scans the scanning ball, the laser reflected by the matte outer surface of the scanning ball can carry the orientation and distance information back along the original path, which is a good way to evaluate the registration accuracy of the three-dimensional laser scanner to be evaluated. Provide reliable basis.
附图说明Description of the drawings
图1是本发明的基准尺的结构示意图。Figure 1 is a schematic structural diagram of the reference ruler of the present invention.
附图标记说明：Explanation of reference symbols:
1、基准尺；10、第一靶座；11、第二靶座；2、扫描球。1. Reference ruler; 10. First target base; 11. Second target base; 2. Scanning ball.
具体实施方式Detailed ways
为使本发明的目的、技术方案及优点更加清楚明了，下面结合附图及实施例，对本发明作进一步的详细说明。In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.
一种评定三维激光扫描仪配准外符合精度的方法的实施例：An embodiment of a method for evaluating the external coincidence accuracy of three-dimensional laser scanner registration:
一种评定三维激光扫描仪配准外符合精度的方法：待评定三维激光扫描仪在第一测站对基准尺上第一靶座处放置的扫描球扫描得到第一激光点云，待评定三维激光扫描仪在第二测站对基准尺上的第二靶座处放置的扫描球扫描得到第二激光点云，将第一激光点云与第二激光点云配准拟合得到第一靶座的第一球心与第二靶座的第二球心，并计算得到第一球心和第二球心的空间距离；通过对比空间距离与标定长度来评定待评定三维激光扫描仪的配准外符合精度；标定长度为第一靶座的中心与第二靶座的中心的距离。A method for evaluating the external coincidence accuracy of the registration of a three-dimensional laser scanner: the three-dimensional laser scanner to be evaluated scans the scanning ball placed at the first target base on the reference ruler at the first measuring station to obtain the first laser point cloud, and the three-dimensional laser scanner to be evaluated The laser scanner scans the scanning ball placed at the second target base on the reference ruler at the second measuring station to obtain the second laser point cloud. The first laser point cloud and the second laser point cloud are registered and fitted to obtain the first target. The first sphere center of the base and the second sphere center of the second target base are calculated, and the spatial distance between the first sphere center and the second sphere center is calculated; the configuration of the 3D laser scanner to be evaluated is evaluated by comparing the spatial distance with the calibration length. Off-line accuracy; the calibration length is the distance between the center of the first target base and the center of the second target base.
第一靶座的中心与第二靶座的中心的距离通过待评定三维激光扫描仪的激光对设有第一靶座和第二靶座的基准尺标定得到。The distance between the center of the first target base and the center of the second target base is obtained by calibrating the reference ruler provided with the first target base and the second target base using the laser of the three-dimensional laser scanner to be evaluated.
如图1所示，在基准尺1的两端分别开设有用于放置扫描球2的第一靶座10和第二靶座11，第一靶座10与第二靶座11均为半球面的内凹座，扫描球2外表面分别与半球面的第一靶座、半球面的第二靶座贴合。As shown in Figure 1, a first target base 10 and a second target base 11 for placing the scanning ball 2 are respectively provided at both ends of the reference ruler 1. Both the first target base 10 and the second target base 11 are hemispherical. The inner concave seat and the outer surface of the scanning ball 2 are respectively fitted with the first target base of the hemispheric surface and the second target base of the hemispheric surface.
第一靶座和第二靶座分别设置在基准尺的两端，扫描球的圆度误差趋近于0，便于高精度地拟合计算出扫描球的球心坐标，为评定待评定三维激光扫描仪的配准外符合精度提供可靠依据；扫描球的外表面为哑光面，本发明的待评定三维激光扫描仪能够在扫描扫描球时，扫描球的哑光外表面反射的激光能够携带方位、距离信息原路返回，为评定待评定三维激光扫描仪的配准外符合精度提供可靠依据。第一激光点云和第二激光点云均包含被扫描物品的三维坐标信息以及激光反射强度。The first target base and the second target base are respectively set at both ends of the reference ruler. The roundness error of the scanning ball approaches 0, which facilitates high-precision fitting and calculation of the coordinates of the center of the scanning ball, which is a good way to evaluate the three-dimensional laser to be evaluated. The registration accuracy of the scanner provides a reliable basis; the outer surface of the scanning ball is a matte surface. The three-dimensional laser scanner to be evaluated of the present invention can carry the laser reflected by the matte outer surface of the scanning ball when scanning the scanning ball. The orientation and distance information is returned along the original path, providing a reliable basis for evaluating the registration accuracy of the 3D laser scanner to be evaluated. Both the first laser point cloud and the second laser point cloud contain three-dimensional coordinate information of the scanned object and laser reflection intensity.
一种评定三维激光扫描仪配准外符合精度的装置的实施例：An embodiment of a device for evaluating the external coincidence accuracy of three-dimensional laser scanner registration:
一种评定三维激光扫描仪配准外符合精度的装置，如图1所示，包括基准尺1和至少一个扫描球2，在基准尺1的两端分别开设有用于放置扫描球2的第一靶座10和第二靶座11，第一靶座10与第二靶座11均为半球面的内凹座，扫描球2外表面分别与半球面的第一靶座、半球面的第二靶座贴合。扫描球2分别放置在第一靶座10和第二靶座11时，通过待评定三维激光扫描仪分别获取扫描球2的激光点云，通过对比两次激光点云配准拟合后的扫描球2球心之间的距离与第一靶座10中心和第二靶座11中心之间的实际距离，完成对三维激光扫描仪配准外符合精度的评定。A device for evaluating the external coincidence accuracy of three-dimensional laser scanner registration. As shown in Figure 1, it includes a reference ruler 1 and at least one scanning ball 2. There are first holes for placing the scanning ball 2 at both ends of the reference ruler 1. The target base 10 and the second target base 11, the first target base 10 and the second target base 11 are both hemispherical inner concave seats, and the outer surface of the scanning ball 2 is respectively connected with the first target base of the hemispherical surface and the second target base of the hemispherical surface. The target base fits snugly. When the scanning ball 2 is placed on the first target base 10 and the second target base 11 respectively, the laser point cloud of the scanning ball 2 is obtained through the three-dimensional laser scanner to be evaluated, and the scans after the registration and fitting of the two laser point clouds are compared. The distance between the centers of the balls 2 and the actual distance between the center of the first target base 10 and the center of the second target base 11 completes the evaluation of the external coincidence accuracy of the three-dimensional laser scanner registration.
扫描球2的圆度误差趋近于0，便于高精度地拟合计算出扫描球的球心坐标，为评定待评定三维激光扫描仪的配准外符合精度提供可靠依据；扫描球的外表面为哑光面，本发明的待评定三维激光扫描仪能够在扫描扫描球时，扫描球的哑光外表面反射的激光能够携带方位、距离信息原路返回，为评定待评定三维激光扫描仪的配准外符合精度提供可靠依据。The roundness error of the scanning ball 2 is close to 0, which facilitates high-precision fitting and calculation of the center coordinates of the scanning ball, and provides a reliable basis for evaluating the external coincidence accuracy of the registration of the 3D laser scanner to be evaluated; the outer surface of the scanning ball It has a matte surface. When the 3D laser scanner to be evaluated of the present invention is scanning the scanning ball, the laser reflected by the matte outer surface of the scanning ball can carry the orientation and distance information back along the original path. This is an advantage for the 3D laser scanner to be evaluated. The external coincidence accuracy of registration provides a reliable basis.
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