Processing method of indoor three-dimension model data

A processing method and 3D model technology, applied in the field of 3D measurement, can solve problems such as difficult equipment adjustment, unusable mobile devices, and inability to implement functions on the user interface, and achieve the effect of improving accuracy and facilitating interactive processing.

Inactive Publication Date: 2018-05-18
北京领航视觉科技有限公司
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Problems solved by technology

After the 3D model is modeled, install the client on the computer, load the data and perform further interaction or processing, and provide cross-visualization services through page technology, while mobile devices cannot use it
At the same time, in the existing technology, the point cloud model is directly displayed, and the panoramic image is used as the texture material of the 3D model, and is not directly displayed to the user, so that the interactive user interf

Method used

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  • Processing method of indoor three-dimension model data

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[0041] The present invention will be further described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0042] The three-dimensional data acquisition equipment used in the present invention is a movable trolley, which contains a camera component, a lidar component, an inertial measurement unit and a monitor. Among them, the camera assembly is composed of five cameras uniformly fixed on the side wall of the nose of the trolley along the circumferential direction and one camera fixed on the top of the nose. The lidar component consists of a first lidar fixed on the top of the nose, a second lidar and a third lidar fixed on the lower part of the trolley. The first lidar is used to locate and establish a 2D plane map in real time during the scanning process, and the second lidar and the third lidar are used to scan the depth information of buildings on the passing line. The inertial measurement unit is fixed on the nose and consists of a ...

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Abstract

The invention discloses a processing method of indoor three-dimension model data. The method comprises the steps that 1, multiple pictures shot by a camera are arranged and combined sequentially; 2, ascanning process is played back, and a 2D map is generated through an SLAM algorithm based on loopback detection; 3, the scanning process is played back again, an AMCL algorithm is adopted to conductlocating on the 2D map, and a three-dimension point cloud model is built; 4, the three-dimension point cloud model is denoised and smoothed to obtain the optimized three-dimension point cloud model;5, the arranged pictures are subjected to panoramic splicing, and the actual position of a panoramic map is obtained according to locating. The processing method has the advantages that the SLAM algorithm with the loopback function is adopted to obtain an optimal map, the optimal map is precisely located through the AMCL algorithm, the locating precision is improved, an entire indoor three-dimension model is obtained, and good interaction among users can be achieved.

Description

technical field [0001] The invention relates to the technical field of three-dimensional measurement, in particular to a method for processing indoor three-dimensional model data. Background technique [0002] For the existing indoor 3D data collection, it is necessary to plan the data collection points in advance according to the floor plan. There must be other data collection points within a radius of several meters (usually 3-5 meters, depending on the sensor of the device) of each data collection point, otherwise the The data at the collection points cannot be spliced; according to the planned sequence, data is collected at each data collection point in turn. At the same time, all moving objects and people in the scene need to be removed during the collection process. The equipment moves to the next collection point; after all the data is collected, each data packet is spliced ​​into a complete indoor 3D model. After the 3D model is modeled, install the client on the co...

Claims

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Application Information

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IPC IPC(8): G06T17/05G06T17/20G06T3/40
CPCG06T3/4038G06T17/05G06T17/20
Inventor 刘鑫蕾华颖冰肖楠纪沛然王毓玮
Owner 北京领航视觉科技有限公司
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