CN116907338A - Method and device for evaluating out-of-registration coincidence precision of three-dimensional laser scanner - Google Patents
Method and device for evaluating out-of-registration coincidence precision of three-dimensional laser scanner Download PDFInfo
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- CN116907338A CN116907338A CN202310683728.8A CN202310683728A CN116907338A CN 116907338 A CN116907338 A CN 116907338A CN 202310683728 A CN202310683728 A CN 202310683728A CN 116907338 A CN116907338 A CN 116907338A
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- 238000013459 approach Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 abstract description 7
- 238000011156 evaluation Methods 0.000 description 3
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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
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Abstract
The invention relates to a method and a device for evaluating the out-of-registration coincidence precision of a three-dimensional laser scanner, which belong to the technical field of three-dimensional laser scanners, wherein a scanning ball placed at a first target seat on a first station alignment reference ruler of the three-dimensional laser scanner is to be evaluated to obtain a first laser point cloud, a scanning ball placed at a second target seat on a second station alignment reference ruler of the three-dimensional laser scanner is to be scanned to obtain a second laser point cloud, the first laser point cloud and the second laser point cloud are subjected to registration fitting to obtain a first spherical center of the first target seat and a second spherical center of the second target seat, and the space distance between the first spherical center and the second spherical center is calculated; and evaluating the out-of-registration coincidence precision of the three-dimensional laser scanner by comparing the spatial distance with the calibration length. The invention evaluates the out-of-registration coincidence precision of the three-dimensional laser scanner through the comparison of the space distance and the calibration length, and can check the coincidence condition of the laser point cloud registration error and the actual measurement site.
Description
Technical Field
The invention relates to a method and a device for evaluating the out-of-registration coincidence precision of a three-dimensional laser scanner, and belongs to the technical field of three-dimensional laser scanners.
Background
When the ground stand type three-dimensional laser scanner collects the three-dimensional laser point cloud of the measured object, the laser point cloud is generally obtained in a free standing mode. Because instrument coordinate systems of all stations are different, laser point cloud data of all stations need to be unified into the same coordinate system through laser point cloud registration. Common registration modes include registration based on a planar target or a target sphere, manual feature point registration, automatic registration by using PCL and other algorithms, and the like. Registration errors are typically measured by calculating the root mean square of the three-dimensional coordinate deviations after registration of a plurality of homonymous points.
The reference ruler is often applied to systems such as theodolite intersection measurement, digital industrial photogrammetry and the like, and is used as a high-precision scale reference. In order to check the coincidence condition of the laser point cloud registration error and the actual measurement site and evaluate the external coincidence precision of the three-dimensional laser scanner registration, the invention provides a method and a device for evaluating the external coincidence precision of the three-dimensional laser scanner registration.
Disclosure of Invention
The invention aims to provide a method and a device for evaluating out-of-registration coincidence precision of a three-dimensional laser scanner, which can check coincidence conditions of laser point cloud registration errors and actual measurement sites.
In order to achieve the above object, the present invention provides a method comprising:
the invention relates to a method for evaluating the out-of-registration coincidence precision of a three-dimensional laser scanner, which comprises the following steps: scanning a scanning ball placed at a first target seat on a first station alignment reference ruler by a three-dimensional laser scanner to be assessed to obtain a first laser point cloud, scanning a scanning ball placed at a second target seat on a second station alignment reference ruler by the three-dimensional laser scanner to be assessed to obtain a second laser point cloud, registering and fitting the first laser point cloud and the second laser point cloud to obtain a first spherical center of the first target seat and a second spherical center of the second target seat, and calculating to obtain the space distance between the first spherical center and the second spherical center; evaluating the out-of-registration coincidence precision of the three-dimensional laser scanner to be evaluated by comparing the space distance with the calibration length; the calibration length is the distance between the center of the first target holder and the center of the second target holder.
According to the invention, the out-of-registration coincidence precision of the three-dimensional laser scanner is evaluated through the comparison of the space distance between the first sphere center and the second sphere center and the calibration length, the coincidence condition of the laser point cloud registration error and the actual measurement site can be checked, and a reliable basis is provided for the calibration length through the reference ruler serving as a high-precision scale reference.
Further, the distance between the center of the first target seat and the center of the second target seat is obtained by calibrating a reference ruler provided with the first target seat and the second target seat by laser of the three-dimensional laser scanner to be evaluated.
According to the invention, the distance between the center of the first target seat and the center of the second target seat is obtained by calibrating the reference ruler provided with the first target seat and the second target seat by the laser of the three-dimensional laser scanner to be evaluated, so that a reliable basis is provided for evaluating the out-of-registration coincidence precision of the three-dimensional laser scanner to be evaluated.
Further, the first target seat and the second target seat are inner recesses formed in the reference ruler, and when the scanning ball is placed in the inner recesses, the center of the scanning ball and the center of the corresponding inner recess are distributed on the same vertical line perpendicular to the reference ruler.
When the scanning ball is placed in the inner recess, the centers of the scanning ball and the corresponding inner recess are distributed on the same vertical line perpendicular to the reference ruler, so that the comparison of the space distance between the first ball center and the second ball center and the calibration length is more convenient.
Further, the center of the scanning ball coincides with the center of the corresponding inner recess, and the inner recess is a hemispherical surface attached to the outer surface of the scanning ball.
When the scanning ball is placed in the inner recess, the center of the scanning ball coincides with the center of the corresponding inner recess, so that the space distance between the first ball center and the second ball center is more convenient to compare with the calibrated length. The outer surface of the scanning ball is respectively attached to the first target seat of the hemispherical surface and the second target seat of the hemispherical surface, so that the comparison between the space distance between the first spherical center and the second spherical center and the calibration length is more convenient, and the out-of-registration coincidence precision of the three-dimensional laser scanner is evaluated more accurately.
Further, the roundness error of the scanning ball approaches to 0, the outer surface of the scanning ball is a matte surface, and the first target seat and the second target seat are respectively arranged at two ends of the reference ruler.
The roundness error of the scanning ball approaches to 0, so that the spherical center coordinate of the scanning ball can be conveniently fitted and calculated with high precision, and a reliable basis is provided for evaluating the out-of-registration coincidence precision of the three-dimensional laser scanner to be evaluated. The three-dimensional laser scanner to be assessed can return the laser reflected by the matte outer surface of the scanning ball to carry the original path of azimuth and distance information when the scanning ball is scanned, and a reliable basis is provided for assessing the out-of-registration coincidence precision of the three-dimensional laser scanner to be assessed.
The device for evaluating the out-of-registration coincidence precision of the three-dimensional laser scanner comprises a reference ruler and at least one scanning ball, wherein a first target seat and a second target seat for placing the scanning ball are respectively arranged on the reference ruler.
According to the invention, the first target seat and the second target seat for placing the scanning ball are respectively arranged on the reference ruler, when the scanning ball is respectively placed on the first target seat and the second target seat, the three-dimensional laser scanner to be evaluated respectively acquires the laser point clouds of the scanning ball, and the evaluation of the out-of-registration coincidence precision of the three-dimensional laser scanner is completed by comparing the distance between the centers of the scanning ball and the actual distance between the centers of the first target seat and the second target seat after the registration fitting of the two laser point clouds, so that the coincidence condition of the registration error of the laser point clouds and the actual measurement site can be checked.
Further, when the scanning balls are respectively placed on the first target seat and the second target seat, laser point clouds of the scanning balls are respectively obtained through the three-dimensional laser scanner to be evaluated, and the evaluation of the out-of-registration coincidence precision of the three-dimensional laser scanner is completed by comparing the distance between the centers of the scanning balls after the registration fitting of the two laser point clouds with the actual distance between the centers of the first target seat and the second target seat.
According to the method, the out-of-registration coincidence precision of the three-dimensional laser scanner is evaluated by comparing the distance between the sphere centers of the scanning spheres after the two laser point cloud registration fitting and the actual distance between the center of the first target seat and the center of the second target seat, the coincidence condition of the laser point cloud registration error and the actual measurement site can be checked, and a reliable basis is provided for the calibration length through the reference ruler serving as a high-precision scale reference.
Further, the first target seat and the second target seat are inner recesses formed in the reference ruler, and when the scanning ball is placed in the inner recesses, the center of the scanning ball and the center of the corresponding inner recess are distributed on the same vertical line perpendicular to the reference ruler.
When the scanning ball is placed in the inner recess, the centers of the scanning ball and the corresponding inner recess are distributed on the same vertical line perpendicular to the reference ruler, so that the comparison of the space distance between the first ball center and the second ball center and the calibration length is more convenient.
Further, the center of the scanning ball coincides with the center of the corresponding inner recess, and the inner recess is a hemispherical surface attached to the outer surface of the scanning ball.
When the scanning ball is placed in the inner recess, the center of the scanning ball coincides with the center of the corresponding inner recess, so that the space distance between the first ball center and the second ball center is more convenient to compare with the calibrated length. The outer surface of the scanning ball is respectively attached to the first target seat of the hemispherical surface and the second target seat of the hemispherical surface, so that the comparison between the space distance between the first spherical center and the second spherical center and the calibration length is more convenient, and the out-of-registration coincidence precision of the three-dimensional laser scanner is evaluated more accurately.
Further, the roundness error of the scanning ball approaches to 0, the outer surface of the scanning ball is a matte surface, and the first target seat and the second target seat are respectively arranged at two ends of the reference ruler.
The roundness error of the scanning ball approaches to 0, so that the spherical center coordinate of the scanning ball can be conveniently fitted and calculated with high precision, and a reliable basis is provided for evaluating the out-of-registration coincidence precision of the three-dimensional laser scanner to be evaluated. The three-dimensional laser scanner to be assessed can return the laser reflected by the matte outer surface of the scanning ball to carry the original path of azimuth and distance information when the scanning ball is scanned, and a reliable basis is provided for assessing the out-of-registration coincidence precision of the three-dimensional laser scanner to be assessed.
Drawings
Fig. 1 is a schematic view of the structure of the reference ruler of the present invention.
Reference numerals illustrate:
1. a reference ruler; 10. a first backing plate; 11. a second backing plate; 2. and (5) scanning the ball.
Detailed Description
The present invention will be further described in detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent.
An embodiment of a method of assessing out-of-registration compliance accuracy of a three-dimensional laser scanner:
a method for evaluating the out-of-registration coincidence precision of a three-dimensional laser scanner, comprising the following steps: scanning a scanning ball placed at a first target seat on a first station alignment reference ruler by a three-dimensional laser scanner to be assessed to obtain a first laser point cloud, scanning a scanning ball placed at a second target seat on a second station alignment reference ruler by the three-dimensional laser scanner to be assessed to obtain a second laser point cloud, registering and fitting the first laser point cloud and the second laser point cloud to obtain a first spherical center of the first target seat and a second spherical center of the second target seat, and calculating to obtain the space distance between the first spherical center and the second spherical center; evaluating the out-of-registration coincidence precision of the three-dimensional laser scanner to be evaluated by comparing the space distance with the calibration length; the calibration length is the distance between the center of the first target holder and the center of the second target holder.
The distance between the center of the first target seat and the center of the second target seat is obtained by calibrating a reference ruler provided with the first target seat and the second target seat by laser of the three-dimensional laser scanner to be evaluated.
As shown in fig. 1, a first target holder 10 and a second target holder 11 for placing a scan ball 2 are respectively provided at two ends of a reference ruler 1, the first target holder 10 and the second target holder 11 are hemispherical inner recesses, and the outer surface of the scan ball 2 is respectively attached to the hemispherical first target holder and hemispherical second target holder.
The first target seat and the second target seat are respectively arranged at two ends of the reference ruler, the roundness error of the scanning ball approaches to 0, the spherical center coordinates of the scanning ball can be conveniently fitted and calculated with high precision, and a reliable basis is provided for evaluating the out-of-registration coincidence precision of the three-dimensional laser scanner to be evaluated; the outer surface of the scanning ball is a matte surface, and when the scanning ball is scanned, laser reflected by the matte outer surface of the scanning ball can carry azimuth and distance information to return, so that a reliable basis is provided for evaluating the out-of-registration coincidence precision of the three-dimensional laser scanner to be evaluated. The first laser point cloud and the second laser point cloud both contain three-dimensional coordinate information of the scanned object and laser reflection intensity.
An embodiment of an apparatus for assessing out-of-registration compliance accuracy of a three-dimensional laser scanner:
the device for evaluating the registration external coincidence precision of the three-dimensional laser scanner comprises a reference ruler 1 and at least one scanning ball 2, wherein a first target seat 10 and a second target seat 11 for placing the scanning ball 2 are respectively arranged at two ends of the reference ruler 1, the first target seat 10 and the second target seat 11 are inner concave seats of hemispherical surfaces, and the outer surface of the scanning ball 2 is respectively in fit with the first target seat of the hemispherical surface and the second target seat of the hemispherical surface. When the scanning ball 2 is respectively placed on the first target seat 10 and the second target seat 11, laser point clouds of the scanning ball 2 are respectively obtained through a three-dimensional laser scanner to be evaluated, and the evaluation of the out-of-registration coincidence precision of the three-dimensional laser scanner is completed by comparing the distance between the ball centers of the scanning ball 2 after the registration fitting of the laser point clouds twice with the actual distance between the center of the first target seat 10 and the center of the second target seat 11.
The roundness error of the scanning ball 2 approaches to 0, so that the spherical center coordinate of the scanning ball can be conveniently fitted and calculated with high precision, and a reliable basis is provided for evaluating the out-of-registration coincidence precision of the three-dimensional laser scanner to be evaluated; the outer surface of the scanning ball is a matte surface, and when the scanning ball is scanned, laser reflected by the matte outer surface of the scanning ball can carry azimuth and distance information to return, so that a reliable basis is provided for evaluating the out-of-registration coincidence precision of the three-dimensional laser scanner to be evaluated.
Claims (10)
1. A method for evaluating the out-of-registration coincidence precision of a three-dimensional laser scanner is characterized in that a scanning ball placed at a first target seat on a first measuring station alignment reference ruler is scanned by the three-dimensional laser scanner to obtain a first laser point cloud, a second laser point cloud is scanned at a second measuring station on a second target seat on the reference ruler by the three-dimensional laser scanner to obtain a second laser point cloud, the first laser point cloud and the second laser point cloud are subjected to registration fitting to obtain a first spherical center of the first target seat and a second spherical center of the second target seat, and the space distance between the first spherical center and the second spherical center is calculated; evaluating the out-of-registration coincidence precision of the three-dimensional laser scanner to be evaluated by comparing the spatial distance with a calibration length; the calibration length is the distance between the center of the first target holder and the center of the second target holder.
2. The method for evaluating the out-of-registration compliance accuracy of a three-dimensional laser scanner according to claim 1, wherein the distance between the center of the first target holder and the center of the second target holder is obtained by calibrating a reference ruler provided with the first target holder and the second target holder by laser of the three-dimensional laser scanner to be evaluated.
3. The method of claim 1, wherein the first target holder and the second target holder are inner recesses formed on a reference scale, and the center of the scan ball and the center of the corresponding inner recess are distributed on the same vertical line perpendicular to the reference scale when the scan ball is placed in the inner recess.
4. A method of assessing the accuracy of out-of-registration compliance of a three-dimensional laser scanner according to claim 3 wherein the centre of the scan ball coincides with the centre of a corresponding inner recess, the inner recess being a hemispherical surface in engagement with the outer surface of the scan ball.
5. The method for evaluating out-of-registration compliance accuracy of a three-dimensional laser scanner according to any one of claims 1 to 4, wherein a roundness error of the scan sphere approaches 0, an outer surface of the scan sphere is a matte surface, and the first target holder and the second target holder are respectively disposed at both ends of a reference ruler.
6. The device for evaluating the out-of-registration coincidence precision of the three-dimensional laser scanner is characterized by comprising a reference ruler and at least one scanning ball, wherein a first target seat and a second target seat for placing the scanning ball are respectively arranged on the reference ruler.
7. The device for evaluating the out-of-registration compliance precision of a three-dimensional laser scanner according to claim 6, wherein when the scanning balls are respectively placed on the first target seat and the second target seat, laser point clouds of the scanning balls are respectively obtained through the three-dimensional laser scanner to be evaluated, and the out-of-registration compliance precision of the three-dimensional laser scanner is evaluated by comparing the distance between the ball centers of the scanning balls after the two laser point cloud registration fitting with the actual distance between the center of the first target seat and the center of the second target seat.
8. The apparatus for assessing the accuracy of registration outer compliance of a three-dimensional laser scanner of claim 6, wherein said first and second targets are inner recesses formed in a reference scale, and wherein the center of said scan ball is disposed on the same vertical line perpendicular to the reference scale as the center of the corresponding inner recess when said scan ball is disposed in the inner recess.
9. The apparatus for assessing the accuracy of a three-dimensional laser scanner's out-of-registration compliance of claim 8, wherein the center of the scan ball coincides with the center of a corresponding inner recess, the inner recess being a hemispherical surface that conforms to the outer surface of the scan ball.
10. The apparatus for evaluating out-of-registration compliance accuracy of a three-dimensional laser scanner according to any one of claims 6 to 9, wherein a roundness error of said scan sphere approaches 0, an outer surface of said scan sphere is a matt surface, and said first target holder and said second target holder are respectively disposed at both ends of a reference ruler.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310683728.8A CN116907338A (en) | 2023-06-09 | 2023-06-09 | Method and device for evaluating out-of-registration coincidence precision of three-dimensional laser scanner |
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| CN202310683728.8A CN116907338A (en) | 2023-06-09 | 2023-06-09 | Method and device for evaluating out-of-registration coincidence precision of three-dimensional laser scanner |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117906499A (en) * | 2024-03-15 | 2024-04-19 | 江苏省计量科学研究院(江苏省能源计量数据中心) | Optical three-dimensional scanner calibration system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117906499A (en) * | 2024-03-15 | 2024-04-19 | 江苏省计量科学研究院(江苏省能源计量数据中心) | Optical three-dimensional scanner calibration system and method |
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