Indoor unknown structure identification method based on laser scanning

Abstract

The invention discloses an indoor unknown structure identification method based on laser scanning. The method comprises the following steps of designing a data structure of laser scanning data, and determining a global map coordinate system used in the scanning process; adopting a laser rangefinder to obtain laser scanning data, calculating the distance between scanning points with adjacent angles, and performing denoising pretreatment, generating a scanning contour of the indoor structure; saving the global coordinates of various points in the scanning contour into a database, and establishing a three-dimensional environmental point cloud by combining height sensor information; and according to the scanning contour and the environmental point cloud, identifying an indoor unknown environmental structure and barrier information. The method provided by the invention is complete in structure and real-time in data processing, and has strong adaptability and expandability.

Description

technical field [0001] The invention relates to the fields of measurement and pattern recognition, in particular to a method for recognizing indoor unknown structures based on laser scanning. Background technique [0002] In recent years, laser technology and computer technology have developed rapidly, and laser scanning systems have become more and more widely used in the field of measurement and identification. The airborne laser measurement method carried on the UAV platform is an emerging technology developed since the middle and late 20th century. It uses the laser scanning system mounted on the aircraft to carry out accurate environmental measurement, and realizes the measurement of the earth's surface, natural environment and indoor environment. Acquisition, measurement and identification of geometric and physical data in narrow spaces. Its application has been extended to many aspects related to spatial distribution, such as natural environment monitoring and analys...

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Problems solved by technology

[0004] However, in the identification of indoor unknown structures, there are still some problems in the existing research and platforms, mainly including the following points: 1. Most of the existing airborne platforms use GPS positioning, and laser scanning is only a means of measurement and identification. In the indoor unknown structure environment, the space is narrow and the structure is complex, GPS positioning cannot meet the accuracy requirements, and the flight safety of the aircraft platform cannot be guaranteed. A well-designed indoor unknown structure identification method can improve the identification accuracy of indoor structures on the one hand, and can also be used for Real-time self-positioning and precise flight control of UAV platforms; 2. For the identification research of indoor unknown structures, the existing 3D modeling research of laser scanning in large-scale scenes lacks applicability

Due to the limitations of scanner attitude and sensor performance, detection range and massive data, it does not have real-time motion scanning modeling capabilities; 3. The research on high-level processing by fusing visible light, infrared, GIS data and multiple laser scanning data is still in progress. In the research stage, the algorithm is complex and the recognition accuracy cannot be guaranteed

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