CN203126621U - Vehicular three-dimensional laser and panorama image measuring system - Google Patents
Vehicular three-dimensional laser and panorama image measuring system Download PDFInfo
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- CN203126621U CN203126621U CN 201320116036 CN201320116036U CN203126621U CN 203126621 U CN203126621 U CN 203126621U CN 201320116036 CN201320116036 CN 201320116036 CN 201320116036 U CN201320116036 U CN 201320116036U CN 203126621 U CN203126621 U CN 203126621U
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Abstract
The utility model relates to the field of geographic information surveying and mapping, in particular to urban space information acquiring and processing equipment. The urban space information acquiring and processing equipment comprises a carrier platform, a sensing system, a control system, a computer system, a power supply system, a cabinet and an automobile, wherein the carrier platform is fixedly mounted on the roof of the automobile, the sensing system is fixedly mounted on the carrier platform, the cabinet is fixedly mounted in a trunk of the automobile, the control system, the computer system and the power supply system are fixedly mounted in the cabinet, the sensing system, the control system and the computer system are respectively connected one by one via signal lines, and the power supply system supplies power to the sensing system, the control system and the computer system. Technical monopoly and cost monopoly on vehicular laser scanning integration from foreign manufactures are broken, localization of vehicular systems is realized, and a brand new efficient technical means is provided for quick acquisition of large-range urban scene texture information.
Description
Technical field
The utility model relates to the geography information survey field, relates in particular to the information acquisition of a kind of city space, handles equipment.
Background technology
Development along with Information technology, information techenology, space technology have become the propulsive effort that urban development is changed, countries in the world are placed on more and more important position with the city space construction of information resources one after another, and be devoted to carry out information city construction such as " digital citys ", therefore the urban geography spatial information obtain fast, upgrade and intelligent the processing is the research focus of current fields of measurement, also be that " digital city " builds the major issue that needs to be resolved hurrily.
Through the years of researches development, the no controlling point photogrammetric technology integrated based on GPS technology, inertial navigation technology and ccd sensor obtained important breakthrough.But there are not prominent questions such as the controlling point photogrammetricly exists still that accuracy of positioning is not high, identical point density is not enough, topographic inequality larger area deformation of image is bigger; Simultaneously, because the city is with a varied topography, site coverage is big, survey precision requires height, thereby causes the urban ground measurement technique not to be substituted.And a series of advanced ground survey instruments such as total powerstation, image total powerstation, robot measurement in the open air work pattern still exist the technical matters of long-term puzzlement ground surveys such as duplicate measurements, inefficiency, labour intensity are big.Therefore, noncontact measurement and high efficiency are measured must become the important means that city space information is obtained, and massive spatial data fast, high precision, intelligent processing must become the key problem of urban survey field of research.
Reconstruction need the spatial information obtaining means be as support efficiently for city three-dimensional measurement and view, and urban architecture density is big, the terrain complexity, and the task of obtaining the city three-dimensional spatial information is very arduous.If adopt photographic camera to carry out data acquisition fully, can only finish the reconstruction of concept and abstract model.And adopt the ground laser radar technology to carry out the information acquisition of city space entity, and can obtain the three-dimensional spatial information of superhigh precision, improve three-dimensional modeling efficient, realize intending the three-dimensional reconstruction of true and authentic model.Utilize full-view image can obtain abundant scene texture, and further obtain segment space information by technological means.Therefore full-view image and ground laser radar technology are in depth studied by system, make up vehicle-mounted three-dimensional laser and full-view image and measure integrated system, develop management and the data processing software of vehicle-mounted some cloud and full-view image, for thorough solution city duplicate measurements, greatly improve urban survey efficient, realize that city three-dimensional measurement and reconstruction etc. are all significant fast.
The utility model content
On the basis of in-depth study panorama camera and ground three-dimensional laser radar scanning imagery measurement mechanism, the problem that faces at present urban survey, building engineering final acceptance of construction, digital city construction etc., the utility model discloses a kind of vehicle-mounted three-dimensional laser and full-view image measuring system, realize quick three-dimensional reconstructing and the high precision three-dimensional measurement of scene; Adopt the quiet laser scanning measurement mode that dynamically combines simultaneously, realize city landform and building completion high-acruracy survey.
The technical scheme that its technical matters that solves the utility model adopts is: a kind of vehicle-mounted three-dimensional laser and full-view image measuring system comprise: carrier platform, sensor-based system, control system, computer system, power-supply system, rack and automobile; Described carrier platform is fixedly mounted on described car roof, described sensor-based system is fixedly mounted on the described carrier platform, described rack is fixedly mounted in the described automobile trunk, and described control system, computer system, power-supply system are fixedly mounted in the described rack; Described sensor-based system, control system and computer system link to each other one by one by signal wire (SW) respectively; Described power-supply system is respectively described sensor-based system, control system, computer system power supply.
As preferably, described sensor-based system comprises first sensor, second sensor, panorama camera, Inertial Measurement Unit, a GPS, the 2nd GPS, coder and vehicle-mounted measuring system; Described power-supply system is respectively described first sensor, second sensor, panorama camera, Inertial Measurement Unit, the power supply of vehicle-mounted measuring system; Described Inertial Measurement Unit, a GPS, the 2nd GPS are connected with described vehicle-mounted measuring system by signal wire (SW); Described first sensor, second sensor, panorama camera, coder and vehicle-mounted measuring system are connected with described control system by signal wire (SW); Described first sensor, second sensor, panorama camera, vehicle-mounted measuring system are connected with described computer system by lead.
As preferably, described control system comprises synchronous controller, and described power-supply system directly is described synchronous controller power supply.
As preferably, described computer system comprises a PC, the 2nd PC, the 3rd PC, the 4th PC, video switcher, telltale; Described power-supply system is respectively a described PC, the 2nd PC, the 3rd PC, the 4th PC, video switcher, monitor power supply; Described video switcher is connected with a described PC, the 2nd PC, the 3rd PC, the 4th PC respectively by signal wire (SW) one end, and the other end is connected with described telltale; A described PC links to each other with described vehicle-mounted measuring system by signal wire (SW), described the 2nd PC links to each other with described first sensor, the vehicle-mounted measuring system of second sensor respectively by signal wire (SW), described the 3rd PC links to each other with described panorama camera by signal wire (SW), and described the 4th PC links to each other with described panorama camera by signal wire (SW).
As preferably, described power-supply system comprises inverter, battery socket, electric control box, and described inverter, battery socket, electric control box are connected in series in proper order; Described inverter is described monitor power supply, and described electric control box is respectively described sensor-based system, control system and a PC, the 2nd PC, the 3rd PC, the 4th PC power supply.
As preferably, described automobile also comprises automobile luggage racks, described carrier platform is by being connected and fixed the roof that is installed in described automobile with described automobile luggage racks, and damping means has been installed in described carrier platform bottom, has reduced the influence of vibrations to roof equipment.
As preferably, described coder is installed in the wheel of described automobile rear one side, can gather accurate automobile moving distance information, this sensor information is information integrated through synchronous controller and GPS information, inertial navigation, draws accurate automobile position attitude information.
As preferably, described automobile also comprises the copilot platform, and described telltale is installed on the described copilot platform, and operating personal can be checked system running state by telltale at this, controls each equipment to gather operation.
As preferably, described carrier platform is built by aluminium alloy extrusions, and firm stable and be convenient to expansion can install other samplers such as laser scanner, line-scan digital camera, video camera easily additional.
As preferably, described inverter is described monitor power supply by the 220V power lead, described electric control box is respectively described sensor-based system, control system power supply by direct current supply line, and described electric control box is a PC, the 2nd PC, the 3rd PC, the 4th PC power supply by the 220V power lead.
Compared with prior art, the vehicle-mounted three-dimensional laser of the utility model and full-view image measuring system have following beneficial effect:
1. based on the multi-source multi-mode city space information integral technical solution of laser-scan and fine resolution panoramic imagery.System has broken foreign vendor to vehicle-mounted laser-scan integrated technical monopoly and price fixing, realizes the production domesticization of onboard system;
2. the fine resolution omnidirectional imaging system with independent intellectual property right that novelty and practicality combine.There are problems such as angle of field is little, the blind area is many at single general camera, this project is developed a high intelligent imaging system that can realize that 360 ° of panoramic seamless are taken, this system adopts a plurality of high resolution industrial camera set to help the monitor network at visual angle, and the image of uses advanced is handled and the intelligent connecting algorithm is finished 360 ° of panoramas demonstrations, thereby the technological means of new high efficiency is provided for the city quick collection of scene texture information on a large scale;
3. the high-precision calibrating technology of vehicle-mounted three-dimensional laser and full-view image intelligent measuring systems.Research and develop the onboard system calibration software with independent intellectual property right, determined the position of every instrument and equipment in self-defined system of axes, absolute coordinate system and mutual relation, thus the high precision absolute calibration who realizes vehicle-mounted laser scanning system;
4. the high precision different source data integration technology of integrated laser point cloud and full-view image.Utilize the POS(position and attitude) relative tertiary location relation between data and each sensor sets up the corresponding relation between some cloud and individual CCD images, then according to the mapping relations between full-view image and individual CCD images, thereby realize the high registration accuracy of vehicle-mounted laser point cloud and full-view image.
Description of drawings
Fig. 1: vehicle-mounted three-dimensional laser of the present utility model and full-view image measuring system are electrically connected scheme drawing.
Fig. 2: the integral frame scheme drawing of vehicle-mounted three-dimensional laser of the present utility model and full-view image measuring system.
Fig. 3: vehicle-mounted three-dimensional laser of the present utility model and full-view image measuring system left view.
Fig. 4: the Principle of Synchronic Control figure of vehicle-mounted three-dimensional laser of the present utility model and full-view image measuring system.
The specific embodiment
Below in conjunction with further describing the technical program with reference to the accompanying drawings, the example of described embodiment is shown in the drawings, wherein identical or similar label is represented identical or similar elements or the element with identical or similar functions from start to finish, only be used for explaining the utility model but should describe, and can not be interpreted as restriction of the present utility model.
Ask for an interview Fig. 1, a kind of vehicle-mounted three-dimensional laser of the present utility model and full-view image measuring system comprise: carrier platform 1, sensor-based system 2, control system 3, computer system 4, power-supply system 5, rack 6 and automobile 7; Carrier platform 1 is fixedly mounted on automobile 7 roofs, and sensor-based system 2 is fixedly mounted on the carrier platform 1, and rack 6 is fixedly mounted in automobile 7 boots, and control system 3, computer system 4, power-supply system 5 are fixedly mounted in the rack 6; Sensor-based system 2, control system 3 and computer system 4 link to each other one by one by signal wire (SW) respectively; Power-supply system 5 is respectively sensor-based system 2, control system 3, computer system 4 power supplies.Sensor-based system 2 comprises first sensor 21, second sensor 22, panorama camera 23, Inertial Measurement Unit 24, a GPS25, the 2nd GPS26, coder 27 and vehicle-mounted measuring system 28; Power-supply system 5 is respectively first sensor 21, second sensor 22, panorama camera 23, Inertial Measurement Unit 24,28 power supplies of vehicle-mounted measuring system; Inertial Measurement Unit 24, a GPS25, the 2nd GPS26 are connected with vehicle-mounted measuring system 28 by signal wire (SW); First sensor 21, second sensor 22, panorama camera 23, coder 27 and vehicle-mounted measuring system 28 are connected with control system 3 by signal wire (SW); First sensor 21, second sensor 22, panorama camera 23, vehicle-mounted measuring system 28 are connected with computer system 4 by lead.Control system 3 comprises synchronous controller 31, and power-supply system 5 directly is synchronous controller 31 power supplies.Computer system 4 comprises a PC41, the 2nd PC42, the 3rd PC43, the 4th PC44, video switcher 45, telltale 46; Power-supply system 5 is respectively a PC41, the 2nd PC42, the 3rd PC43, the 4th PC44, video switcher 45, telltale 46 power supplies; Video switcher 45 is connected with a PC41, the 2nd PC42, the 3rd PC43, the 4th PC44 respectively by signal wire (SW) one end, and the other end is connected with telltale 46; The one PC41 links to each other with vehicle-mounted measuring system 28 by signal wire (SW), the 2nd PC42 links to each other with first sensor 21, second sensor, 22 vehicle-mounted measuring systems 28 respectively by signal wire (SW), the 3rd PC43 links to each other with panorama camera 23 by signal wire (SW), and the 4th PC44 links to each other with panorama camera 23 by signal wire (SW).Power-supply system 5 comprises inverter 51, battery socket 52, electric control box 53, and inverter 51, battery socket 52, electric control box 53 orders are connected in series; Inverter 51 is telltale 46 power supplies, and electric control box 53 is respectively sensor-based system 2, control system 3 and a PC41, the 2nd PC42, the 3rd PC43, the 4th PC44 power supply.
Automobile 7 also comprises automobile luggage racks 71, and carrier platform 1 is by being connected and fixed the roof that is installed in automobile 7 with automobile luggage racks 71, and damping means has been installed in carrier platform 1 bottom, has reduced the influence of vibrations to roof equipment.Coder 27 is installed in the wheel of automobile 7 rears one side.Automobile 7 also comprises copilot platform 72, and telltale 46 is installed on the copilot platform 72.
Carrier platform 1 is built by aluminium alloy extrusions.
The laser scanner of the integrated two kinds of different models of vehicle-mounted 3 D stereoscopic image acquisition system: the first laser scanner 2(LMS-Q120i) and the second laser scanner 22(VZ-400), first laser scanner, 21 models are LMS-Q120i, and second laser scanner, 22 models are VZ-400.One of placement or two RIEGL VZ-400 scanners wherein can be installed as required at 4 angles, be used for obtaining the object point cloud information of vehicle both sides; RIEGL LMS-Q120i scanner is installed in the rear portion of car body, then is mainly used in obtaining face of land millet cake cloud, thereby realizes obtaining of three-dimensional spatial information and reflection strength information under the comprehensive scene.
The full-view image acquisition system comprises panorama camera 23, and panorama camera 23 is made of 8 CCD cameras, and each ccd sensor size is 2454 * 2056, and pixel size is 3.45um, and its maximum frame number can reach 17fps.
Vehicle-mounted measuring system 28 adopts the SPAN-SE/FSAS inertial navigation system.Its precision parameter is: DGPS-1.0m; RTK-0.10m, pitching-0.01 °; Roll-0.01 °; Go off course-0.03 °.
System is directly powered by automotive engine, after inverter 51 inversions, for electric control box provides 220V alternating current, electric cabinet is finished the power supply of total system allotment and control, is included as a PC41, the 2nd PC42, the 3rd PC43, the 4th PC44, vehicle-mounted measuring system 28, synchronous controller 31, telltale 46 and first sensor 21, second sensor 22, panorama camera 23, Inertial Measurement Unit (IMU) 24, a GPS25, the 2nd GPS26, coder 27 is powered.
Inverter 51 connects automobile power source, provides the 220V alternating current to telltale 46 and electric control box 53; Electric control box 53 provides the 220V alternating current to a PC41, the 2nd PC42, the 3rd PC43, the 4th PC44, provide the 24V direct current (DC) to first sensor 21, second sensor 22, panorama camera 23, vehicle-mounted measuring system 28, provide the 12V direct current (DC) to panorama camera 23, synchronous controller 31.
Decide the precision of appearance for the raising system, system adopts GPS/IMU (inertial navigation unit)/ODO (miles counter) integrated positioning to decide appearance, by synchrodata and synchronizing signal that GPS/IMU/ODO integrated positioning attitude determination system provides, the space-time of finishing system is synchronous; In the system, adopt many computing machines to take to locate appearance data, laser scanning data and full-view image data respectively, guarantee data transmission rate and data storage efficiency.
Wherein, a GPS, the 2nd GPS provide gps signal to SPAN-SE, and SPAN-SE provides time signal to synchronous controller, and synchronous controller provides synchronizing signal to a PC, the 2nd PC, the 3rd PC, the 4th PC, LMS120i, VZ400, CCD; LMS120i, VZ400 provide the original laser cloud data to the 2nd PC, IMU provides the inertial navigation data to SPAN-SE, coder provides the wheel pulse signal to SPAN-SE by synchronous controller, and SPAN-SE provides data after gps data, inertial navigation data, encoder data merge to a PC, the 2nd PC;
The CCD camera provides raw image data to the 3rd PC, the 4th PC.
Ask for an interview Fig. 2, Fig. 3, entire system is set up in easily inside and outside the auto body.System organically combines with automobile, takes full advantage of the interior or exterior space of automobile on the basis of not destroying the original framework of automobile.Automobile can utilize each sensing equipment to gather operation in the process of moving.Wherein, the side laser scanner is installed as required and is placed on any angle, four angles, when carrying out road survey, need open twice along road; The side laser scanner is installed two angles being placed on front or back, and vehicle only need leave a scan edge through in the measured zone.Cable between rack equipment and the roof equipment is connected by the vehicle window cable hole.
The roof platform is integrated laser scanning data acquisition system, full-view image acquisition system, inertial navigation system and gps antenna.The roof platform is built by aluminium alloy extrusions, firm stable and be convenient to the expansion, as installing other samplers such as laser scanner, line-scan digital camera, video camera easily additional.Carrier platform has been installed damping means by being connected and fixed the roof carrier platform bottom that is installed in automobile with automobile luggage racks, has reduced the influence of vibrations to roof equipment.Coder is installed in the wheel of automobile rear one side, can gather accurate automobile moving distance information, and this sensor information is information integrated through synchronous controller and GPS information, inertial navigation, draws accurate automobile position attitude information.Telltale is installed on the automobile copilot platform, and operating personal can be checked system running state by telltale at this, controls each equipment to gather operation.
Ask for an interview Fig. 4, system adopts computer clock and GPS as time reference, carries out synchronously by motion and the attitude of synchronous control system 3 assurance all the sensors and platform.When vehicle at the uniform velocity travels with certain speed, GPS and IMU observe and record position and the attitude data of each sensor simultaneously, by Kalman filtering position and attitude data are merged to determine the orientation of whole onboard system then, laser scanner and panorama camera begin scanning with certain sampling frequency and take pictures simultaneously, all the sensors all is controlled by carried-on-vehicle computer system 4, and realizes the synchronous collection of data by synchronous control system 3 trigging pulses.
Compared with prior art, the vehicle-mounted three-dimensional laser of the utility model and full-view image measuring system have following beneficial effect:
1. based on the multi-source multi-mode city space information integral technical solution of laser-scan and fine resolution panoramic imagery.System has broken foreign vendor to vehicle-mounted laser-scan integrated technical monopoly and price fixing, realizes the production domesticization of onboard system;
2. the fine resolution omnidirectional imaging system with independent intellectual property right that novelty and practicality combine.There are problems such as angle of field is little, the blind area is many at single general camera, this project is developed a high intelligent imaging system that can realize that 360 ° of panoramic seamless are taken, this system adopts a plurality of high resolution industrial camera set to help the monitor network at visual angle, and the image of uses advanced is handled and the intelligent connecting algorithm is finished 360 ° of panoramas demonstrations, thereby the technological means of new high efficiency is provided for the city quick collection of scene texture information on a large scale;
3. the high-precision calibrating technology of vehicle-mounted three-dimensional laser and full-view image intelligent measuring systems.Research and develop the onboard system calibration software with independent intellectual property right, determined the position of every instrument and equipment in self-defined system of axes, absolute coordinate system and mutual relation, thus the high precision absolute calibration who realizes vehicle-mounted laser scanning system;
4. the high precision different source data integration technology of integrated laser point cloud and full-view image.Utilize the relative tertiary location between POS data and each sensor to concern the corresponding relation of setting up between some cloud and individual CCD images, then according to the mapping relations between full-view image and individual CCD images, thereby realize the high registration accuracy of vehicle-mounted laser point cloud and full-view image.
It below only is preferred embodiment of the present utility model; be not for limiting protection domain of the present utility model; therefore, all any modifications of within spirit of the present utility model and principle, doing, be equal to replacement, improvement etc., all should be included within the protection domain of the present utility model.
Claims (10)
1. a vehicle-mounted three-dimensional laser and full-view image measuring system comprise: carrier platform (1), sensor-based system (2), control system (3), computer system (4), power-supply system (5), rack (6) and automobile (7); Described carrier platform (1) is fixedly mounted on described automobile (7) roof, described sensor-based system (2) is fixedly mounted on the described carrier platform (1), described rack (6) is fixedly mounted in described automobile (7) boot, and described control system (3), computer system (4), power-supply system (5) are fixedly mounted in the described rack (6); Described sensor-based system (2), control system (3) and computer system (4) link to each other one by one by signal wire (SW) respectively; Described power-supply system (5) is respectively described sensor-based system (2), control system (3), computer system (4) power supply.
2. vehicle-mounted three-dimensional laser according to claim 1 and full-view image measuring system, it is characterized in that: described sensor-based system (2) comprises first sensor (21), second sensor (22), panorama camera (23), Inertial Measurement Unit (24), a GPS(25), the 2nd GPS(26), coder (27) and vehicle-mounted measuring system (28); Described power-supply system (5) is respectively described first sensor (21), second sensor (22), panorama camera (23), Inertial Measurement Unit (24), vehicle-mounted measuring system (28) power supply; Described Inertial Measurement Unit (24), a GPS(25), the 2nd GPS(26) be connected with described vehicle-mounted measuring system (28) by signal wire (SW); Described first sensor (21), second sensor (22), panorama camera (23), coder (27) and vehicle-mounted measuring system (28) are connected with described control system (3) by signal wire (SW); Described first sensor (21), second sensor (22), panorama camera (23), vehicle-mounted measuring system (28) are connected with described computer system (4) by lead.
3. vehicle-mounted three-dimensional laser according to claim 1 and full-view image measuring system, it is characterized in that: described control system (3) comprises synchronous controller (31), described power-supply system (5) directly is described synchronous controller (31) power supply.
4. vehicle-mounted three-dimensional laser according to claim 2 and full-view image measuring system, it is characterized in that: described computer system (4) comprises a PC(41), the 2nd PC(42), the 3rd PC(43), the 4th PC(44), video switcher (45), telltale (46); Described power-supply system (5) is respectively a described PC(41), the 2nd PC(42), the 3rd PC(43), the 4th PC(44), the power supply of video switcher (45), telltale (46); Described video switcher (45) by signal wire (SW) one end respectively with a described PC(41), the 2nd PC(42), the 3rd PC(43), the 4th PC(44) be connected, the other end is connected with described telltale (46); A described PC(41) links to each other with described vehicle-mounted measuring system (28) by signal wire (SW), described the 2nd PC(42) links to each other with described first sensor (21), the vehicle-mounted measuring system of second sensor (22) (28) respectively by signal wire (SW), described the 3rd PC(43) link to each other described the 4th PC(44 with described panorama camera (23) by signal wire (SW)) link to each other with described panorama camera (23) by signal wire (SW).
5. vehicle-mounted three-dimensional laser according to claim 4 and full-view image measuring system, it is characterized in that: described power-supply system (5) comprises inverter (51), battery socket (52), electric control box (53), and described inverter (51), battery socket (52), electric control box (53) order are connected in series; Described inverter (51) is described telltale (46) power supply, and described electric control box (53) is respectively described sensor-based system (2), control system (3) and a PC(41), the 2nd PC(42), the 3rd PC(43), the 4th PC(44) power supply.
6. vehicle-mounted three-dimensional laser according to claim 1 and full-view image measuring system, it is characterized in that: described automobile (7) also comprises automobile luggage racks (71), described carrier platform (1) is by being connected and fixed the roof that is installed in described automobile (7) with described automobile luggage racks (71), damping means has been installed in described carrier platform (1) bottom, has reduced the influence of vibrations to roof equipment.
7. vehicle-mounted three-dimensional laser according to claim 2 and full-view image measuring system, it is characterized in that: described coder (27) is installed in the wheel of described automobile (7) rear one side.
8. vehicle-mounted three-dimensional laser according to claim 4 and full-view image measuring system, it is characterized in that: described automobile (7) also comprises copilot platform (72), described telltale (46) is installed on the described copilot platform (72).
9. vehicle-mounted three-dimensional laser according to claim 1 and full-view image measuring system, it is characterized in that: described carrier platform (1) is built by aluminium alloy extrusions.
10. vehicle-mounted three-dimensional laser according to claim 5 and full-view image measuring system, it is characterized in that: described inverter (51) is described telltale (46) power supply by the 220V power lead, described electric control box (53) is respectively the power supply of described sensor-based system (2), control system (3) by direct current supply line, and described electric control box (53) is a PC(41 by the 220V power lead), the 2nd PC(42), the 3rd PC(43), the 4th PC(44) power supply.
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| CN104535070A (en) * | 2014-12-26 | 2015-04-22 | 上海交通大学 | High-precision map data structure, high-precision map data acquiringand processing system and high-precision map data acquiringand processingmethod |
| CN104536255A (en) * | 2015-01-07 | 2015-04-22 | 纵横皆景（武汉）信息技术有限公司 | Backpack style panoramic picture capturing device |
| CN104748727A (en) * | 2013-12-31 | 2015-07-01 | 中国科学院沈阳自动化研究所 | Array type high-speed visual odometer and realization method thereof |
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| CN108919238A (en) * | 2018-07-18 | 2018-11-30 | 浙江大学 | A kind of bearing calibration of rotary laser radar data and system based on Inertial Measurement Unit |
| CN109188458A (en) * | 2018-07-25 | 2019-01-11 | 武汉中海庭数据技术有限公司 | A kind of traverse measurement system based on double laser radar sensor |
| CN111145267A (en) * | 2019-12-25 | 2020-05-12 | 重庆自行者科技有限公司 | IMU (inertial measurement unit) assistance-based 360-degree panoramic view multi-camera calibration method |
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| CN104748727A (en) * | 2013-12-31 | 2015-07-01 | 中国科学院沈阳自动化研究所 | Array type high-speed visual odometer and realization method thereof |
| CN104748727B (en) * | 2013-12-31 | 2017-02-15 | 中国科学院沈阳自动化研究所 | Array type high-speed visual odometer and realization method thereof |
| WO2015187435A3 (en) * | 2014-06-06 | 2016-03-17 | Faro Technologies, Inc. | Metrology instrument system and method of operating |
| CN104535070A (en) * | 2014-12-26 | 2015-04-22 | 上海交通大学 | High-precision map data structure, high-precision map data acquiringand processing system and high-precision map data acquiringand processingmethod |
| CN104536255A (en) * | 2015-01-07 | 2015-04-22 | 纵横皆景（武汉）信息技术有限公司 | Backpack style panoramic picture capturing device |
| CN108919238A (en) * | 2018-07-18 | 2018-11-30 | 浙江大学 | A kind of bearing calibration of rotary laser radar data and system based on Inertial Measurement Unit |
| CN108919238B (en) * | 2018-07-18 | 2023-10-27 | 浙江大学 | Inertial measurement unit-based rotary laser radar data correction method and system |
| CN109188458A (en) * | 2018-07-25 | 2019-01-11 | 武汉中海庭数据技术有限公司 | A kind of traverse measurement system based on double laser radar sensor |
| CN111145267A (en) * | 2019-12-25 | 2020-05-12 | 重庆自行者科技有限公司 | IMU (inertial measurement unit) assistance-based 360-degree panoramic view multi-camera calibration method |
| CN111145267B (en) * | 2019-12-25 | 2023-09-05 | 重庆自行者科技有限公司 | 360-degree panoramic view multi-camera calibration method based on IMU assistance |
| CN111537016A (en) * | 2020-05-21 | 2020-08-14 | 哈尔滨市科佳通用机电股份有限公司 | Rail vehicle bottom detection equipment |
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