Three-dimensional point cloud data acquisition device and three-dimensional point cloud data acquisition method by means of two-dimensional laser scanner

Abstract

The invention discloses a three-dimensional point cloud data acquisition device and a three-dimensional point cloud data acquisition method by means of a two-dimensional laser scanner, wherein a coordinate conversion method of laser point cloud data from two-dimensional data to three-dimensional data is presented. Influences of factors such as sensor working mode difference and hardware process level to a conversion process are analyzed, and furthermore a corresponding settlement method is presented. The settlement method comprises the steps of approximating true speed of a turntable through Kalman filtering; correcting serial-port data acquisition time; compensating an angle change amount of a laser point in one period; and calculating angle deviation and position deviation of the laser scanner in a horizontal axis and a longitudinal axis. Experiments represent a fact that a spatial three-dimensional point cloud structure can be accurately acquired in static three-dimensional laser scanning by means of a rotating platform. In moving scanning, because of relatively small size, the position of a moving platform can be obtained through data registration in acquiring the three-dimensional data, thereby realizing synchronous map acquisition and positioning.

Description

technical field [0001] The invention relates to the technical field of 3D mapping realized by a 2D laser ranging sensor, in particular to a device and method for acquiring 3D point cloud data using a 2D laser scanner. Background technique [0002] Three-dimensional laser scanners can obtain data information in the entire three-dimensional space. However, three-dimensional laser scanners are generally expensive and relatively large in size. Such as velodyne HDL-64E (priced at about 300,000 RMB), ibeo Scala laser (priced at about 200,000 RMB). [0003] When performing 3D laser scanning, it is often a "stop and go" type of scanning and must be scanned at a pre-set location. However, in some special environments, such as mines or caves, more convenient and smart hand-held laser mapping equipment is often required [1-2]. The realization of 3D mapping based on 2D laser ranging sensor is a low-cost 3D mapping solution, and it is also the best solution that can realize 360-degree ...

AI Technical Summary

Problems solved by technology

[0002] 3D laser scanners can obtain data information in the entire 3D space, but 3D laser scanners are generally expensive and relatively large in size

However, none of their literatures introduced the 2D to 3D coordinate transformation method of laser point cloud data before registration and composition.

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