Method for obtaining 3D color point cloud jointly with external camera of 3D laser scanner

Abstract

The invention discloses a method for jointly acquiring a three-dimensional color point cloud with an external camera of a three-dimensional laser scanner. By installing an external camera on the three-dimensional laser scanner, the panoramic three-dimensional point cloud obtained by the three-dimensional laser scanner and the multiple images captured by the camera are realized. Multi-source data fusion of multiple images to obtain a 3D color point cloud, which uses a 3D laser scanner and an external camera for joint calibration, and establishes the geometric correspondence between the 3D panoramic point cloud and multiple images to achieve panoramic image and 3D laser Texture mapping of point clouds to obtain color point clouds with rich texture information, and the accuracy and efficiency are significantly better than existing acquisition methods.

Description

technical field [0001] The invention relates to the technical field of image three-dimensional information reconstruction, in particular to a method for jointly acquiring three-dimensional color point clouds with an external camera of a three-dimensional laser scanner. Background technique [0002] As a means of quickly obtaining 3D information on the surface of the scene, 3D laser scanning technology is being widely used in many industries such as virtual reality, reverse engineering, and historical relic protection with its unique advantages, and has a very broad application prospect. As the data carrier of rich geometric information and surface texture information, digital image and point cloud data are two kinds of cross-modal heterogeneous data. The combination of the two data can give full play to their respective advantages and realize the refined 3D reconstruction of complex objects. [0003] For the problem of how to obtain a panoramic 3D point cloud with rich textu...

AI Technical Summary

Problems solved by technology

[0006] 3. The method of registering the panoramic intensity image and optical image generated by the point cloud on the basis of the mutual information measurement standard. However, there are many factors that affect the gray value of the point cloud intensity image, so the panoramic intensity of the point cloud It is difficult to use image pixels as registration primitives, and the imaging principles of point cloud panoramic intensity images and optical images are different. Feature monitoring operators such as SIFT and SURF are not easy to obtain correct feature points, so it is difficult to register with digital images.

[0008] 5. Stitch multiple CCD digital images into a panoramic image, and convert the panoramic image into a panoramic spherical point cloud according to the principle of central projection imaging, and establish corresponding control points on the panoramic image and 3D laser scanning point cloud, and use the Rodrigue matrix for However, because digital image stitching requires image matching, the higher the image resolution, the lower the efficiency of image stitching, and the resulting panoramic image is prone to distortion, which has a great impact on the accuracy of subsequent texture mapping. influences

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