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Method and system for optimizing laser scanning point cloud data by means of unmanned aerial vehicle images

A technology of laser scanning and point cloud data, which is applied in the field of surveying and mapping, can solve the problems that cannot meet the requirements of centimeter-level accuracy of geolocation

Active Publication Date: 2015-07-08
武汉大势智慧科技有限公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Currently, cheaper positioning and orientation devices can achieve decimeter-level accuracy, but cannot meet the centimeter-level accuracy requirements of many surveying and mapping applications

Method used

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  • Method and system for optimizing laser scanning point cloud data by means of unmanned aerial vehicle images
  • Method and system for optimizing laser scanning point cloud data by means of unmanned aerial vehicle images
  • Method and system for optimizing laser scanning point cloud data by means of unmanned aerial vehicle images

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Embodiment 1

[0032] Embodiment 1. A method for optimizing laser scanning point cloud data using UAV images. Combine below Figure 1-Figure 7 The method provided in this embodiment will be described in detail.

[0033] see figure 1 , S1. Extract road domain information from laser scanning point cloud data.

[0034] Specifically, the ground mobile laser scanner (MLS) can quickly scan and produce a large amount of point cloud data from the perspective of the street, which is called laser scanning point cloud data. see figure 2 Firstly, the laser scanning point cloud data is preprocessed, and the non-topographic points in the laser scanning point cloud data are eliminated by using the ground point filtering algorithm. In the process of eliminating non-topographic points, it can be assumed that the laser scanning system has a very stable relative height from the ground. According to this assumption, the average height of adjacent nodes on the track is taken as a threshold, and the distance...

Embodiment 2

[0080] Embodiment 2. A system for optimizing laser scanning point cloud data using UAV images. Combine below Figure 8 The system provided in this embodiment will be described in detail.

[0081] see Figure 8 The system provided by this embodiment includes a non-topographic point elimination module 801, a road domain information extraction module 802, a grayscale image generation module 803, a feature point identification module 804, a boundary information identification module 805, a point matching module 806, and an outlier elimination module. Module 807 and point cloud data matching point optimization module 808, wherein, abnormal point elimination module 807 includes point pair selection module 8071, ground point calculation module 8072, back projection point calculation module 8073, abnormal point elimination module 8074 and matching point optimization module 8075 .

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Abstract

The invention discloses a method and system for optimizing laser scanning point cloud data by means of unmanned aerial vehicle images. The method includes the steps that road area information is extracted from the laser scanning point cloud data; the extracted road area information is processed through the interpolation algorithm to generate a gray raster image; feature points of the gray raster image are recognized by means of the Harris corner extraction algorithm; the recognized feature points are matched with homonymy points in the unmanned aerial vehicle images by the adoption of the boundary-based template matching algorithm; abnormal points in the homonymy matching points are eliminated by means of the RANSAC algorithm; smooth laser scanning track adjustment parameters are worked out by the adoption of a tri-shape-preserving interpolation method, and the laser scanning point cloud data are adjusted and optimized. According to the method, the unmanned aerial vehicle images are integrated with the laser scanning point cloud data, the laser scanning point cloud data are corrected by using the unmanned aerial vehicle images, and the accuracy of the laser scanning point cloud data is improved.

Description

technical field [0001] The present invention relates to the technical field of surveying and mapping, in particular to a method and system for optimizing laser scanning point cloud data by using UAV images. Background technique [0002] Ground Mobile Laser Scanner (MLS) is a surveying and mapping instrument that emits and receives laser signals for measurement. It is widely used in surveying and mapping, mining, urban, water conservancy, cultural conservation and other fields. It can quickly produce a large amount of point cloud data from the perspective of the ground. [0003] The mobile laser scanner is a combined measurement system that installs a laser scanner and a positioning and orientation device on a mobile platform. The accuracy of the point cloud data generated by it will be affected by systematic errors and random errors. Usually, strict calibration of the laser sensor system can eliminate the influence of system errors caused by system integration. At this time,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
Inventor 高云龙张帆黄先锋
Owner 武汉大势智慧科技有限公司