Method for converting 3D linear generalized model between scanner coordinate system and engineering surveying coordinate system

Abstract

The invention provides a method for converting a 3D linear generalized model between a scanner coordinate system (coordinate system 1) and an engineering measurement coordinate system (coordinate system 2), which is called three-dimensional line (3D straight line) conversion and comprises the following steps: 1) in a three-dimensional Cartesian coordinate system, dividing 3D straight lines into three classes according to a coordinate axis where the maximum component of the absolute value of the direction vector of the 3D straight lines is located, and using at least four characteristic parameters; 2) under the condition that the conversion parameters of the two coordinate systems are known, establishing a 3D linear conversion equation of the relationship between the characteristic parameters and the conversion parameters of the 3D linear equation under the two coordinate systems; and 3) establishing a 3D linear error propagation law of the 3D linear characteristic parameter variance matrix in the coordinate system 2 by the conversion parameter variance matrix and the 3D linear characteristic parameter variance matrix in the coordinate system 1. According to the method, the positionand attitude parameters and errors of the 3D straight line on the object in the scanner coordinate system can be converted into an engineering measurement coordinate system, so that the analysis andresearch on the straight line geometrical morphology of the object are facilitated.

Description

technical field [0001] The invention relates to characteristic parameters of point cloud objects and error propagation thereof, and belongs to the field of engineering measurement. Background technique [0002] At present, point cloud has become a common data source in many fields such as photogrammetry and remote sensing, computer vision, machine learning, etc., and there are various types. In addition to airborne lidar point cloud, there are also point cloud obtained by photogrammetry, static ground Scanning point cloud, ground mobile scanning point cloud, simultaneous positioning and mapping point cloud. People are always accustomed to observe, express and study objective objects in a geographic space with the vertical line as the reference line and the north direction as the basic direction. This geographic spatial coordinate system is often the geographic reference coordinate system in the field of surveying and mapping or engineering measurement Coordinate System. Th...

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Problems solved by technology

At present, in the research results of point cloud objects, there are many studies on geometric models and splicing, but no in-depth research has been conducted on the coordinate conversion of 3D linear geometric model parameters, random models, and error propagation laws of model parameters.

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