Indoor unknown structure identification method based on laser scanning

A laser scanning and structure recognition technology, which is applied in the field of indoor unknown structure recognition based on laser scanning, can solve problems such as lack of real-time motion scanning modeling capabilities, failure to ensure flight safety of aircraft platforms, and GPS positioning that cannot meet accuracy requirements, etc. Achieve good scalability, indoor structure contour lines and point cloud generation methods are simple and easy to implement, and the recognition method is simple and easy to implement

Active Publication Date: 2013-06-12
TSINGHUA UNIV
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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 o...

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  • Indoor unknown structure identification method based on laser scanning
  • Indoor unknown structure identification method based on laser scanning

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[0026] In describing the present invention, it is to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Orientation or position indicated by "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. The relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, therefore It should not be construed as a limitation of the present invention.

[0027]In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicat...

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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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Application Information

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IPC IPC(8): G01B11/24G06K9/62
Inventor 戴琼海李一鹏
Owner TSINGHUA UNIV
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