Method for acquiring and calculating laser scanning data reflected by convex spherical mirror
A convex spherical mirror and data acquisition technology, applied in the field of surveying and mapping, can solve problems such as limited working space, occluded scanning, and lack of point cloud data
Active Publication Date: 2020-04-17
WUHAN UNIV
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[0003] The embodiment of the present application provides a laser scanning data acquisition and calculation method reflected by a convex spherical mirror, which solves the problems in the prior art such as limited working space and serious occlusion, which cause scanning dead spots and make the scanning object appear in non-direct sight areas. The problem of missing and empty cloud data
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[0044] In order to better understand the above-mentioned technical solution, the above-mentioned technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.
[0045] This embodiment provides a laser scanning data acquisition and calculation method reflected by a convex spherical mirror, referring to Figure 1-3 , including the following steps:
[0046] S1. Place the convex spherical mirror, fix the bracket, and place the convex spherical mirror at the dead corner of the working space.
[0047] Specifically, the convex spherical mirror is fixed on a bracket that can rotate and move at multiple angles. The convex spherical mirror is composed of a standard spherical cap, a diffuse reflection ring, and a bracket. Among them, the geometric parameters such as the radius R of the convex spherical mirror and the height of the spherical cap are obtained through pre-calibration. .
[0048] S2. The 3D laser sca...
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The invention belongs to the technical field of surveying and mapping, and discloses a method for acquiring and calculating laser scanning data reflected by a convex spherical mirror. The method comprises the steps of placing the convex spherical mirror at a dead angle of a working space; scanning an object through a three-dimensional laser scanner to obtain laser point cloud scanning data; separating laser point cloud scanning data into direct-view surface area point cloud, mirror surface positioning ring area point cloud and mirror surface reflection area point cloud; obtaining a rotation matrix according to the mirror surface positioning ring area point cloud; and calculating point cloud coordinates of object points on an object corresponding to laser image points in the laser point cloud reflected by the convex spherical mirror according to the rotation matrix and the mirror surface reflection area point cloud; and performing registration synthesis on the direct-view surface area point cloud and the point cloud coordinates of the object points on the object corresponding to the laser image points in the laser point cloud reflected by the convex spherical mirror to obtain complete point cloud of the object. According to the invention, the problems of point cloud data loss and holes in a non-direct-view area of the scanned object in the prior art are solved, and the completepoint cloud of the object can be obtained.
Description
technical field [0001] The invention relates to the technical field of surveying and mapping, in particular to a laser scanning data acquisition and calculation method reflected by a convex spherical mirror. Background technique [0002] Due to the country's emphasis on the protection of cultural heritage, more and more high-tech has been invested in it, including the use of laser scanning technology for 3D reconstruction. Laser scanning technology is an important means of high-precision 3D reconstruction. It can obtain dense point clouds on object surfaces with an accuracy better than 2mm. It is widely used in precision measurement, virtual geographic environment, cultural relics protection, and virtual reality. The integrity of the scanned object is the basic requirement for high-precision 3D reconstruction. In order to ensure the integrity of the object data as much as possible, the current common methods are: multi-station scanning and joint scanning of multiple scanners...
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Login to View More IPC IPC(8): G01C15/00G01B11/24
CPCG01B11/24G01C15/002
Inventor 张帆黄先锋王景荣
Owner WUHAN UNIV