Registering method for data texture image of ground laser radar

Abstract

The invention discloses a registering method for a data texture image of a ground laser radar, wherein the method is utilized for fusion of a point cloud and a shot image of a ground laser radar. The method comprises the following steps that: step one, selecting a plurality of characteristic points of from A1 to An on a point cloud of a ground laser radar, wherein the point cloud is formed duringscanning of an image by a laser; meanwhile, selecting a plurality of characteristic points of from B1 to Bn from a shot image, wherein the characteristic points of from B1 to Bn is corresponded to the characteristic points of from A1 to An; step two, setting a three dimensional coordinate original point at a scanned object space and determining a three dimensional coordinates (X, Y, Z) of all thecharacteristic points of from A1 to An on the cloud point of the ground laser radar; meanwhile, setting a focal length of the shot image into a third dimensional coordinate (x, y, -f) of all the characteristic points of from B1 to Bn; step three, carrying out centralization of gravity on the three dimensional coordinate (X, Y, Z) of all the characteristic points of from A1 to An as well as calculating a zoom coefficient and a registering parameter of a orthogonal matrix R; step four, resolving an accuracy value of the registering parameter by taking the parameter as an initial value on the basis of application of a least square iterative method. According to the method provided in the invention, on the condition that the above-mentioned parameter is calculated, the shot image can be fusedinto a laser scanning image by zooming, rotation and translation processes, so that a colored point cloud model is formed.

Description

technical field [0001] This method is mainly used in the fusion of ground lidar point clouds and images, and is suitable for the registration of ground lidar point clouds for images at any shooting angle. Background technique [0002] Laser scanning technology is a high-tech that began to appear in the mid-1990s. It uses high-speed laser scanning measurement to quickly obtain three-dimensional coordinate data on the surface of the measured object in a large area and high resolution. It is widely used in model reconstruction, In the protection of ancient buildings, it has gradually become an important method for obtaining 3D urban data models. How to obtain the texture of lidar data has always been the focus of research in this field. Although many terrestrial laser scanners can acquire the texture of scanning points synchronously through built-in cameras, their resolution and photography methods cannot meet the needs of applications. At present, the texture features are ma...

AI Technical Summary

Problems solved by technology

Secondly, for some scanned objects such as murals, the distribution of registration features will appear coplanar

For the above two problems, existing methods cannot completely solve

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