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Registration and measurement method of spherical panoramic image and three-dimensional laser scanning point cloud

A panoramic image and three-dimensional laser technology, applied in the field of photoelectric surveying and mapping, can solve the problems of unintuitive performance, lack of texture and color information, etc., and achieve the effect of reducing data volume and rapid measurement

Active Publication Date: 2013-04-03
WUHAN HI TARGET DIGITAL CLOUD TECH CO LTD
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Problems solved by technology

[0002] The 3D laser point cloud is the high-precision 3D coordinates of the surface of the object. The coordinates and feature information of the ground object can be obtained directly through the point cloud, but there is no texture and color information, and the performance is not intuitive.

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  • Registration and measurement method of spherical panoramic image and three-dimensional laser scanning point cloud
  • Registration and measurement method of spherical panoramic image and three-dimensional laser scanning point cloud
  • Registration and measurement method of spherical panoramic image and three-dimensional laser scanning point cloud

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Embodiment Construction

[0047] The present invention will be described in detail below in conjunction with specific embodiments.

[0048] In this embodiment, the following method is adopted. First, the three-dimensional structure of the unit sphere is used to simulate the spherical panoramic image, and the pixel coordinates (u, v) of the spherical panoramic image are first converted into spherical polar coordinates , the conversion formula is as follows:

[0049] ,

[0050] In the formula, dx is the vertical pixel size of the spherical panoramic image, and dy is the horizontal pixel size of the spherical panoramic image;

[0051] Then the spherical polar coordinates of the spherical panoramic image are transformed into three-dimensional rectangular coordinates (x 0 ,y 0 ,z 0 );

[0052]

[0053]Then select more than three points located on different planes in the spherical panoramic image as control points, and correspondingly select the above-mentioned control points in the point cloud da...

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Abstract

The invention provides a registration and measurement method of a spherical panoramic image and a three-dimensional laser scanning point cloud. The method comprises the following steps: firstly, using a three-dimensional structure simulation spherical panoramic image of a unit sphere, converting a pixel coordinate of the spherical panoramic image into a three-dimensional rectangular coordinate, then calculating an attitude parameter of the spherical panoramic image in point cloud data and a position coordinate of the optical center of the spherical panoramic image in the point cloud data to carry out the registration to the spherical panoramic image in the point cloud data; obtaining a depth map of the spherical panoramic image through the calculation; and finally moving a mouse to a target point position to be measured when the measurement is required to be carried out on the spherical panoramic image to calculate a three-dimensional coordinate of the target point. The registration and measurement method provided by the invention not only can carry out the height registration on the spherical panoramic image and the three-dimensional laser scanning point cloud, and also can realize fast measurement on a target point simultaneously.

Description

technical field [0001] The invention relates to a method for registering a spherical panoramic image with a three-dimensional laser scanning point cloud and performing rapid measurement according to the image after registration, belonging to the field of photoelectric surveying and mapping. Background technique [0002] The three-dimensional laser point cloud is the high-precision three-dimensional coordinates of the surface of the object. The coordinates and feature information of the ground object can be obtained directly through the point cloud, but there is no texture and color information, and the performance is not intuitive. Spherical panoramic image data has vivid texture and color information, which can be used as a texture supplement for 3D laser point cloud data. 3D laser point cloud data and spherical panoramic image data have their own advantages and specialties. If the 3D laser point cloud and panoramic image data are combined, then the corresponding image pixe...

Claims

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Application Information

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IPC IPC(8): G01B11/00G06T7/00
Inventor 刘守军龚书林
Owner WUHAN HI TARGET DIGITAL CLOUD TECH CO LTD
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