KR101409802B1 - System for analysis space information using three dimensions 3d scanner - Google Patents

Abstract

The present invention relates to an optimal space information analysis system utilizing a three-dimensional scanner and, more specifically, to an optimal space information analysis system utilizing a three-dimensional scanner, capable of mapping color image information obtained by an area scan camera without a line scan camera and a coordinate value scanned by a three-dimensional laser scanner, and modeling the mapped coordinate value.

Description

TECHNICAL FIELD [0001] The present invention relates to a spatial information analysis system using a 3D scanner,

The present invention relates to an optimal spatial information analysis system utilizing a 3D 3D scanner, and more particularly, to a spatial information analysis system using a three-dimensional 3D scanner, The present invention relates to an optimal spatial information analysis system using a three-dimensional (3D) scanner capable of mapping coordinate values scanned by a laser scanner into three-dimensional images.

In general, geographical surveying in Korea is performed by using a dual location information system, since only the planar position (X, Y) is surveyed and the height of the land is not managed.

In order to carry out topographic survey, many topographical reference points are installed and managed for the whole country to the whole city and the country. However, the results are reported only in the flat position excluding the elevation information. It is not utilized in the field.

On the other hand, image-based photogrammetry technology is a technique for finding out what coordinate values are represented on a three-dimensional space of x, y, z on a two-dimensional image. The basic principle is based on the principle of triangulation that two or more photographs with different shooting angles are made into a conjugate image which is an image with all the parallaxes canceled and a conjugate point representing the same point in the two conjugate images is imaged It is found through matching.

Here, image matching refers to a process of finding a point, a line, a plane, or an object on a duplicated photographed image. When these matching objects are found, their image (image) Coordinates of the x, y, and z in the three-dimensional space can be calculated by using the coordinates of the coordinates and the external facial expression elements.

The 3D coordinate values obtained through the image matching process can be converted to the latitude, longitude and altitude of the real world. Such photogrammetry techniques have been used to produce a precise digital map from a camera mounted on an aircraft or the like.

GPS / INS is a device that combines GPS to determine position using satellite, INS equipment including inertial measurement device which detects angular velocity motion and acceleration motion, and navigation calculator, and it has various error, quantization error and cumulative error Is corrected through GPS. Therefore, this equipment provides the absolute latitude, longitude, and altitude position and attitude information of the moving object equipped with the equipment.

Recently, a photogrammetric device is mounted on a ground moving object such as a vehicle in such a GPS / INS device, and a moving object is photographed by a photogrammetric device while the moving object is moving. A system has been developed to calculate the position and posture of a camera, which is a surveying instrument, and to find a conjugate point corresponding to the position of a specific object on the image of two or more images thus captured and to grasp the actual position of the object.

Surveying equipment for taking images of the ground by mobile bodies that can move on the ground can be used to collect accurate coordinate values of ground small facilities, such as manholes, fire hydrants, and telephone poles, which were difficult to obtain from existing aerial photographs, It is advantageous that it can be constructed simply without.

As a photogrammetric instrument mounted on such ground mobile objects, laser scanner equipment is widely used.

A laser scanner is a combination of a laser and a receiver that receives reflected waves. It transmits laser pulses and operates as a principle to measure the arrival time and intensity of a reflected wave. The arrival time is an object that reflects a laser pulse from a laser . Also, since the angle at which the laser is transmitted is known, the relative position of the laser scanner and the reflector can be calculated. This is added to the absolute coordinates obtained from the aforementioned GPS / INS equipment to obtain the absolute coordinates of the reflector. A scanner installed in a vehicle sends and receives a laser beam up and down quickly, acquires only two-dimensional distances and angles, but acquires an absolute coordinate value of a reflector on a three-dimensional space while being moved by a moving object.

As a conventional technique using such a laser scanner, Korean Patent Laid-Open Publication No. 2004-0035892 (Apr. 30, 2004) discloses "a space modeling apparatus for a moving vehicle having a laser scanner and a laser scanner control method for a moving vehicle" A method of matching a three-dimensional topography and an object model using a Shishi Dy line camera ", etc. is disclosed, however, since electrons generate a three-dimensional spatial image using only a line scanner, There is a disadvantage in that it is not possible to obtain an image but also to express a color or a pattern expressing the face of the building. The latter adopts a "CCD line camera" for obtaining a vertical line image, (Vertically scanned data) and texture mapping of image data can be easily handled, 1, an absolute coordinate value of the terrain acquired by the laser scanner is acquired, a three-dimensional shape model is extracted, and one-dimensional image information acquired by the camera is fitted to the start point and the end point of the three- And then texturing is performed on the three-dimensional shape model. However, according to the conventional art 2, since a corresponding image is projected based only on the position coordinates of the start point and the end point of the building line, not only a realistic image can not be obtained, but also, due to the characteristics of the line camera mounted on the vehicle, There is still a problem that needs to be compensated for by this wave-like problem.

As a conventional technique for improving such a problem, Korean Patent Registration No. 0800554 (Jan. 28, 2008) discloses a three-dimensional modeling method using a laser scanner and camera image information in a portable photogrammetric system.

However, according to the improved prior art patent registration No. 0800554 (2008.01.28.), A texture must be mapped to each point of a three-dimensional model generated by fusing image information and laser data information, and many There is a problem that requires labor and time.

Therefore, there is a need to develop a technique to reduce the manpower and time required to map a texture to a 3D model.

Korean Patent Publication No. 2004-0035892 (published Apr. 30, 2004) "Space Modeling Apparatus of Moving Vehicle with Laser Scanner and Laser Scanner Control Method of Moving Vehicle" Korean Patent Registration No. 0445428 ("Announcement of Texture Matching Method of 3D Terrain and Artifact Model Using Shishiride Line Camera") Korean Patent Registration No. 0800554 (2008.01.28.) "3D Modeling Method Using Laser Scanner and Camera Image Information in Mobile Photogrammetry System"

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems in the prior art, and has been made in order to solve the above problems, and it is an object of the present invention to provide a 3D image processing apparatus and a 3D image processing method, And a spatial information analysis system using the scanner.

In order to achieve the above object, the present invention provides a portable photogrammetric apparatus comprising at least one camera for photographing a two-dimensional image, a GPS / INS equipment, and two first and second laser scanners, The data acquisition center direction of the first laser scanner being in the same direction as the middle direction of the scanning angles of the first and second laser scanners; Obtaining the absolute coordinate values of the terrain and the object using the relative position values of the terrain and the object acquired by the laser scanner and the absolute coordinate values of the laser scanner obtained from the GPS / INS equipment while the portable photogrammetric apparatus is moving A second step of extracting a three-dimensional shape model; Dimensional image obtained by the camera during the movement of the portable photogrammetric system and stores the camera absolute coordinate value and the attitude value (viewing angle) of the shooting moment of each image in respective image information, step; Dimensional coordinate system of the laser scanner in the second step and the absolute coordinate values and attitude values of the laser scanner in the third step are converted into the same coordinate system, and the two-dimensional image obtained in the third step and the two- A fourth step of fusing the obtained three-dimensional shape model information and giving a three-dimensional absolute coordinate value to each point of the two-dimensional image; A fifth step of selecting a desired coordinate point from data fused by the fourth step or selecting a specific terrain from the two-dimensional image and designating the selected terrain as a single object for simplification of the object model; In implementing the spatial information analysis system using the 3D modeling method; Wherein the first and second laser scanners are clamped on the first and second rotating plates through first and second clamps, respectively, and the first and second rotating plates are respectively fixed to be rotatable on the moving equipment, The first and second rotary plates are formed with teeth on the outer circumferential surface in the radial direction. The first and second slide teeth are respectively engaged with the tooth formed on the outer circumferential surface of the first and second rotary plates, The first and second rods are respectively connected to the first and second direction switching cylinders, and the first and second direction switching cylinders are connected to the first And the first and second height adjusting cylinders are respectively connected to the first and second operating rods, and the first and second height adjusting cylinders are respectively connected to the first and second height adjusting cylinders, And the first and second legs are fixed to the lower end of the second operation rod so that the first and second legs can be drawn into and out of the mobile equipment, And a digital goniometer is further provided in the middle of the distance between the first and second height-adjusting cylinders. The 3D spatial scanner according to the present invention provides an optimal spatial information analysis system using the 3D 3D scanner do.

According to the present invention, in order to solve the problem that the image and the laser data are not integrated, the image and the laser data are fused together, and the position is defined at once and the image is mapped to minimize the post-processing have. This can save a lot of manpower and time that was previously required to map a 3D model and a texture to that model.

1 is an explanatory view showing a 3D modeling process using a laser scanner and camera image information according to the related art.
2 is an explanatory view showing a 3D modeling method using 3D laser scanner acquisition information and camera image information according to the present invention.
3 is a photograph showing a state in which a 3D laser scanner and a camera are mounted on a mobile surveying system.
FIGS. 4A and 4B are explanatory diagrams for explaining a method of fusing a two-dimensional image obtained from a camera and three-dimensional shape model information obtained from a 3D laser scanner to give a three-dimensional absolute coordinate value to each point of the two- .
FIGS. 5A and 5B illustrate a state in which two-dimensional image information photographed by a camera and three-dimensional shape model information are merged; FIG.
6 is an explanatory diagram for explaining a result of selecting a laser point in a three-dimensional space;
FIG. 7 is a diagram illustrating a selected laser point together with an image. FIG.
FIG. 8 is a view illustrating a state in which a three-dimensional point projected on an object on which a three-dimensional model is to be created is selected by dragging with a mouse.
FIG. 9 is an image obtained by extracting only the portion included in the selected point in FIG. 7; FIG.
FIG. 10 is an illustrative drawing in which the selected points are mapped directly to an image of the object surface and displayed as an object on the three-dimensional image (top).
Figure 11 is an exemplary illustration of various ways of mounting a 3D laser scanner and camera.
12A and 12B are explanatory diagrams showing a method of measuring a shadow area due to an obstacle using two 3D laser scanners.
Figure 13 is an exemplary diagram illustrating a further embodiment according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Before describing the present invention, the following specific structural or functional descriptions are merely illustrative for the purpose of describing an embodiment according to the concept of the present invention, and embodiments according to the concept of the present invention may be embodied in various forms, And should not be construed as limited to the embodiments described herein.

In addition, since the embodiments according to the concept of the present invention can make various changes and have various forms, specific embodiments are illustrated in the drawings and described in detail herein. However, it should be understood that the embodiments according to the concept of the present invention are not intended to limit the present invention to specific modes of operation, but include all modifications, equivalents and alternatives falling within the spirit and scope of the present invention.

The present invention uses the above-mentioned prior-art patent No. 0800554 as it is. Therefore, all of the features of the apparatus described below are those described in Patent No. 0800554.

However, the present invention is characterized in that the additional embodiment portion in which the specific configuration is partially improved in order to achieve the object of the constitution disclosed in the above-mentioned Japanese Patent No. 0800554 is the most essential constitutional feature.

Therefore, the device configuration, characteristics and operation relationship described below will be referred to as the contents of the above-mentioned Japanese Patent Application No. 0800554, and the configuration related to the main features of the present invention will be described in detail at the rear end.

2, the three-dimensional model information obtained by the laser scanner and the GPS / INS equipment, and the two-dimensional image information obtained by the camera and the GPS / INS equipment are fused in the same terrain coordinate system, A data convergence step of assigning a three-dimensional coordinate value to the 3D image; In order to simplify the object model, it consists of selecting the desired coordinate points from the fused data or selecting a specific terrain from the two-dimensional image and designating it as a single object to generate a three-dimensional object.

By using data simplified as a three-dimensional object in this way, color three-dimensional solid modeling becomes possible.

3, the camera 10 is placed on the upper part of the 3D laser scanner 20, or the laser scanner 20 (see FIG. 3) is mounted on the upper part of the camera 10, (First step) in such a manner that the direction of the camera is the same as the direction of the scanning center of the laser scanner. This is because the camera 10 and the scanner 20 are mounted on the same vertical axis (z axis) (X, y) among the absolute coordinate values of the camera and the scanner in advance so as to facilitate the correction of the absolute coordinate values of the information acquired by each device (camera and scanner) At the same time, the image of the periphery of the reflector at the time when the scanner acquires the position of the reflector is obtained from the camera by matching the direction in which the laser scanner and the camera are viewed, It is to acquire accurate and realistic images.

As described in the above-mentioned prior art, the absolute coordinates of the camera and the scanner, the photographing direction and the scanning direction can be known as the portable photographic measuring equipment 1 moves.

Navigation using the INS (Inertial Navigation System) is called inertial navigation, and the basic functions of the INS are detection, calculation, and output. Accelerometers and gyros perform sensing and transmit observations such as acceleration and angular rate to a central processing unit (CPU).

The central processing unit (CPU) uses this data to calculate speed, position, posture, posture change rate, direction, altitude, and so on. The output function is to output the appropriate data for the user's purpose. The external navigation devices used to determine location or speed can be combined with the Internet.

The currently used inertial navigation system can be broadly divided into the stabilization support system and the bundling system. In the past, the stabilizing support system was mainly used, but in recent years, the use of the bundling system is increasing.

Unlike the stable support system, which has a stable support system that allows the probe to have a certain facial expression element, the bundling system can not maintain the external appearance element of the mount system constantly. Therefore, many operations The horizontal and vertical accelerations are calculated by using the directional cosine matrix to convert the output value of the accelerometer to the inertial navigation coordinate system, which is the local coordinate system), but it is small, light, It is advantageous to use it for mobile surveying system considering economical aspect.

Unlike the stable support system, the bundling system generates the output of the gyro with reference to the platform coordinate system, so the platform coordinate system must be converted into the reference coordinate system.

Such coordinate transformation methods include an Euler method, a Direction Cosine Matrix method, and a Quartenion method. The posture (Euler angles) (Ψ, θ, Φ) of the mounts from the angular rotation rate change rates p, q, r of the three axes (left and right rotational angle change rate p, forward and backward rotational angle change rates q, The quadrature matrix, and the quadrature transformation of the four-argument transformation.

Among them, the 4-arithmetic method is currently used because the expressions related to the 4-ary factors are treated as linear and the transcendental function is not used when the transformation matrix is obtained.

The process of calculating the absolute coordinates, the photographing direction, and the scanning direction of the camera and the scanner by the signals of the INS accelerometer and the gyro sensor is performed according to a generally known procedure, so that detailed description thereof will be omitted in the present invention .

While moving the camera 10 for photographing the two-dimensional image, the GPS / INS equipment and the mobile photographic measuring equipment 1 equipped with the laser scanner 20, the laser scanner 20 and the camera 10 Operates according to the setting conditions. The laser scanner 20 measures the relative position values of the terrain and the ground, respectively, and the camera 10 repeatedly photographs the two-dimensional image.

At this time, the central processing unit (CPU) calculates the velocity, the position, and the position using the relative position values of the terrain and the object acquired by the laser scanner 20, and the observation values such as the acceleration and the amount of rotation obtained from the GPS / The posture change rate, the direction altitude, and the like are calculated, and the absolute coordinate values of the respective topography and the object are acquired to extract the three-dimensional shape model (second step).

At the same time, the central processing unit (CPU) receives the two-dimensional image repeatedly photographed by the camera 10, corrects the distortion part, and observes the acceleration and the amount of rotation obtained from the INS / The camera position information of the shooting moment and the direction information of the camera are stored in the DB together with the corrected two-dimensional image information.

The two-dimensional image photographed by the camera 10 may be displayed on a display screen when the subject is a curved surface, or when the subject is positioned at an oblique angle with respect to the direction of the camera, or when the shape of the subject is distorted due to lens refraction, Distortion phenomenon "occurs. The central processing unit performs a function of correcting the distortion of the two-dimensional image.

The two-dimensional image photographed by the camera 10 can be removed by a method well known in the art.

The image information obtained by the camera and removed from the distortion is stored together with the camera absolute coordinate value and the attitude value (that is, the viewing angle) at the moment the corresponding image is photographed (step 3).

The second step of converting the absolute coordinate values of the laser scanner, the camera absolute coordinate values and the attitude values of the third step into an actual coordinate system, and the two-dimensional image obtained in the third step, Dimensional coordinate system model information obtained in the second step is fused to give a three-dimensional absolute coordinate value for each point of the two-dimensional image (step 4).

Since the respective coordinate points measured by the scanner have respective absolute coordinate values in the course of acquiring the coordinate points, the process of the fourth step will be described in detail. As shown in FIG. 4B, So that the position can be projected.

This process is described in detail. When the camera has internal facial elements (camera calibration information and lens distortion correction data) and external facial elements (camera position and orientation), the collinearity condition of the photogrammetry theory Can be used.

The collinear condition is a condition in which the arbitrary point (Xp, Yp, Zp) in the space, the point (x, y) on the corresponding photograph and the photographing center (Xo, Yo, Zo) And the following equations (1) and (2) are established between the camera projection center and the image point of P and the object.

FIG. 4A is a diagram showing the relationship between the camera and the position of the laser point and the center of the projection. In FIG. 4, O denotes the center coordinates of the camera, P denotes the position of the laser point, and p denotes the position of the laser point on the image.

(1) is substituted into Equation (2), and the ratio of the PO (the distance between the laser point coordinates and the photographing center coordinate of the camera) to the pO (the distance between the laser point position on the image and the photographing center coordinate of the camera) Is expressed by S (scale factor), the following equation (3) is established.

From the above equation (3), the following equation (4) is obtained.

(X, y) is the coordinate of the image in the main point [xp, yp: the difference between the phase coordinate (x, y) and the camera calibration value), the direction of the x, y and z axes relative to the X, Y and Z coordinate axes Direction cosine) is R, the following equation (5) is established.

Here, the symbol f in Equation (5) means the focal length of the camera lens.

At this time, let R be R _?

(Where,?,?, And? Represent the attitude of the camera), the absolute coordinates of the final image can be calculated by the collinear conditional expression of Equation (6).

That is, a laser point having an absolute coordinate, which is an arbitrary point in space, can be converted into a projected laser point coordinate (x, y) which is a point on a photograph.

4B is an explanatory view briefly explaining the principle of fusing a two-dimensional image and three-dimensional shape model information in an actual coordinate system, and is a diagram illustrating the above-described process.

Through this process, laser points having multiple absolute coordinates are projected onto one image.

5A exemplarily shows the image information obtained by the third step, and FIG. 5B exemplarily shows a state where the two-dimensional image information of FIG. 5A and the three-dimensional shape information are fused .

In FIG. 5B, a purple square is an image in which a laser point is projected, and the laser point has an absolute coordinate value of each, and represents the absolute coordinate of the corresponding coordinate on the image.

By the above-described method, the two-dimensional image obtained in the third step and the three-dimensional shape model information obtained in the second step are fused to give a three-dimensional absolute coordinate value at each point of the two- It will be.

Furthermore, the present invention can be efficiently utilized by integrating laser data and images such as digital map production, facility map creation, slope or road slope production, or coastline survey, by simplifying the object model generated through the process described above .

In order to achieve this, the desired coordinate points may be selected from the data fused by the fourth step, or a specific terrain may be selected from the two-dimensional image and designated as a single object to generate a three-dimensional object (step 5) have.

That is, in the data fused by the fourth step, a specific laser point on a three-dimensional plane is selected. A method for this is roughly a method of selecting a laser point on a three-dimensional space with a laser point and a method of selecting a point matched to the image.

The former takes the form of selecting the points on the front, side, and top respectively.

FIG. 6 illustrates the result of selecting a laser point in a three-dimensional space, and selects from three directions through a general mouse drag on a side, a front, and a top. Then, the selected object shows the result as shown in FIG. Figure (a) is the selected laser point from the side, Figure (b) is the selected point viewed from the front, and Figure (C) is the selected point viewed from above. Figure (d) shows the selected laser point in three dimensions.

7 is a diagram illustrating selected laser points together with an image.

The latter method is a method of selecting a three-dimensional point projected on an image, and Fig. 8 is an exemplary diagram for explaining a method of selecting a point projected on an image.

That is, a state in which three-dimensional points projected on an object on which a three-dimensional model is to be created on the image is selected through general mouse dragging is shown in FIG. In Fig. 8, purple is an overall point, and red points are points selected by viewing an image.

The laser points and images thus selected can be transformed into three-dimensional objects since the shapes of the three-dimensional points in the subsequent process are mostly planar or cylindrical shapes. In the above example, for example, a point selected in FIG. 7 or a point selected in FIG. 8 is mostly a plane, so that a plane object representing the points is created and the image including the point in the object is displayed on the three- Can be displayed.

FIG. 9 is an image obtained by extracting only the portion included in the selected point in FIG. 7, and the extracted image is directly mapped to the plane formed by the points indicated by purple in FIG. That is, as shown in FIG. 10, an object is directly mapped to the surface of the object formed by the points selected in FIG. 7, and can be displayed as an object on three dimensions.

Although the three-dimensional solid modeling method according to the present invention has been described based on the case where one scanner and one camera are mounted, the present invention is not limited thereto.

For example, as shown in FIG. 11 (a), when a single scanner and a single camera are mounted, the photographing range (photographing angle in the vertical direction) of the camera is narrower than the scanning range of the laser scanner In this case, as shown in FIG. 11 (b), two cameras 10a and 10b are provided to include the vertical scanning area of the laser scanner, and the modeling method according to the present invention is applied It is possible.

No additional process is required to implement this embodiment, but only the number of images to be processed is increased and only the selection process of the operator is selected as to which image to select. As described below, once the model is constructed based on the image information acquired by one camera, the supplementary operation is performed using the image information obtained by the other camera according to the shade area or other necessity.

Furthermore, in order to solve the problem that a target object to be surveyed (photographed) is not normally measured (photographed) due to obstacles such as parking vehicles, trees, illegal loads and the like on the road, two or more laser scanners 20a, 12a and 12b, the shading areas (shaded areas) in which any of the laser scanners can not be measured (photographed) by an obstacle can be obtained by mounting the scanning units 20a, 20b on the moving equipment 1 with different scanning directions, (Photographed) by a second laser scanner mounted differently in the scanning direction.

In this case, a first camera for photographing the same direction as the scanning direction of the first laser scanner 20a is constituted by one assembly (first assembly) together with the first laser scanner 20a, When a second camera for photographing the same direction as the scanning direction of the laser scanner 20b is constituted by another one set (second assembly) together with the second laser scanner 20b, a more elaborate three-dimensional model Can be implemented.

In this case, the process of determining which one of the data acquired by the first assembly and the second assembly respectively is to be used is selected by the operator, and this determination operation is not frequently required every time, You can use the data acquired by other assemblies only if the shaded portion caused by the obstacle is generated.

In a further embodiment according to the present invention, the above-described configuration is intact. In particular, when two or more laser scanners, that is, the first and second laser scanners 20a and 20b are provided to have different scanning areas, It is possible to further provide the direction switching guide means as shown in FIG. 13 so as to smoothly and easily change the directions of the first and second laser scanners 20a and 20b.

That is, as illustrated in FIG. 13, the first and second laser scanners 20a and 20b are connected to the first and second clamps 100 and 110 through the first and second clamps 100 and 110, respectively, And the first and second copper plates 200 and 210 are fixed on the mobile equipment 1 so that they can be rotated on the mobile equipment 1, respectively.

At this time, a tooth profile is formed along the radial direction on the outer circumferential surfaces of the first and second copper plates 200 and 210. In other words, the first and second copper plates 200 and 210 themselves are a kind of pinion gear.

The first and second rails 300 and 400 are respectively engaged with the teeth formed on the outer circumferential surfaces of the first and second copper plates 200 and 210.

The first and second rods 310 and 410 are connected to one ends of the first and second rails 300 and 400. The first and second rods 310 and 410 are connected to the first and second rods 310 and 410, It is preferable to bend it in a substantially " a " shape in order to avoid interference with the rotary plates 200 and 210.

In addition, the first and second rods 310 and 410 are connected to the first and second direction switching cylinders 320 and 420, respectively.

Therefore, the directions of the first and second laser scanners 20a and 20b can be adjusted differently by moving the first and second direction switching cylinders 320 and 420 back and forth.

In other words, the lengths of the first and second rods 310 and 410 protruding and retracted from the first and second direction switching cylinders 320 and 420 are adjusted differently, It is possible to arbitrarily and arbitrarily adjust the direction of the first and second laser scanners 20a and 20b.

At this time, the first and second direction switching cylinders 320 and 420 are fixed on the mobile equipment 1. The fixed direction may be fixed laterally or fixed above, depending on the direction of use of the mobile equipment 1.

Further, in addition to simply adjusting the angle of the first and second laser scanners 20a and 20b, it is possible to further enlarge the utilization of the scanner by further configuring the angle of the mobile equipment 1 itself.

The first and second height adjusting cylinders 500 and 600 are provided with first and second height adjusting cylinders 500 and 600 respectively on both sides of the lower portion of the mobile equipment 1, Rods 510 and 610 are connected.

The first and second legs 520 and 620 are fixed to the lower ends of the first and second actuating rods 510 and 610. The first and second legs 520 and 620, 520, and 620 are configured to have a wider triangular shape as compared with the upper side, thereby improving the fixing stability.

In particular, a digital goniometer 700 may be installed in the middle of the distance between the first and second height-adjusting cylinders 500 and 600 to accurately measure the horizontal inclination and the inclined angle. In addition, since a control value, which is not shown in detail in the drawing, is used for measuring the inclination angle and analyzing the inclination angle, the horizontal catching can be precisely controlled. That is, the driving of the first and second height-adjusting cylinders 500 and 600 can be controlled by the corresponding control signal monitored and output by the corresponding control unit for controlling and monitoring the operation state of the entire mobile equipment 1, , The driving of the two-way switching cylinders 320 and 420 can be controlled and the operation of the driving unit not described in detail can be controlled.

As described above, the additional embodiment according to the present invention allows the first and second laser scanners 20a and 20b to be adjusted so as to face each other in a different direction so as not to be overlapped, thereby widening the use range and making it easy to use. It is possible to acquire necessary basic information accurately.

100: first clamp 110: second clamp
200: first copper plate 210: second copper plate
300: first rack 400: second rack
500: first height adjusting cylinder 600: second height adjusting cylinder

Claims (1)

A portable photogrammetric apparatus comprising: first and second cameras for photographing two-dimensional images; GPS / INS equipment; and first and second laser scanners, A first step of mounting the portable photographic measuring equipment in the same direction as the central direction of the scanning angle of the laser scanner; Obtaining the absolute coordinate values of the terrain and the object using the relative position values of the terrain and the object acquired by the laser scanner and the absolute coordinate values of the laser scanner obtained from the GPS / INS equipment while the portable photogrammetric apparatus is moving A second step of extracting a three-dimensional shape model; Dimensional image obtained by the camera during the movement of the portable photogrammetric system and stores the camera absolute coordinate value and the attitude value (viewing angle) of the shooting moment of each image in respective image information, step; Dimensional coordinate system of the laser scanner in the second step and the absolute coordinate values and attitude values of the laser scanner in the third step are converted into the same coordinate system, and the two-dimensional image obtained in the third step and the two- A fourth step of fusing the obtained three-dimensional shape model information and giving a three-dimensional absolute coordinate value to each point of the two-dimensional image; A fifth step of selecting a desired coordinate point from the data fused by the fourth step or selecting a specific terrain in the two-dimensional image and designating the selected terrain as a single object for simplification of the object model; The present invention relates to an optimal spatial information analysis system using a 3D scanner,
Wherein the first and second laser scanners are clamped on the first and second rotating plates through first and second clamps, respectively, and the first and second rotating plates are respectively fixed to be rotatable on the moving equipment, The first and second rotary plates are formed with teeth on the outer circumferential surface in the radial direction. The first and second slide teeth are respectively engaged with the tooth formed on the outer circumferential surface of the first and second rotary plates, The first and second rods are respectively connected to the first and second direction switching cylinders, and the first and second direction switching cylinders are connected to the first And the first and second height adjusting cylinders are respectively connected to the first and second operating rods, and the first and second height adjusting cylinders are respectively connected to the first and second height adjusting cylinders, And the first and second legs are fixed to the lower end of the second operation rod so that the first and second legs can be drawn into and out of the mobile equipment, And a digital goniometer is installed in the middle of the distance between the first and second height-adjusting cylinders. In this case, system.

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