A method for extracting targets and control points suitable for fast scanning scenes

Abstract

The invention discloses a target and a method for extracting control points suitable for fast scanning scenes. The target is composed of three mutually non-parallel planes X, Y and Z, and the target surface is coated with silver-white paint. The method includes the following steps: S1. Use a laser scanning system to scan the target and perform coordinate calculation on the obtained point cloud data; S2. Identify and intercept the target point cloud data in the three-dimensional point cloud data to obtain the point cloud subspace. ; S3. Perform plane model estimation on the point cloud subspace and use dichotomy denoising to obtain the basic point cloud, and remove the noise; S4. Perform iterative denoising on the basic point cloud to finally obtain accurate plane parameters; S5. Use the obtained The final plane parameters are jointly formed into a system of non-homogeneous linear equations to solve the target control points. The target and target control point extraction method provided by the present invention is suitable for scenes where the carrier platform moves quickly, and can quickly and accurately determine the coordinates of the target control point in the point cloud, thereby improving the accuracy of the point cloud data, and has a wide range of applications. value.

Description

technical field [0001] The invention relates to the field of precise positioning of point cloud data, in particular to a method for extracting targets and control points suitable for fast scanning scenes. Background technique [0002] Three-dimensional laser scanning technology is an emerging technology. The use of three-dimensional laser scanning technology to collect data has many advantages such as high efficiency, large amount of data, and fast speed. It has become an important technical means to record the spatial distribution and surface characteristics of the environment, and is widely used in For engineering surveying, power line inspection, track monitoring, forest survey and other purposes, depending on the carrier platform, there are mainly airborne, vehicle-mounted and terrestrial laser scanning. [0003] There are many factors that affect the accuracy of point cloud data obtained by 3D laser scanning technology, including target control point fitting error, GPS ...

AI Technical Summary

Problems solved by technology

[0005] Traditional targets are mainly spherical targets, cylindrical targets and planar targets. Among them, spherical targets and cylindrical targets have the following disadvantages: 1. Both require surface fitting, which requires a large amount of data calculation and low efficiency; 2. In-vehicle or machine In the application scenario of on-board scanning, due to the high-speed operation characteristics of the carrier platform, the point cloud data that can be scanned is extremely limited, and the point cloud data required for fitting the surface is large, which limits its application; 3. Making spherical targets and cylinders When the target size is too small, it is impossible to collect all the surface point cloud data information at one time. If the target size is too large, it will be difficult to manufacture. The obtained spherical or cylindrical surface is low-precision, and the scanning error is large.

The disadvantage of the planar target is that the accuracy of the control points of the planar target is affected by multiple reflection effects and the accuracy is low

Images