Point cloud error correction method based on mobile 3D laser scanning

A technology of laser scanning and error correction, which is applied in the direction of using optical devices, measuring devices, instruments, etc., can solve problems such as errors, increase system costs, and operation and maintenance costs, and achieve high precision, fast speed, and meet the needs of tunnel convergence measurement Effect

Active Publication Date: 2020-08-21
SHANGHAI RES INST OF BUILDING SCI CO LTD
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Problems solved by technology

The introduction of an inclinometer will lead to new problems: how to define the initial state of the three-dimensional errors, and how to define the changes of the three angles? At the same time, the introduction of an inclinometer will inevitably increase the cost of the system and the cost of operation and maintenance

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  • Point cloud error correction method based on mobile 3D laser scanning
  • Point cloud error correction method based on mobile 3D laser scanning
  • Point cloud error correction method based on mobile 3D laser scanning

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Embodiment Construction

[0037] The present invention will be further described below in conjunction with accompanying drawing, and the principle of the present invention is very clear to those skilled in the art. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0038] The present invention provides a point cloud error correction method based on mobile 3D laser scanning, the specific process is as follows:

[0039] A. Pre-processing preparation: Combine the odometer with the spiral scanning mode of the 3D laser scanner for push-brooming to obtain a 3D point cloud. Each ring is along the central axis, and combined with image filling, gray level smoothing and gray level linear stretching enhancement algorithms, Generate a tunnel tile map;

[0040] B. Based on the unfolded tunnel tile map, solve the actual azimuth cα3 of the center of the capping block in the measurement coordinate system, and corre...

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Abstract

The invention relates to the technical field of tunnel monitoring and three-dimensional measurement methods, in particular to a tunnel point cloud model error correction processing method based on a mobile three-dimensional laser scanning technology. A plurality of points are sewed between rings, pixel transverse and longitudinal resolutions are combined, point coordinates are recovered, angle deviations of three dimensions corresponding to each seam are solved, a seam closest to any point in the point cloud is searched, a corresponding point is corrected by use of the angle of the seam, afterangle errors of all points are corrected, a tunnel tiled graph is regenerated, after point cloud correction is carried out, and angle deviation is corrected through step B, so that an accurate tunnelpoint cloud model can be obtained. The method has the advantages of being high in precision, high in speed, automatic, high in practicability and capable of meeting the requirements of tunnel convergence measurement.

Description

technical field [0001] The invention relates to the technical field of tunnel monitoring and three-dimensional measurement methods, in particular to an error correction processing method for a tunnel point cloud model based on mobile three-dimensional laser scanning technology. Background technique [0002] In recent years, 3D laser scanning systems have been widely used in various rail transit tunnel monitoring at home and abroad. The laser scanner uses a rail trolley as a carrying platform and travels along the subway track. On the carrying platform, the scanner is set to the spiral scanning mode to obtain the point cloud model information of the subway tunnel. [0003] There are also a variety of errors in mobile laser scanning: random errors in odometers and scanners, super high orbits, deviations in scanner installation and other factors, resulting in errors in the acquisition of point clouds. There will be small angle errors in three directions between the scanner and...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/24G01B21/04
CPCG01B11/24G01B21/045
Inventor 吴廷黄帆李维涛陈朋孟斌蒋玮姚远赵瑞华
Owner SHANGHAI RES INST OF BUILDING SCI CO LTD
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