Method and device for inpainting of colourised three-dimensional point clouds
An image and point cloud technology, applied in the field of measuring instruments, can solve problems such as parallax and incorrect coloring
Active Publication Date: 2018-07-31
LEICA GEOSYSTEMS AG
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Problems solved by technology
[0010] If the camera on the measuring instrument is arranged off-axis, this off-axis placement can cause parallax
As a result, incorrect shading may occur
Method used
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Embodiment Construction
[0060] figure 1 An exemplary measuring instrument 1 embodied as a laser scanner is shown, which is configured to carry out the method according to the invention. The measuring instrument comprises a main body 2 and a base 3 optionally mounted on a tripod 9 . About axis V provides controlled motorized relative rotation between body 2 and base 3 . The main body 2 comprises a transmitting unit 4, a receiving unit 5 and a beam directing unit 6, wherein the transmitting unit 4 and the receiving unit 5 are combined into one part in this example; however, they may be embodied in separate components, for example, with Beam splitter combined. The beam guiding unit 6 is mounted in the main body such that the beam guiding unit 6 is rotatable about the pitch axis H by a motor (not shown). While rotating, the guiding unit 6 deflects the transmission beam T from the transmission unit 4 towards the environment and deflects the reception beam R returning from this environment towards the r...
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The invention relates to a method and a device for inpainting of colourised three-dimensional point clouds. The invention relates to a method for colourising a three-dimensional point cloud, wherein the method comprises: with a surveying instrument, surveying a point cloud of a setting, wherein each point of said point cloud is characterised by coordinates within an instrument coordinate system, which has an instrument centre as origin; with a first camera, capturing a first image of the setting, wherein each pixel value of the first image is assigned to coordinates within a first camera coordinate system, which has a first projection centre as origin, wherein the first projection centre has first parallax shift relative to the instrument centre; with a computer comprised by the surveyinginstrument: transforming the point cloud from the instrument coordinate system into the first camera coordinate system, resulting in a first transformed point cloud; within the first transformed pointcloud, detecting one or more uncovered points, which are openly visible from the perspective of the first projection centre; to each uncovered point in the first transformed point cloud, assigning apixel value, which has corresponding coordinates in the first camera coordinate system.
Description
technical field [0001] The invention relates to a method according to claim 1 and a measuring device according to claim 12 . Background technique [0002] Generating 3D point clouds is used to survey many different environments such as construction sites, building exteriors, industrial facilities, house interiors, or any other applicable environment. The measurements obtained therefrom can be used to obtain an accurate three-dimensional (3D) model of the environment, wherein the model is composed of a point cloud. Points in such a cloud are stored as coordinates in a coordinate system that can be defined by the measuring instrument that recorded the point cloud. Generally speaking, the center of the measuring instrument constitutes the origin of the coordinate system, specifically the so-called nodal points of the measuring instrument constitute the origin of the coordinate system. The point is usually measured by correlating the distance measured with the laser beam (by m...
Claims
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IPC IPC(8): G06T5/00G01B11/00
CPCG01B11/002G06T5/001G06T2207/20068G06T2207/10028G01C1/04G01C15/002G06T5/005G06T7/30G06T2207/10004G06T2207/10024G06T2207/30181G01S17/42
Inventor D·布莱泽R·菲特泽尔B·戈登M·施罗德贝恩德·瓦尔泽
Owner LEICA GEOSYSTEMS AG