Ground laser point cloud stitching method based on three pairs of non-parallel point cloud segmentation slices

Abstract

The invention relates to the field of surveying and mapping data and particularly relates to a ground laser point cloud splicing method based on three pairs of non-parallel point cloud segmentation slices. Firstly, according to space coplanarity of point clouds, extracting segmentation slices of a reference station point cloud and a splicing station point cloud and manually assigning three pairs of non-parallel same-name point cloud segmentation slices; then obtaining a space planar equation of the three pairs of point cloud segmentation slices and respectively calculating points of intersection of three planes in the reference station point cloud and the splicing station point cloud and moving segmentation slice point cloud planes to respective points of intersection; then calculating the intersection lines and inclined angles of the same-name segmentation slice point cloud planes so as to obtain rotation parameters of the planes; and at last, using the rotation parameters, the points of intersection of the reference station point cloud plane and the points of intersection of the splicing station point cloud plane to calculate a translation parameter and finally determining a final rotation matrix. The method is applicable to point cloud scenes, which have obvious characteristics, of cities and villages and the like and capable of reducing the identification and calibration time of same-name characteristics in a splicing process and improving the overall efficiency of laser point cloud data processing.

Description

technical field [0001] The invention relates to the technical field of surveying and mapping data processing, in particular to a ground laser point cloud splicing method based on three pairs of non-parallel point cloud segmentation slices. Background technique [0002] Terrestrial Laser Scanning (Terrestrial Laser Scanning) is a measurement method that uses a laser scanning device on the ground to automatically, systematically and quickly obtain the three-dimensional laser point cloud coordinates of the object surface. It is an active spatial data acquisition technology that has developed rapidly in recent years. It can be used to generate a variety of digital space products such as digital elevation models, digital line drawings, and 3D city models, and plays an important role in engineering surveying, digital city construction, cultural relics protection, and military affairs. [0003] Due to the limitation of the scanning distance, scanning angle and on-site occlusion, th...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the defects of the existing laser radar point cloud data splicing method, and provide a fast ground laser point cloud splicing method based on non-parallel segmented slice features

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