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Large-range splicing method and device for vehicle-mounted laser scanning point clouds

A vehicle-mounted laser scanning, large-scale technology, applied in the details of image stitching, details of 3D image data, image data processing, etc., can solve the problems of low processing efficiency and large amount of data processing, to improve accuracy, Effects of improving reliability and improving data processing efficiency

Active Publication Date: 2019-12-06
WUHAN ZHONGHAITING DATA TECH CO LTD
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Problems solved by technology

[0008] Aiming at the technical problems existing in the prior art, the present invention provides a large-scale splicing method and system for vehicle-mounted laser scanning point clouds, which solves the prob

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  • Large-range splicing method and device for vehicle-mounted laser scanning point clouds
  • Large-range splicing method and device for vehicle-mounted laser scanning point clouds
  • Large-range splicing method and device for vehicle-mounted laser scanning point clouds

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[0060] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0061] In the actual process of making high-precision electronic maps, it is necessary to collect the location information of the road, and the location information of the road is usually collected by collecting the laser carried by the car to emit lasers around, and receive the lasers that return when hitting objects, and record the return of the lasers. Time and the intensity of the laser return, and calculate the coordinate position of the object according t...

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Abstract

The invention relates to a large-range splicing method and device for vehicle-mounted laser scanning point clouds, and the method comprises the steps: obtaining a to-be-spliced edge point cloud data set, and extracting a scanning line structure from the to-be-spliced edge point cloud data set; respectively extracting a plurality of control points from every two pieces of to-be-connected edge pointcloud data of the to-be-connected edge point cloud data set to form a control point pair set; calculating the offset of each scanning line in the to-be-connected edge point cloud data set based on the corresponding relationship between the control points and the to-be-connected edge point cloud data; and based on the offset of each scanning line, splicing the plurality of to-be-spliced edge pointcloud data in pairs. Compared with a traditional point cloud splicing method which needs to calculate the offset of a large number of feature points and is large in data processing amount and low inprocessing efficiency, the method splices the point cloud data of the to-be-spliced edge based on the offset of the scanning line, the data calculation amount is reduced, and the data processing efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of high-precision map production, in particular to a large-scale mosaic method and device for vehicle-mounted laser scanning point clouds. Background technique [0002] With the development of automotive driverless technology, a consensus has been reached on high-precision maps as an important prior information sensor for driverless systems, and the production of high-precision maps based on laser scanning point clouds has gradually attracted widespread attention. [0003] Since the GPS system used for absolute positioning in the vehicle-mounted laser scanning system has the characteristics of inconsistent positioning errors in different periods, the accuracy of the laser point cloud collected in different periods is inconsistent. Therefore, when making high-precision maps and collecting large-scale laser point clouds, It is unavoidable that the point clouds of the borders between the acquisition areas canno...

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Application Information

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IPC IPC(8): G06T3/00
CPCG06T3/0068G06T2200/32G06T2200/04
Inventor 刘圆逯梦强姚懿丹罗跃军
Owner WUHAN ZHONGHAITING DATA TECH CO LTD
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