Movable target sphere oriented onboard LiDAR point cloud and image united rectification method

A technology of moving targets and target balls, applied in the field of measurement, can solve problems such as inaccurate line positioning, high-precision registration of laser point clouds and spectral images, etc., to improve modeling efficiency, reduce control information interaction workload, and facilitate The effect of quasi-precision

Inactive Publication Date: 2015-05-06
CHINESE ACAD OF SURVEYING & MAPPING
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  • Summary
  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

[0008] The invention mainly solves the problem of high-precision registration of laser point cloud and spectral image when the existing airborne laser radar and digital camera are combined to observe the earth
Furthermore, an airborne LiDAR point cloud and image automatic registration method for mobile control target balls, which can accurately determine the correspondence between optical images and laser point clouds, and laser point clouds and ground control points, is proposed to overcome the traditional local-based Insufficient systematic error compensation in the calibration field registration method, and inaccurate positioning of feature points and lines in the block adjustment registration method with control information constraints

Method used

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  • Movable target sphere oriented onboard LiDAR point cloud and image united rectification method
  • Movable target sphere oriented onboard LiDAR point cloud and image united rectification method
  • Movable target sphere oriented onboard LiDAR point cloud and image united rectification method

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Experimental program
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Embodiment 1

[0076] Embodiment one : Point cloud image registration experiment of airborne lidar to survey area.

[0077] Survey area: Covering an area of ​​4 square kilometers, the terrain is undulating; there are dozens of known ground control points evenly distributed within the range.

[0078] Target ball device: the radius of the upper sphere is 0.320m. It is erected at known ground control points, and the apex of the sphere, the center of the sphere and the ground control points are on the same plumb line; one is installed at each of the four corners of the survey area, and they are respectively placed at known ground control points. At the same time, three are set in the center of the survey area as accuracy checkpoints.

[0079] Flight and parameters: large unmanned helicopter, relative altitude 250m;

[0080] Parallel flight, 2 strips to and fro, with an average scanning width of 550m;

[0081] Airborne equipment: 1. LiDAR system. It is a laser measuring device. Its emissio...

Embodiment 2

[0098] Embodiment two: This embodiment is aimed at the point cloud and image registration test of the airborne lidar survey area in another mountainous zone.

[0099] The specific steps and processes of this embodiment are basically the same as those of Embodiment 1, and the differences will be described in detail below.

[0100] The status of the survey area is quite different from that in Embodiment 1, but this difference does not have any impact on the registration method of the present invention; the arrangement and structural changes of the target ball device can be selected according to the situation, but it does not affect the registration method of the present invention. methods; neither are described in detail here. The laser scanning point spacing used in this embodiment is 0.180m. After the point cloud data is collected by scanning and the area image is collected by the digital camera, the point cloud data is uploaded, solved and stored in the computer; the real-...

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Abstract

The invention discloses a movable target sphere oriented onboard LiDAR point cloud and image automatic rectification method and a target sphere device applied to the method and aims at solving the high-accuracy rectification problem of a point cloud and an optical spectrum image when an existing onboard laser radar and a digital camera are combined to perform earth observation. The movable target sphere oriented onboard LiDAR point cloud and image automatic rectification method comprises the steps of 1 acquiring the point cloud and the image, 2 resolving a point cloud data coordinate, 3 automatically recognizing point cloud data, 4 resolving sphere parameters of a fit sphere and determining a peak coordinate, 5 recognizing and centering images of sphere identification features and the like. The target sphere device is a sphere body marked with the identification features at the top. The rectification method can automatically separate out sphere surface point cloud and background point cloud, decrease control information interaction working amount in traditional block adjustment, obviously improved the rectification efficiency and can ensure the rectification accuracy of the point cloud, the image and a control point.

Description

technical field [0001] The invention relates to the technical field of measurement, in particular to a precise processing method for point cloud data and images after aerial survey by specific markers. Background technique [0002] At present, the integrated airborne lidar (light detection and measurement) and visible light digital camera are combined to observe the earth, and can simultaneously collect 3D point cloud data and spectral images. However, due to the influence of various factors such as hardware placement errors between laser scanners, digital cameras and GPS / IMU (inertial measurement units or systems), sensor clock alignment errors, and integrated navigation solution errors under different flight conditions, As a result, it is difficult to rely solely on the POS system for data geometric registration to achieve direct positioning purposes for 3D laser point clouds and images. Therefore, in order to ensure the registration accuracy of point clouds and images, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
CPCG06T2207/10028
Inventor 左志权李赟刘正军
Owner CHINESE ACAD OF SURVEYING & MAPPING
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