744results about "Profile tracing" patented technology

The invention relates to the technical field of topographic survey, in particular to an automatic surveying and mapping method and system for a complex topographic land parcel for urban and rural planning. The method comprises the following steps: acquiring satellite remote sensing data and a digital elevation model corresponding to an urban and rural planning survey area, and performing survey area terrain pre-detection to generate an urban and rural planning complex terrain survey area plot; the method comprises the following steps: carrying out element semantic recognition and segmentation on an urban and rural planning complex terrain plot to obtain terrain obstacle distribution corresponding to each building, vegetation and water body element in the urban and rural planning complex terrain plot; obtaining a corresponding three-dimensional surveying and mapping boundary constraint of the complex terrain land parcel and carrying out surveying and mapping path obstacle planning to generate a terrain constraint surveying and mapping planning path corresponding to the urban and rural planning complex terrain land parcel; and performing automatic navigation surveying and mapping processing on the urban and rural planning complex terrain plot to generate urban and rural planning complex terrain plot surveying and mapping data. According to the invention, the efficient, accurate and automatic navigation surveying and mapping process of the plot under the complex terrain condition can be realized.

The invention relates to the field of measurement, in particular to a subway tunnel secondary lining section limit measurement method based on SLAM mobile scanning, which comprises the following steps: step 1, tunnel point cloud acquisition and target clustering point cloud acquisition; step 2, CPIII control point coordinate extraction; step 3, point cloud coordinate conversion; 4, performing point cloud processing, and removing noisy points and non-secondary-lining target point cloud data in the tunnel secondary-lining point cloud; and step 5, performing three-dimensional limit deviation analysis, performing spatial comparative analysis on the point cloud under the construction coordinate system and the subway secondary lining tunnel design three-dimensional model by adopting a voxelization deviation mapping algorithm, extracting a continuous deviation region through voxel clustering, and generating a three-dimensional deviation thermodynamic diagram. According to the method, the two-lining tunnel point cloud obtained by SLAM mobile scanning is accurately converted into a construction coordinate system by combining CPIII high-precision control points in the tunnel, rapid, visual and three-dimensional contrastive analysis with design of a three-dimensional model can be achieved, and visual and reliable data support is provided for line and slope adjustment, track laying and defect improvement.

The invention discloses a robot gait self-adaptive adjustment method and system combined with topographic feature recognition, and relates to the technical field of robot gaits, and the method comprises the steps: collecting a topographic image in front of a robot advancing path, carrying out the deblurring processing, and extracting ground feature data through a lightweight neural network; matching the ground characteristic data with a preset gait control parameter database to obtain a gait control parameter set, and generating a control signal through a proportional-differential control method according to the gait control parameter set; correcting the control signal based on a reinforcement learning algorithm, and generating a target control instruction for driving a joint actuator; in the process of executing the target control instruction, collecting state feedback data in real time, and comparing and optimizing the feedback data with the currently executed target control instruction to realize feedback adjustment; the problems of insufficient terrain recognition precision caused by image blurring, response lag caused by sensing and control decoupling and lack of adaptive ability are effectively solved.

The invention discloses an unmanned aerial vehicle assisted three-dimensional scanning well measurement system and method. The method comprises the steps of firstly collecting shaft information, adjusting equipment, planning a measurement path, enabling an unmanned aerial vehicle to collect data according to the planned path, then preprocessing the data, intelligently identifying and classifying the data, constructing a three-dimensional model, analyzing errors, evaluating the data, and finally generating a measurement report. The system comprises an unmanned aerial vehicle, a laser radar, a structured light camera, a depth camera, an IMU + UWB and a cloud processor. Compared with a traditional measurement mode, the method has obvious advantages. Through laser radar SLAM + UWB positioning, the unmanned aerial vehicle can be accurately navigated, high-precision scanning and image acquisition are realized in combination with multi-sensor fusion, and measurement blind areas are reduced. The intelligent identification and classification technology can automatically detect and classify hoistway facilities, detect wall damage and support dynamic obstacle avoidance. Various algorithms are adopted for data processing to improve the model precision, the finally generated high-precision model can be directly used for various engineering scenes, and an efficient and intelligent solution is provided for well measurement.

The invention relates to the technical field of remote sensing monitoring equipment, and discloses tropical agricultural ecology remote sensing monitoring equipment which comprises an unmanned aerial vehicle platform, a remote sensing unmanned aerial vehicle is arranged on the unmanned aerial vehicle platform, and a monitoring sensor assembly is loaded on the remote sensing unmanned aerial vehicle. The monitoring sensor assembly comprises a high-resolution camera device, a hyperspectral sensor, a thermal infrared sensor and a laser radar, a data receiving module, a data processing module and a display module are arranged in the unmanned aerial vehicle platform, and the monitoring sensor assembly is mainly used for obtaining soil images and data information. The data processing module can judge soil ecological information according to images and data, and the monitoring sensor assembly and the data processing module are matched to obtain the erosion degree and fertility condition of soil in the planting area, the moisture content, the soil type, the moisture evaporation condition and the slope and direction information of the soil. The growth state of plants in a planting area and the ecological environment of soil are monitored, and producers are better assisted in formulating targeted agricultural management measures.

The invention discloses a shield segment dislocation detection method and system fusing visual and geometric features, and the method comprises the steps: employing a mobile track three-dimensional laser scanning system, and rapidly obtaining the three-dimensional point cloud data of a tunnel segment; projecting the three-dimensional point cloud data of the tunnel segment to a two-dimensional image according to the scanning parameters and the image preset resolution, and mapping the laser point reflection intensity into a pixel gray value; shield segment inter-ring joints and shield segment in-ring joints are extracted respectively, and segment joint positioning is completed; and according to the seam positioning information, extracting local point clouds at the two sides of the seam, respectively carrying out circular model fitting, calculating the height difference of circular models at the two sides at the seam, and obtaining an in-ring slab staggering value. According to the method, the visual information of the point cloud reflection intensity and the geometric information of the spatial position are fused, rapid and accurate shield segment in-ring slab staggering detection is realized, and the efficiency and the accuracy are high.

The invention relates to the technical field of ocean engineering construction, and discloses a construction positioning and SCADA visualization integrated intelligent arrangement method for an arrangement ship, which comprises the following steps: synchronously acquiring coordinates and attitude parameters of the arrangement ship through a Beidou positioning terminal and an inertial navigation device, and constructing a three-dimensional digital twinborn model of a construction scene in combination with submarine topography surveying and mapping data; analyzing boundary and gradient characteristics of the target arrangement area based on the model, and generating an initial arrangement path planning scheme; position deviation and ocean current flow velocity data are monitored in real time in the operation process, and the laying path is dynamically adjusted; and the position of the laying ship, the path adjustment record and the submarine topography change are displayed in real time through a visual interface of the SCADA system. According to the method, high-precision positioning, dynamic path optimization and full-process three-dimensional visual monitoring of the laying operation are realized, the problems of large positioning deviation and response lag of a traditional method are solved, and the construction precision and efficiency are remarkably improved.

The invention belongs to the technical field of marine surveying and mapping, and discloses an equivalent sound velocity automatic inversion method and system based on multi-beam overlap region constraint. The method comprises the following steps of: performing beam point location tracking on multi-beam original data by using surface sound velocity of multi-beam data to obtain an overlapping region of a multi-beam strip; gridding overlapped areas of the multi-beam strips, minimizing water depth deviation between overlapped grids by using a genetic algorithm, and performing inversion to obtain the optimal equivalent sound velocity of each measuring line; and performing beam point location tracking again on each measuring line by using the corresponding equivalent sound velocity obtained by inversion, weakening sound velocity deviation existing in beam point location tracking by using the surface sound velocity, weakening a curved terrain between the strips in the overlapping region, and obtaining a submarine topography with continuous splicing of the overlapping regions of the adjacent strips. According to the invention, the precision and reliability of submarine topography measurement can be ensured, and the speed of submarine topography measurement field operation is improved.

The invention provides a measurement mark-free section deformation resolving method for a high-speed rail tunnel, and relates to the technical field of tunnel detection. The method comprises the following steps: acquiring point cloud data of a high-speed rail tunnel, and carrying out mileage alignment on the point cloud data and datum point cloud data; performing section registration on the point cloud data and the reference point cloud data; establishing a corresponding relation of two periods of point cloud data through a nearest neighbor point of any point position in the datum point cloud data, and setting a displacement difference threshold value and an intensity grading threshold value of a point pair based on the corresponding relation; performing clustering analysis on the point clouds exceeding the displacement difference threshold value or the intensity grading threshold value based on a target clustering algorithm, and generating a potential deformation area continuous mask; the potential deformation area continuous mask represents the area where the high-speed rail tunnel has diseases. According to the method, the detection efficiency and the detection accuracy of high-speed rail tunnel deformation detection can be improved.

The invention belongs to the technical field of hydraulic engineering measurement, and discloses a seawall measurement method and system based on multi-source data fusion, and the method comprises the steps: collecting geological data and hydrological data through a data collection module; the route planning module formulates a route; the overwater data acquisition equipment and the underwater data acquisition equipment are used for monitoring; the auxiliary equipment provides a high-precision positioning reference; the meteorological data module obtains meteorological data; the data processing module processes the data; the three-dimensional modeling module carries out point cloud registration and DEM model construction; the comprehensive analysis module performs comprehensive evaluation and predicts potential problems and risks; when an abnormal condition or a potential risk is monitored, the early warning module gives an alarm. Multi-source data acquisition equipment such as unmanned aerial vehicle aerial survey, a laser radar, a multi-beam depth finder, a side-scan sonar, a shallow profiler and a micro-motion exploration instrument are integrated, seawall overwater and underwater full-dimensional data acquisition, processing, modeling and volume calculation are realized, and high precision and reliability of measurement results are ensured.

The invention relates to the technical field of sand excavation metering, in particular to an intelligent metering method of a sand excavation amount monitoring system, which comprises the following steps of: S1, scanning and recording an operation area of a sand dredger by adopting a depth finder in cooperation with RTK GPS, and establishing a three-dimensional map before operation; s2, after sand excavation operation is finished, the operation area of the sand dredger is scanned again, the three-dimensional map after operation is obtained and compared with the three-dimensional map before operation, and topographic changes before and after sand excavation are calculated. When the method is used, high-precision gravel data can be stably obtained under different water flow conditions, sand excavation dispatching optimization and overload avoiding are facilitated through high-precision volume calculation, and the working efficiency of the sand dredger is improved. The method is beneficial to reducing sensor noise, improving measurement precision, realizing real-time monitoring of the volume of the sandstone in the cabin, accurately calculating the volume of the sandstone, improving the precision of supervision data, avoiding oversampling, improving the quality calculation precision, avoiding errors caused by fixed density calculation, automatically calculating in the whole process, avoiding manual intervention, and improving the measurement efficiency and stability.

The invention discloses a tunnel structure intelligent monitoring system based on machine vision, and relates to the technical field of tunnel monitoring. The method comprises the following steps: setting monitoring points and monitoring units in a tunnel, respectively acquiring a monitoring displacement value and a monitoring condition set of each monitoring point, acquiring point cloud data in the tunnel, constructing a three-dimensional model, respectively acquiring a calibration displacement value of each monitoring point in the three-dimensional model, and calculating the calibration displacement value of each monitoring point; constructing a displacement calibration model in the tunnel, obtaining a real-time calibration displacement value of each monitoring point and a change trend of the real-time calibration displacement value, constructing a structure evaluation model in the tunnel, obtaining abnormal structure types, generating corresponding abnormal structure signals according to different abnormal structure types, and feeding back the abnormal structure signals; the displacement value obtained through image analysis can be corrected in combination with point cloud data, and the abnormal structure existing in the tunnel can be judged in time according to the calibrated displacement value and change trend of each monitoring point and fed back.

The invention discloses a laser galvanometer projection correction method and system suitable for an uneven tunnel section, and the method comprises the steps: scanning the point cloud data of a tunnel face through a laser radar, so as to extract the point cloud data of concave-convex regions in the uneven tunnel section, and carrying out the extraction of the point cloud data of each concave-convex region; the projection coordinates of the tunnel contour points and the blast hole points are corrected through the point cloud data, laser galvanometer projection is carried out according to the corrected projection design parameters, and the tunnel contour and the drilling position can be projected on the uneven tunnel section rapidly and accurately; the problem of projection position deviation caused by unevenness of the tunnel face after blasting is effectively solved, and the accuracy of drilling and positioning of the uneven tunnel section is improved. Moreover, manual correction is not needed in the whole process, and before projection lofting is carried out every time, a user only needs to start software to automatically start the laser radar for scanning and automatically complete correction, so that personnel operation is greatly reduced, and safety is improved.

The invention discloses a multi-element blasting effect evaluation method and system based on point cloud data, and relates to the field of blasting effect evaluation of a drilling and blasting method.The method comprises the steps that point cloud obtained after tunnel blasting is scanned through a three-dimensional laser scanner, and classification of muck pile point cloud, tunnel face point cloud and hole body point cloud is achieved through a Canupo algorithm; the muck pile point cloud, the tunnel face point cloud and the hole body point cloud are processed, and the boulder rate, the throwing distance, the excavation footage, the blast hole utilization rate, the tunnel half hole and the over-excavation and under-excavation quantity index parameters are obtained; and obtaining a blasting effect evaluation score through the combination weight and the score of each index parameter, and obtaining blasting effect evaluation. According to the method, multiple blasting effect evaluation indexes can be accurately obtained based on the point cloud data obtained through three-dimensional laser scanning, the blasting effect is quantitatively evaluated, a large amount of manpower is saved, the blasting effect evaluation efficiency and accuracy are improved, and reference is provided for improvement of subsequent blasting design.

The invention discloses a tunnel section convergence accurate measurement method, system and device and a storage medium. The method comprises the following steps: receiving input basic information; establishing a tunnel section laser scanning image acquisition model; collecting elevation data of a tunnel section; performing multi-source heterogeneous data fusion based on the input basic information, the collected tunnel section laser scanning image, the point cloud data and the tunnel section elevation data to obtain a fused data result; tunnel section extraction; according to the extracted section result, constructing an independent plane coordinate of the tunnel section after converting the section result, fitting a difference value between a tunnel radius result and a design result, and measuring convergence deformation of the tunnel section; outputting a tunnel section convergence deformation measurement result; according to the invention, multi-source data fusion, data visualization, deformation analysis and risk prediction can be realized, the tunnel measurement precision, the engineering quality and the engineering management efficiency are obviously improved, and the tunnel construction safety is guaranteed.

The invention relates to the technical field of bridge pier scour monitoring, discloses an air-water-shore cooperative overwater float type bridge pier scour monitoring system, and belongs to the technical field of bridge safety monitoring. According to the system, an integrated framework is formed by a buoy platform, a shore-based cooperative monitoring station and a cloud monitoring platform. The buoy platform is fixed to a pier through a mooring lead, the underwater sonar module of the buoy platform can scan the terrain of a riverbed at multiple angles, and the overwater module integrates high-precision positioning and video monitoring. The shore-based station is provided with a laser scanner and a high-definition camera to monitor the overwater structure and the macroscopic environment of the pier. The cloud platform serves as a control center, converges the multi-source data of the buoys and the shore stations through a communication network, carries out time sequence correlation and fusion analysis, and dynamically evaluates the scour pit development and the bridge pier structure state. According to the invention, the limitation of a single monitoring mode is broken through, collaborative acquisition and intelligent fusion of air, water and shore data are realized, the comprehensiveness, accuracy and early warning capability of monitoring are remarkably improved, and reliable guarantee is provided for safe operation of bridges.

The invention relates to a three-dimensional digital contour detection system for a tunneling roadway, and belongs to the technical field of roadway contour measurement. The system comprises a data acquisition module used for acquiring original point cloud data through a three-dimensional scanning device; the data preprocessing module is used for preprocessing the original point cloud data to obtain actual point cloud data, constructing design point cloud data and aligning the actual point cloud data with the design point cloud data to obtain standard point cloud data; the over-break and under-break area division module is used for dividing over-break and under-break areas according to the design point cloud data; the plane screening module is used for fitting a plurality of random planes and screening out a plurality of initial candidate planes; the roadway size calculation module is used for classifying five actual planes and calculating the roadway size of the tunneling roadway based on the five actual planes; and the visualization and storage module is used for visually displaying the roadway contour information. According to the invention, the error of tunneling roadway contour measurement is reduced, and the efficiency and real-time performance of roadway contour construction are improved.

The invention relates to the technical field of topographic surveying and mapping, and discloses a topographic surveying and mapping measuring device, which comprises a placement plate, the top of the placement plate is fixedly connected with a mounting seat, the top of the mounting seat is provided with a protection box, the protection box is internally provided with a surveying and mapping instrument, and the placement plate is provided with a supporting mechanism. The supporting mechanism comprises a rotating cylinder, a rotating block, a positioning hole, a positioning rod, a first threaded rod, a first lifting plate, a hinge rod, a supporting rod, an adjusting rod, a frame body and a pointed cone. In forest topographic surveying and mapping, the ground condition is complex and changeable, a supporting mechanism of the device can accurately adapt to the uneven ground through cooperative operation of a rotating block, a first threaded rod, a first lifting plate, a hinge rod, a supporting rod and an adjusting rod, it is ensured that a pointed cone stably pierces into the ground, meanwhile, a supporting plate further enhances the supporting effect, and the supporting plate is matched with the pointed cone, so that the supporting effect is improved. The stability of the device in complex terrains is greatly improved, measurement errors are effectively reduced, and a foundation is laid for obtaining accurate surveying and mapping data.

The invention provides a tunnel back break intelligent rapid identification technology based on machine vision. According to the method, firstly, the actual space distance of a reference point on a tunnel face is obtained through a laser range finder, and the pixel and physical size conversion proportion is calculated in combination with a shot tunnel face image; and then, screening high-quality guide information by using a visual language model CLIP, and driving a segmentation model SAM for fine adjustment of a tunnel scene to realize accurate segmentation of the tunnel face contour. The contour pixel area obtained through segmentation is converted into the actual physical area in combination with the conversion proportion, the actual physical area is compared with the preset tunnel design contour area, and therefore the over-excavation or under-excavation state of the tunnel face is automatically judged, and the size of the over-excavation or under-excavation area is determined. According to the method, the automation degree, precision and real-time performance of back break detection in tunnel engineering are remarkably improved, the limitation of traditional manual measurement is overcome, and key technical support is provided for intelligent tunneling of a tunnel.

The invention provides an extraction system and method for laser point cloud longitudinal and transverse section data, and relates to the technical field of surveying and mapping engineering and computer aided design, and the system comprises a normal production module which is used for analyzing midline data, and generating a first normal file with coordinate information and a second normal file with attribute information; the point cloud processing module is used for constructing a ground surface model, projecting the first normal file to the ground surface model to calculate three-dimensional coordinate information of the normal file, and outputting a third normal file with the three-dimensional coordinate information; and the section production module is used for generating section data and longitudinal section data in preset formats according to the second normal file and the third normal file. The system has high flexibility on the premise of ensuring data precision, is suitable for design, construction and monitoring of linear projects such as roads, railways and pipelines and spatial analysis and decision support in a geographic information system, and can realize efficient and accurate extraction and application of laser point cloud data.

The invention belongs to the field of image processing, and particularly relates to a remote sensing survey data processing method for garden design, and the method comprises the steps: obtaining a plurality of remote sensing images containing a target garden region under different spectrum bands; constructing a texture sequence corresponding to each feature point in each remote sensing image; determining a plurality of co-location evaluation values corresponding to each feature point; determining an image texture retention degree corresponding to each feature point according to the plurality of co-location evaluation values corresponding to each feature point; uniformly dividing each remote sensing image into a plurality of image areas, and respectively determining a fusion weight corresponding to each image area in each remote sensing image; and according to the fusion weight corresponding to each image region, performing weighted fusion on the plurality of remote sensing images in different regions, and performing post-processing on the remote sensing images after weighted fusion to obtain a remote sensing survey data processing result. According to the scheme provided by the invention, the precision of the fusion weight and the accuracy and reference degree of the remote sensing survey data processing result are improved.

The invention discloses a tunnel back break analysis method based on a dynamic center line and an incremental convex hull, and belongs to the technical field of tunnel engineering detection. According to the system, the problems that a traditional detection method is low in efficiency and large in error are solved by fusing dynamic slice projection, robust registration and intelligent contour generation technologies. The method specifically comprises the following steps: carrying out configurable downsampling (the density is reduced to 0.2%-0.5% at an interval of 50-1000 points) on an original point cloud, constructing a tunnel three-dimensional model (the side length of a grid is less than or equal to 0.1 m) by adopting a dynamic center line extraction algorithm, and carrying out ICP (Inductively Coupled Plasma) registration (error lt; the method comprises the following steps of: synchronously extracting a design / actual measurement section contour by using a combined slicing technology, generating an actual measurement polygon based on an incremental convex hull algorithm (a filtering threshold value is 20 points), and calculating an over-break volume (an error is less than or equal to 1.5%) by using a spatial Boolean operation. A dynamic center line extraction and incremental convex hull algorithm is innovatively introduced, automatic generation of a color gradation analysis atlas (over-excavation RGB (255, 69, 0) and under-excavation RGB (30, 144, 255)) is supported, and full-process closed-loop processing is realized.

The invention relates to the technical field of geological exploration, in particular to an exploration path optimization method based on rock-soil geological exploration data, which comprises the following steps: firstly, obtaining a gray value difference according to historical and real-time remote sensing images, and dividing a to-be-explored region set according to the difference; then obtaining a to-be-explored area in the set, and calculating a to-be-explored area center of the to-be-explored area according to the gray value difference to obtain a to-be-explored area center set; the node weight and the edge weight of the center of the to-be-explored area are obtained, exploration path planning is carried out according to a genetic algorithm, and an optimal traversal path is obtained; then acquiring data between the nodes and establishing a potential field, solving a plurality of exploration paths according to a gradient descent method, and performing weighting and curve fitting on the plurality of paths to obtain a specific exploration path between the nodes; and after the to-be-explored area is reached, surface deformation data exploration is carried out according to the high-priority exploration area and the low-priority exploration area. According to the invention, the exploration efficiency is improved through the division of the to-be-explored area and the optimization of the exploration path.

The invention discloses a tunnel cross-sectional image analysis method based on image processing, and aims to solve the problems that a surface image is not clear in correspondence with a transient seismic wave method, a geological radar and a resistivity imaging section space, and anomalies at a certain distance in front are difficult to map to a tunnel face. According to the method, anisotropic reforming is carried out by adopting a Fourier neural operator, cross-modal Transform registration of a micro attention mask based on sector geometry, curve mileage and section polar coordinate position coding is combined, analytic geometry mapping and uncertainty propagation are matched, tunnel face structure traces and water seepage texture evidences are fused, and the tunnel face structure traces and the water seepage texture evidences are combined. The technical effects of accurate positioning of abnormity on the tunnel face, position confidence range estimation, risk grading early warning, stripe artifact suppression, abnormal boundary reservation and output of structured results of mileage stake numbers, azimuth angles, distance intervals and the like are achieved.

The invention relates to the technical field of channel monitoring and underwater topography analysis, in particular to a multi-beam sounding data driven underwater topography profile extraction method and device and a medium, and the method comprises the steps: obtaining channel region multi-beam sounding original data, carrying out the standardized preprocessing, and outputting a sounding data set; performing spatial interpolation and vectorization processing on the sounding data set to generate channel geological data, and issuing the channel geological data as a similar three-dimensional channel bottom graph through a geographic information service platform; generating a profile path, and generating interpolation points according to a preset interval; constructing a spatial index structure based on the sounding data set, and establishing an adjacent sounding point retrieval channel for each interpolation point; and in allusion to the same profile path, acquiring multiple periods of sounding data, calculating water depth difference, and dynamically and visually displaying an abnormal movement phenomenon by using a broken line graph. According to the method, efficient extraction, dynamic comparison and automatic early warning of the multi-period sounding data can be realized, and the analysis efficiency and accuracy of the channel topographic change are remarkably improved.

The invention belongs to the technical field of tunnel engineering detection, and provides a tunnel fault zone lining non-uniform thickness detection method based on three-dimensional laser point cloud fusion LS, and the method comprises the steps: collecting the point cloud data of a tunnel fault zone through a three-dimensional laser scanner; processing the point cloud data of the tunnel fault zone on the basis of a three-dimensional LS (least square method), and constructing and obtaining a geometric shape model of the tunnel fault zone; and on the basis of the geometrical shape model of the tunnel fault zone, the tunnel fault zone lining non-uniform thickness is detected in combination with the actual point cloud data. The tunnel fault zone lining non-uniform thickness measuring device can accurately measure the tunnel fault zone lining non-uniform thickness, improves the detection accuracy and efficiency, has the advantages of being high in automation degree and high in detection efficiency, and provides powerful technical support for safety monitoring and maintenance of tunnel engineering.

The invention discloses a concrete wall full-section deformation monitoring device and method, and relates to the technical field of engineering structure health monitoring, and the device comprises an integrated measurement unit, a passive stable characteristic target group and a processing unit. The integrated measuring unit is composed of an area array solid-state laser radar and a high-resolution binocular vision camera which are rigidly and fixedly connected, and is used for synchronously collecting three-dimensional point cloud and two-dimensional images of a wall and an environment. The target group is arranged on an independent stable object near the wall body; the processing unit identifies coordinates of the target group based on laser radar data, establishes a world coordinate system, calculates self pose drift of the measuring unit by periodically detecting position change of the target, and performs coordinate correction on a wall surface relative displacement field obtained by visual calculation by using the drift distance; and finally, outputting a full-section absolute deformation field under a world coordinate system. According to the invention, high-precision monitoring of full-field continuous deformation of the concrete wall is realized, and the reliability and comprehensiveness of structural health monitoring data are improved.

The invention discloses a small-range topographic change monitoring method based on a geographic information system. The method comprises the following steps: S1, obtaining and preprocessing topographic data of a target area; s2, carrying out format conversion on the data, grouping the data according to a time sequence, and carrying out time alignment on small-region grids; s3, performing difference analysis on the small area grids by using a least square method, and screening a topographic change area; s4, positioning the boundary of the change area by using spatial interpolation, constructing a three-dimensional space model, and outputting a space coordinate and a change amplitude; s5, reasoning time sequence characteristics of topographic changes through trend analysis, and evaluating the influence of the changes on the target area; s6, in combination with real-time monitoring data, correcting a topographic change trend, and updating model parameters; and S7, generating a monitoring graph and an early warning prompt, and pushing to monitoring personnel in real time. Through the steps, high-precision and small-range topographic change monitoring is realized, and real-time and scientific data support is provided for disaster prevention and control and urban planning.

A map generation apparatus including an in-vehicle detector detecting a situation around a subject vehicle and a microprocessor. The microprocessor is configured to perform extracting feature points from detection information detected by the in-vehicle detector, selecting first feature points from the feature points, calculating three-dimensional positions of the first feature points included in each of a plurality of the detection information while estimating a position or posture of the in-vehicle detector based on the plurality of the detection information, and generating a map including information of the three-dimensional positions of the first feature points. The microprocessor is configured to perform the selecting including selecting the first feature points other than a feature point of a predetermined landscape feature from the feature points, and the generating including adding information on a position of a second feature point not selected among the feature points to the map.

Described are systems and techniques for road surveying. Information indicative of a sequence of target road sections each comprising one or more road segments can be used to configure a vehicle to perform a road survey by traveling each target road section of the sequence. Data acquisition can be started from onboard sensors of the vehicle based on detecting a first trigger event where a current position of the vehicle is within a configured threshold distance from a first target road section of the sequence. Respective road survey data can be obtained for each road segment in each target road section of the sequence, and can comprise a subset of acquired data obtained from the onboard sensors between a corresponding start and end point automatically determined for the respective road segment based on detecting the occurrence of trigger events corresponding to the current vehicle position and / or heading.