Method for quickly measuring topography by using ground laser scanner based on CORS (Continuous Operational Reference System) and ICP (Iterative Closest Point) algorithms

Abstract

The invention discloses a method for quickly measuring topography by using a ground laser scanner based on CORS (Continuous Operational Reference System) and ICP (Iterative Closest Point) algorithms. The method comprises the following steps: 1, coaxially connecting a GPS (Global Position System) antenna with the scanner; 2, mounting the scanner at the top of a vehicle; 3, scanning in 360 degrees through the scanner during operating; 4, synchronously measuring a topocentric geodetic coordinate of the scanner by using a GPS carrier phase dynamic real-time difference method on the basis of CORS; 5, partitioning large measuring regions into blocks along roads and rivers; 6, roughly registering measurement blocks by using public planimetric points between measuring stations; 7, carrying out multi-station cloud accurate splicing in the measurement blocks by using an iterative closest point algorithm from a point to a tangent plane; 8, converting point cloud of the measurement blocks to the geodetic coordinate by using the topocentric geodetic coordinate; 9, dividing a three-dimensional point cloud into ground points and non-ground points and generating a contour line by using the ground points; 10, measuring and drawing a terrain landform line graph by using a method of collecting man-machine interaction details and slicing point cloud based on the three-dimensional point cloud; and 11, carrying out field investigation and plotting, mending and measuring, and editing and finishing a terrain line graph to obtain a topography result.

Description

Technical field [0001] The invention relates to the fields of surveying and mapping science and technology, computer graphics and vision technology, in particular to a method for quickly measuring terrain with a ground three-dimensional laser scanner based on CORS and ICP algorithms. Background technique [0002] At present, large-scale topographic surveying is still a full-field digital surveying mode dominated by total station acquisition details, and topographic surveying by ground laser scanners (hereinafter referred to as scanners) is still in the research stage. Scanner is a high-tech in the field of surveying and mapping. The acquired data is composed of point clouds and images. It not only records the coordinate data and size information of the terrain, but also automatically records its topology information and texture information. Compared with traditional measurement methods, ground-based laser scanners have the characteristics of not requiring sighting department, aut...

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Problems solved by technology

[0006] (3) Centering and leveling: Some scanner operations require centering and leveling, which increases the time spent on each station by 2 minutes

[0008] The above reasons lead to low operating efficiency of ground laser scanners, and the accuracy of point clouds after splicing cannot be guaranteed, which affects the popularization and application of ground laser scanners in topographic surveying, engineering surveying and other fields.

The patent case with the Chinese patent announcement number CN102393183A discloses a ground laser scanner scanning operation and splicing conversion method based on the control net

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