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SFM point cloud correction method based on vector rotation of ned coordinate system

A calibration method and coordinate system technology, applied in measurement devices, 3D modeling, photo interpretation, etc., can solve problems such as complex processes, and achieve the effect of simplifying operation processes, reducing work intensity and equipment costs, and reducing safety risks.

Active Publication Date: 2021-11-30
CHANGAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this method needs to place more plates, such as more than 6, and the process is complicated, so the process needs to be simplified

Method used

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  • SFM point cloud correction method based on vector rotation of ned coordinate system
  • SFM point cloud correction method based on vector rotation of ned coordinate system
  • SFM point cloud correction method based on vector rotation of ned coordinate system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0043] When the reference object set in the step S2 is an object, the reference plane is the reference plane M1 and the reference plane M2 on which the object is set, the reference plane M1 and the reference plane M2 intersect, and according to the inclination and inclination of the reference plane M1, the The object rotates around the normal vector of the surface until the attitude of the surface is correct, and then the inclination and inclination of the reference plane M2 are used to constrain the posture of the object to make the posture of the object correct. The normal vector NED coordinates of the reference plane M1 and the reference plane M2 are respectively (x1, y1, z1), (x2, y2, z2).

[0044] Such as figure 1 In (a), select two non-parallel surfaces arbitrarily, first rotate the shape (ie, inclination and inclination) of the datum plane M1 until the attitude of the plane is correct, and then the model of the datum plane M1 rotates around the normal vector of the plan...

Embodiment 2

[0061] When the reference object set in the step S2 is a horizontal datum plane, its shape is light and thin, and the reference auxiliary line is a marker vector 1 and a marker vector 2 intersected on the surface of the horizontal datum plane, and the marker vector 1 and the NED coordinate The N axes are consistent, the three-axis coordinates N=1, E=0, and D=0 of the mark vector 1 are denoted as (1, 0, 0), and the mark vector 2 is consistent with the E axis in the NED coordinates, so The three-axis coordinates N=0, E=1, and D=0 of the above-mentioned mark vector 2 are denoted as (0,1,0), and the NED coordinates of the normal vector of the horizontal datum plane are placed at (0,0,1), so The NED coordinates of the normal vector of the horizontal datum plane are (x0, y0, z0).

[0062] This embodiment is a variant of Embodiment 1, which is more simplified and only needs one horizontal plane. The additional condition is that a marker vector 1 and a marker vector 2 are drawn on the...

Embodiment 3

[0072] When the reference object set in the step S2 is an inclined datum plane, its shape is frivolous, and the reference auxiliary line is the direction marker vector and the normal vector set on the inclined reference plane, and the coordinates of the direction marker vector are measured by a compass, which is a Variables for arbitrary coordinates. After conversion, it is denoted as (x'1, y'1, z'1), and its normal vector NED coordinates are converted from the spherical coordinates measured by the compass, denoted as (x'2, y'2, z'2); the corresponding The NED coordinates of the trend and inclined surface normal vectors on the model are measured from the point cloud model, which are recorded as (x1, y1, z1), (x2, y2, z2) respectively.

[0073] When the inclined datum plane is in an inclined state (including the vertical plane), according to the aforementioned principles, it can be known that marking a line segment in any direction on the inclined datum plane, and measuring its...

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Abstract

The invention discloses a SfM point cloud correction method based on the vector rotation of the NED coordinate system, and relates to the technical field of point cloud three-dimensional model posture correction, including the conversion of the spherical coordinate system and the NED coordinate system, the principle of vector rotation, and three different methods in the NED coordinate system. Scene measurement calibration calibration method. The attitude correction of the 3D model is performed based on the compass occurrence of GCPL (Ground Control Surface Technology) with different attitudes, and a SfM-MVS point cloud correction method system that is more portable, highly adaptable to the working environment, and portable is realized. , more convenient and flexible, can be applied to many fields such as construction, hydraulic engineering, civil engineering, geology, geography and military affairs.

Description

technical field [0001] The invention relates to the technical field of point cloud three-dimensional model attitude correction, in particular to an SfM point cloud correction method based on NED coordinate system vector rotation. Background technique [0002] In the process of using SfM (Structure from Motion, motion recovery structure) to restore fine scene structure and extract information, model size and attitude control are crucial, especially in the field of field operations such as architecture, civil engineering, earth science and military. Because these domains require the correct size, pose and relative geographic relationship to prepare for the correct extraction of geometric parameters. Usually, applying SfM-MVS technology to a series of unordered images will generate a dense point cloud in a relative or arbitrary coordinate system, and the point cloud model is rotated relative to the real world. The reason for this phenomenon is that the SfM technology simplifie...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/73G06T17/00G06F30/20G01C11/04G01C17/00G01C25/00
CPCG01C11/04G01C17/00G01C25/00G06T17/00G06T2207/10028G06T7/75G06F30/20
Inventor 林靖愉王冉惠元秀辛永辉李路肖宙轩刘源
Owner CHANGAN UNIV
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