One-stop calibration method for arrangement parameters of vehicle-mounted three-dimensional laser scanning system

A scanning system, three-dimensional laser technology, applied in the direction of using optical devices, measuring devices, instruments, etc., can solve the problems of complex calibration methods and low calibration efficiency, and achieve the effects of high solution efficiency, improved efficiency, and improved accuracy.

Inactive Publication Date: 2015-12-30
THE PLA INFORMATION ENG UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art, and propose a one-stop calibration method for the vehicle-mounted thr...

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  • One-stop calibration method for arrangement parameters of vehicle-mounted three-dimensional laser scanning system
  • One-stop calibration method for arrangement parameters of vehicle-mounted three-dimensional laser scanning system
  • One-stop calibration method for arrangement parameters of vehicle-mounted three-dimensional laser scanning system

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Embodiment Construction

[0020] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0021] (1) Acquisition of geocentric coordinates of artificial signs

[0022] Such as figure 1 Shown is the parameter calibration field of the present invention, and a known point S is selected in the calibration field 1 , and the high-precision coordinates of this point are known, another 5 control points are selected in the verification field, S 5 and S 6 It is two control points that can see each other.

[0023] Such as figure 2 Shown is the arrangement of artificial signs in the calibration field of the present invention, in S 5 A certain number of artificial signs with reflective properties are fixed on nearby objects. in S 5 Set up the total station, S 6 The prism is erected, and the coordinates of the center of the artificial sign are obtained by using the direction observation method to measure the angle and the laser distance measurement. L...

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Abstract

The invention relates to a one-stop calibration method for arrangement parameters of a vehicle-mounted three-dimensional laser scanning system. The one-stop calibration method comprises the steps of fixing a certain number of artificial marks with a reflective property on objects in a calibration field, and acquiring geocentric coordinates of the artificial mark points; selecting a position where the mark points are distributed to act as a site, enabling a vehicle loaded with the three-dimensional laser scanning system to stop at the site, acquiring a series of mark point clouds by using a three-dimensional acquisition mode, carrying out recognition and positioning on the mark point clouds, and establishing the mark point clouds in a laser scanning coordinate system L; and transforming the geocentric coordinates of the artificial marks from a geocentric coordinate system (WGS84) to an inertial platform coordinate system (I) through coordinate transformation mode, realizing conversion with coordinates in the laser scanning coordinate system (L) through a coordinate transformation model, and solving the arrangement parameters. The method provided by the invention can carry out calibration at one stop, thereby reducing the complexity of a mathematical transformation model, and improving the efficiency of calibration for the arrangement parameters.

Description

technical field [0001] The invention relates to a one-stop calibration method for setting parameters of a vehicle-mounted three-dimensional laser scanning system. The invention belongs to the field of measuring technology characterized by optics. Background technique [0002] With the continuous improvement of laser scanning speed, accuracy and massive data processing capabilities, laser scanners have gradually become the main sensor of vehicle-mounted mobile measurement systems, called vehicle-mounted laser scanning systems. [0003] At present, the method of calibrating the installation parameters of the vehicle-mounted 3D laser scanning system is mainly to set different horizontal scanning angles by means of two-dimensional acquisition. It is necessary to allow the vehicle to measure according to a certain scanning angle while driving, which requires high flatness of the measured object. ; and it needs to be measured multiple times to obtain measurement data at different...

Claims

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Application Information

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IPC IPC(8): G01B11/00
Inventor 王力李广云李明磊李宗春周阳林杨振邓勇刘灵杰宗文鹏彭逸凡
Owner THE PLA INFORMATION ENG UNIV
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