A Point Cloud Correction Method, Device and Storage Medium for a Laser Scanner

Abstract

The present invention discloses a method for correcting point cloud of a laser scanner, which is applied to a laser scanner and includes: obtaining all scanning points in the original laser scanning data of a three-dimensional laser scanner, and reading a scanning point and recording it as a scanning point to be processed; determining whether the scanning point to be processed is the first scanning point, if so, storing the scanning point to be processed in a temporary cache and then continuing to read scanning points; if not, determining whether the scanning point to be processed and the previous scanning point to be processed belong to the same line segment; if so, storing the scanning point to be processed in the temporary cache and continuing to read scanning points; if not, taking out all scanning points in the temporary cache, performing filtering processing on the scanning data of each scanning point, and then storing them locally; at the same time, creating a new temporary cache, storing the scanning point to be processed in the new temporary cache, and then reading scanning points; until all scanning points are read. The present invention also provides a device and a storage medium for correcting point cloud of a laser scanner.

Description

Technical Field

[0001] The present invention relates to a laser scanner, and in particular to a method, device and storage medium for correcting point cloud of a laser scanner. Background Art

[0002] Currently, a three-dimensional laser scanner calculates the distance between a scanned point and the laser emission position based on the time difference between the emitted laser and the received returned laser, and combines the speed of light. At the same time, with the horizontal angle and pitch angle of the scanned point, the relative coordinate values are obtained by decomposition. Since during scanning, due to internal factors of the device or other external environments, systematic errors, random errors, etc. are caused, resulting in error fluctuations in the measured scanned points. To ensure the accuracy of subsequent calculations, generally, post-processing software is required to process and optimize the point cloud data obtained from the original laser scanner to reduce point cloud errors.

[0003] Currently, for the optimization of point cloud data, the following two methods are usually adopted:

[0004] One is to improve the design of the instrument itself to reduce errors. However, with the continuous maturity of technology, the room for improvement of the instrument itself is getting smaller and smaller. At the same time, the improvement process is difficult and time-consuming. In addition, due to hardware limitations, the error can only be reduced to a certain extent.

[0005] The other is to perform overall filtering on the scanned overall point cloud data through smoothing filtering algorithms such as Gaussian filtering, median filtering, and bilateral filtering. However, the overall filtering of point cloud data is performed in a three-dimensional space. This filtering method not only has high difficulty, high time complexity, high space complexity, etc., but also has very strict requirements on the performance of the machine used for filtering processing. Summary of the Invention

[0006] In order to overcome the deficiencies of the prior art, one of the purposes of the present invention is to provide a method for correcting point cloud of a laser scanner, which can solve the problems of high time and space complexity, high difficulty, long time consumption, etc. in the filtering processing of point cloud data in the prior art.

[0007] Another purpose of the present invention is to provide a device for correcting point cloud of a laser scanner, which can solve the problems of high time and space complexity, high difficulty, long time consumption, etc. in the filtering processing of point cloud data in the prior art.

[0008] The third purpose of the present invention is to provide a storage medium, which can solve the problems of high time and space complexity, high difficulty, long time consumption, etc. in the filtering processing of point cloud data in the prior art.

[0009] One of the purposes of the present invention is achieved by adopting the following technical solutions:

[0010] A method for correcting point cloud of a laser scanner, the point cloud correction method comprising:

[0011] An acquisition step: acquiring all scanning points in the original laser scanning data of a three-dimensional laser scanner;

[0012] A reading step: reading a scanning point from the original laser scanning data and denoting it as a scanning point to be processed, and acquiring the scanning data of the scanning point to be processed;

[0013] A judgment step: judging whether the scanning point to be processed is the first scanning point in the original laser scanning data, if so, executing a storage step; if not, executing a comparison step;

[0014] A storage step: storing the scanning point to be processed in a temporary cache, and then executing the reading step;

[0015] A comparison step: judging whether the scanning point to be processed and the previous scanning point to be processed belong to the same line segment; if so, storing the scanning point to be processed in the temporary cache where the previous scanning point to be processed is located, and then executing the reading step; if not, executing a filtering and new creation step;

[0016] A filtering and new creation step: taking out all scanning points in the temporary cache, performing filtering processing on the scanning data of each scanning point and storing it locally; at the same time, creating a new temporary cache to store the scanning point to be processed in the new temporary cache, and then executing the reading step; ending until all scanning points in the original laser scanning data are read.

[0017] Further, the scanning data of the scanning point includes distance data and angle data of the scanning point.

[0018] Further, the comparison step specifically includes: first calculating the distance difference and angle difference between the scanning point to be processed and the previous scanning point to be processed according to the distance data and angle data of the scanning point to be processed and the distance data and angle data of the previous scanning point to be processed, and then judging whether the distance difference and angle difference meet the preset requirements; if so, the scanning point to be processed and the previous scanning point to be processed belong to the same line segment, storing the scanning point to be processed in the temporary cache where the previous scanning point to be processed is located, and then executing the reading step; if not, executing the filtering and new creation step.

[0019] Further, in the filtering and new creation step, the filtering process of the scanning data of each scanning point specifically includes: filtering the distance data and / or angle data of each scanning point.

[0020] Further, in the storage step, when the scanning point to be processed is the first scanning point, while storing the scanning point to be processed in the temporary cache, denoting the scanning point to be processed as the starting point of the line segment.

[0021] Further, in the filtering and new - building step, when the scanning point to be processed and the previous scanning point to be processed do not belong to the same line segment, while storing the scanning point to be processed into a new temporary cache, the scanning point to be processed is marked as the starting point of a new line segment.

[0022] Further, when filtering the scanning data of all scanning points in the temporary cache, the 11 - order mean operator algorithm is used to filter the scanning points.

[0023] Further, after storing the scanning point to be processed into the corresponding temporary cache, it further includes: judging whether the scanning point to be processed is the last scanning point in the original laser scanning data; if not, then executing the reading step; if so, taking out all scanning points in the temporary cache, filtering the scanning data of each scanning point, storing them locally, ending the scanning, and stopping the reading of data.

[0024] The second object of the present invention is realized by the following technical solution:

[0025] A point - cloud correction device for a laser scanner, including a memory and a processor. A point - cloud correction program is stored on the memory and runs on the processor. The point - cloud correction program is a computer program. When the processor executes the point - cloud correction program, it realizes the steps of a point - cloud correction method for a laser scanner adopted in the first object of the present invention.

[0026] The third object of the present invention is realized by the following technical solution:

[0027] A storage medium, which is a computer - readable storage medium, on which a point - cloud correction program is stored. The point - cloud correction program is a computer program. When the point - cloud correction program is executed by a processor, it realizes the steps of a point - cloud correction method for a laser scanner adopted in the first object of the present invention.

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0029] By converting the three - dimensional space filtering in the prior art for point - cloud data filtering into one - dimensional linear filtering, the present invention eliminates the fluctuations caused by random errors, improves the point - cloud quality, greatly reduces the filtering difficulty, reduces the time and space complexity of the filtering process, and improves the filtering efficiency; at the same time, the present invention does not involve the improvement of the device hardware, and solves the problems of high difficulty and long time consumption caused by the way of improving the device hardware in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a flowchart of a point - cloud correction method for a laser scanner provided by the present invention;

[0031] Figure 2 The original laser scanning data distribution diagram provided by the present invention;

[0032] Figure 3 is Figure 2 the original laser scanning data distribution diagram after point cloud correction;

[0033] Figure 4 The module diagram of the point cloud correction device of a laser scanner provided by the present invention.

[0034] In the figure: 11, memory; 12, processor; 13, communication bus; 14, network interface. Specific embodiments

[0035] Next, in combination with the accompanying drawings and specific embodiments, the present invention will be further described. It should be noted that, on the premise of no conflict, the following described embodiments or technical features can be arbitrarily combined with each other to form new embodiments.

[0036] Embodiment 1

[0037] The present invention provides a point cloud correction method for a laser scanner. By filtering the original data of the three-dimensional laser scanner during the process of converting it into point cloud data, that is, reducing the three-dimensional spatial filtering to one-dimensional linear filtering. Through one-dimensional linear filtering, the fluctuations caused by random errors are smoothed, the measurement thickness of the point cloud is reduced, and the quality of the point cloud is improved. Compared with the three-dimensional spatial filtering in the prior art, the present invention undoubtedly greatly reduces the filtering difficulty, time and space complexity, and improves the filtering efficiency. The present invention does not require any improvement to the hardware of the device, and solves the problems of high cost, great difficulty and long time consumption in the prior art when reducing errors through hardware improvement.

[0038] The present invention provides a preferred embodiment, a point cloud correction method for a three-dimensional laser scanner, as Figure 1 shown, specifically including the following steps:

[0039] Step S1, obtain all scan points of the original laser scanning data of the three-dimensional laser scanner.

[0040] Among them, each scan point has scan data. The scan data includes the angle data and distance data of the scan point. The position information of the scan point can be calculated according to the angle data and distance data of the scan point.

[0041] Step S2, read a scan point from the original laser scanning data and record it as the scan point to be processed, and obtain the scan data of the scan point to be processed.

[0042] Step S3: Determine whether the scan point to be processed is the first scan point. If so, execute Step S4; if not, execute Step S5.

[0043] Among them, each scan point obtained by the 3D laser scanner during scanning has a sequential order. All scan points are read in sequence according to the scanning order of the 3D laser scanner for scan points, so as to determine the position of each scan point.

[0044] Step S4: Store the scan point to be processed in the temporary cache, and then execute Step S2.

[0045] The present invention stores the scan points to be processed that have been read by establishing a temporary cache. At the same time, the scan points stored in the temporary cache in this embodiment all belong to the same line segment. Therefore, when the scan point to be processed is the first scan point, while storing the scan point to be processed in the temporary cache, the scan point to be processed is also recorded as the starting point of the line segment.

[0046] When the scan point to be processed is the first scan point, it is considered that the scan point to be processed is the starting point of a continuous line segment. Therefore, it is first stored in the established temporary cache, and then the next scan point is continued to be read.

[0047] Step S5: Determine whether the scan point to be processed and the previous scan point to be processed belong to the same line segment. If so, store the scan point to be processed in the temporary cache, and then execute Step S2; if not, execute Step S61 and Step S62. When the scan point to be processed is not the first scan point, it is also necessary to determine whether the scan point to be processed and the previous scan point to be processed belong to the same line segment: if the two belong to the same line segment, store the scan point to be processed in the temporary cache, that is, store the scan point to be processed in the temporary cache where the previous scan point to be processed is located; if the two do not belong to the same line segment, the scan point to be processed cannot be stored in the temporary cache where the previous scan point to be processed is located.

[0048] Step S61: Take out all the scan points in the temporary cache, filter the scan data of each scan point, and store it locally.

[0049] Step S62: Create a new temporary cache, store the scan point to be processed in the new temporary cache, and at the same time record the scan point to be processed as the starting point of the new line segment, and then execute Step S2; until all the scan points in the original laser scan data are read.

[0050] More preferably, steps S61 and S62 in this embodiment can be executed synchronously, or step S62 can be executed first and then step S61, or step S61 can be executed first and then step S62. That is, when the scan point to be processed does not belong to the same continuous line segment as the previous scan point to be processed, all the scan points stored in the temporary cache before the scan point to be processed are taken out, filtered, and then stored locally. At the same time, the scan point to be processed needs to be marked as the starting point of a new line segment and stored in the newly established temporary cache, and then the next scan point in the original laser scan data is continued to be read.

[0051] More preferably, the determination of whether the scan point to be processed and the previous scan point to be processed are on the same line segment in step S5 specifically includes:

[0052] First, calculate the distance difference and angle difference between the scan point to be processed and the previous scan point to be processed based on the distance data and angle data of the scan point to be processed and the distance data and angle data of the previous scan point to be processed.

[0053] Then, determine whether the distance difference and / or angle difference meet the preset requirements. If so, it is considered that the scan point to be processed and the previous scan point to be processed belong to the same line segment; otherwise, they do not belong to the same line segment.

[0054] Preferably, when filtering the scan data of each scan point in step S62, it also includes filtering the distance data and / or angle data of each scan point. When filtering the scan data, the method of filtering the distance data, or filtering the angle data, or filtering both the distance data and the angle data can be selected according to different scenarios, application environments, etc. In the actual application process, the corresponding filtered data can be selected according to the actual requirements.

[0055] More preferably, in this embodiment, the filtering of the scan point to be processed is performed using an 11th-order mean operator algorithm.

[0056] Preferably, after storing the scan point to be processed in the corresponding temporary cache, the present invention further includes: determining whether the scan point to be processed is the last scan point. If not, step S2 is executed; if so, all the scan points stored in the temporary cache are taken, the scan data of each scan point is filtered, and then stored locally. For example, after step S4, determine whether the scan point to be processed is the last scan point. If so, directly take out all the scan points in the temporary cache for filtering; if not, continue to read the scan points.

[0057] For another example, after storing the to-be-processed scan points in a new temporary cache in step S62, it is determined whether the to-be-processed scan points are the last scan points; if so, all scan points in all temporary caches (including the newly created temporary cache and the original temporary cache) in the current system are read and filtered; if not, step S2 is continued to be executed.

[0058] Preferably, as Figure 2 shown is the original laser scan data distribution diagram provided by the present invention, and as Figure 3 shown is Figure 2 the original laser scan data distribution diagram after filtering by the point cloud correction method provided by the present invention in

[0059] When filtering the point cloud data, the present invention converts the method of filtering three-dimensional spatial data in the prior art into filtering one-dimensional linear data, which can greatly reduce the computational complexity of filtering, improve the filtering efficiency, and reduce the error of the point cloud data. Compared with the overall point cloud filtering scheme in the prior art, the problems of high time and space complexity and great filtering difficulty in the prior art are solved. Compared with the scheme of improving the device hardware in the prior art, the present invention solves the problems of high cost, long time consumption, and great difficulty caused by improving the hardware in the prior art.

[0060] Embodiment 2

[0061] The present invention provides a point cloud correction device for a laser scanner. As Figure 4 shown is the internal structure schematic diagram of a point cloud correction device for a laser scanner provided by an embodiment of the present invention.

[0062] In this embodiment, a point cloud correction device for a laser scanner may be a PC (Personal Computer), or may be a terminal device such as a smart phone, a tablet computer, or a portable computer. The point cloud correction device for a laser scanner at least includes: a processor 12, a communication bus 13, a network interface 14, and a memory 11.

[0063] Among them, the memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (such as SD or DX memory, etc.), magnetic memory, magnetic disk, optical disc, etc. The memory 11 can be an internal storage unit of a point cloud correction device of a laser scanner in some embodiments, such as the hard disk of a point cloud correction device of a laser scanner. The memory 11 can also be an external storage device of a point cloud correction device of a laser scanner in some other embodiments, such as a plug-in hard disk equipped on a point cloud correction device of a laser scanner, a Smart Media Card (SMC), a Secure Digital (SD) card, a FlashCard, etc. Further, the memory 11 can also include both an internal storage unit and an external storage device of a point cloud correction device of a laser scanner. The memory 11 can be used not only to store application software installed in a point cloud correction device of a laser scanner and various types of data, such as the code of a point cloud correction program, etc., but also to temporarily store data that has been output or will be output.

[0064] The processor 12 can be a central processing unit (CPU), a controller, a microcontroller, a microprocessor or other data processing chips in some embodiments, and is used to run the program code stored in the memory 11 or process data, such as executing a point cloud correction program, etc.

[0065] The communication bus 13 is used to realize the connection and communication between these components.

[0066] The network interface 14 can optionally include a standard wired interface, a wireless interface (such as a WI-FI interface), and is usually used to establish a communication connection between a point cloud correction device of a laser scanner and other electronic devices.

[0067] Optionally, the point cloud correction device of a laser scanner can further include a user interface, and the user interface can include a display, an input unit such as a keyboard. Optionally, the user interface can also include a standard wired interface, a wireless interface. Optionally, in some embodiments, the display can be an LED display, a liquid crystal display, a touch liquid crystal display, and an OLED (Organic Light-Emitting Diode) toucher, etc. Among them, the display can also be appropriately referred to as a display screen or a display unit, and is used to display the information processed in a point cloud correction device of a laser scanner and to display a visual user interface.

[0068] Figure 4Only the point cloud correction device of a laser scanner with components 11 - 14 and a point cloud correction program is shown. Those skilled in the art can understand that Figure 4 the shown structure does not constitute a limitation on the point cloud correction device of a laser scanner, and it may include fewer or more components than shown, or combine certain components, or have different component arrangements.

[0069] In Figure 4 the illustrated embodiment of the point cloud correction device of a laser scanner, a point cloud correction program is stored in the memory 11; when the processor 12 executes the point cloud correction program stored in the memory 11, the following steps are implemented:

[0070] Acquisition step: Acquire all scan points in the original laser scan data of the three - dimensional laser scanner;

[0071] Reading step: Read a scan point from the original laser scan data and denote it as the scan point to be processed, and acquire the scan data of the scan point to be processed;

[0072] Judgment step: Judge whether the scan point to be processed is the first scan point in the original laser scan data. If so, execute the storage step; if not, execute the comparison step;

[0073] Storage step: Store the scan point to be processed in the temporary cache, and then execute the reading step;

[0074] Comparison step: Judge whether the scan point to be processed and the previous scan point to be processed belong to the same line segment. If so, store the scan point to be processed in the temporary cache where the previous scan point to be processed is located, and then execute the reading step; if not, execute the filtering and new creation step;

[0075] Filtering and new creation step: Take out all scan points in the temporary cache, perform filtering processing on the scan data of each scan point and store it locally; at the same time, create a new temporary cache to store the scan point to be processed in the new temporary cache, and then execute the reading step; end until all scan points in the original laser scan data are read.

[0076] Further, the scan data of the scan point includes the distance data and angle data of the scan point.

[0077] Further, the comparison step specifically includes: First, calculate the distance difference and angle difference between the to-be-processed scan point and the previous to-be-processed scan point according to the distance data and angle data of the to-be-processed scan point and the distance data and angle data of the previous to-be-processed scan point, and then determine whether the distance difference and angle difference meet the preset requirements; if so, the to-be-processed scan point and the previous to-be-processed scan point belong to the same line segment, store the to-be-processed scan point in the temporary cache where the previous to-be-processed scan point is located, and then execute the reading step; if not, execute the filtering and new creation step.

[0078] Further, in the filtering and new creation step, the filtering process of the scan data of each scan point specifically includes: filtering the distance data and / or angle data of each scan point.

[0079] Further, in the storage step, when the to-be-processed scan point is the first scan point, while storing the to-be-processed scan point in the temporary cache, mark the to-be-processed scan point as the starting point of the line segment.

[0080] Further, in the filtering and new creation step, when the to-be-processed scan point and the previous to-be-processed scan point do not belong to the same line segment, while storing the to-be-processed scan point in a new temporary cache, mark the to-be-processed scan point as the starting point of a new line segment.

[0081] Further, when filtering the scan data of all scan points in the temporary cache, use the 11th-order mean operator algorithm to filter the scan points.

[0082] Further, after storing the to-be-processed scan point in the corresponding temporary cache, it further includes: determining whether the to-be-processed scan point is the last scan point in the original laser scan data; if not, execute the reading step; if so, take out all scan points in the temporary cache, filter the scan data of each scan point, and then store them locally, end the scan, and stop reading the data.

[0083] Embodiment III

[0084] A storage medium, the storage medium is a computer-readable storage medium, on which a point cloud correction program is stored, the point cloud correction program is a computer program, and when the point cloud correction program is executed by a processor, the following steps are implemented:

[0085] Acquisition step: Acquire all scan points in the original laser scan data of the 3D laser scanner;

[0086] Reading step: Read a scan point from the original laser scan data and mark it as the to-be-processed scan point and acquire the scan data of the to-be-processed scan point;

[0087] Judgment step: Determine whether the to-be-processed scan point is the first scan point in the original laser scan data. If so, execute the storage step; if not, execute the comparison step;

[0088] Storage step: Store the to-be-processed scan point into the temporary cache, and then execute the reading step;

[0089] Comparison step: Determine whether the to-be-processed scan point and the previous to-be-processed scan point belong to the same line segment. If so, store the to-be-processed scan point into the temporary cache where the previous to-be-processed scan point is located, and then execute the reading step; if not, execute the filtering and new creation step;

[0090] Filtering and new creation step: Take out all the scan points in the temporary cache, perform filtering processing on the scan data of each scan point and then store them locally; at the same time, create a new temporary cache to store the to-be-processed scan point into the new temporary cache, and then execute the reading step; end until all the scan points in the original laser scan data are read.

[0091] Furthermore, the scan data of the scan point includes the distance data and the angle data of the scan point.

[0092] Furthermore, the comparison step specifically includes: First, calculate the distance difference and the angle difference between the to-be-processed scan point and the previous to-be-processed scan point according to the distance data and the angle data of the to-be-processed scan point and the distance data and the angle data of the previous to-be-processed scan point, and then determine whether the distance difference and the angle difference meet the preset requirements. If so, the to-be-processed scan point and the previous to-be-processed scan point belong to the same line segment, store the to-be-processed scan point into the temporary cache where the previous to-be-processed scan point is located, and then execute the reading step; if not, execute the filtering and new creation step.

[0093] Furthermore, the filtering processing of the scan data of each scan point in the filtering and new creation step specifically includes: performing filtering processing on the distance data and / or the angle data of each scan point.

[0094] Furthermore, in the storage step, when the to-be-processed scan point is the first scan point, while storing the to-be-processed scan point into the temporary cache, mark the to-be-processed scan point as the starting point of the line segment.

[0095] Furthermore, in the filtering and new creation step, when the to-be-processed scan point and the previous to-be-processed scan point do not belong to the same line segment, while storing the to-be-processed scan point into the new temporary cache, mark the to-be-processed scan point as the starting point of the new line segment.

[0096] Furthermore, when performing filtering processing on the scan data of all the scan points in the temporary cache, use the 11th-order mean operator algorithm to perform filtering processing on the scan points.

[0097] Further, after storing the scan points to be processed into the corresponding temporary buffer, it further includes: determining whether the scan points to be processed are the last scan points in the original laser scan data; if not, performing the reading step; if so, taking out all the scan points in the temporary buffer, filtering the scan data of each scan point, and then storing them locally, ending the scan, and stopping the reading of data.

[0098] The above embodiments are only the preferred embodiments of the present invention, and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention fall within the scope of protection required by the present invention.

Claims

1. A method for correcting point clouds of a laser scanner, characterized in that, The point cloud correction method includes: An acquisition step: acquiring all scan points in the original laser scan data of a three-dimensional laser scanner; A reading step: reading a scan point from the original laser scan data and denoting it as a scan point to be processed, and acquiring the scan data of the scan point to be processed; A judgment step: judging whether the scan point to be processed is the first scan point in the original laser scan data. If so, execute the storage step; if not, execute the comparison step; A storage step: storing the scan point to be processed in a temporary cache, and then executing the reading step; in the storage step, when the scan point to be processed is the first scan point, while storing the scan point to be processed in the temporary cache, denoting the scan point to be processed as the starting point of a line segment; A comparison step: judging whether the scan point to be processed and the previous scan point to be processed belong to the same line segment. If so, storing the scan point to be processed in the temporary cache where the previous scan point to be processed is located, and then executing the reading step; if not, execute the filtering and new creation step; the comparison step specifically includes: first calculating the distance difference and angle difference between the scan point to be processed and the previous scan point to be processed according to the distance data and angle data of the scan point to be processed and the distance data and angle data of the previous scan point to be processed, and then judging whether the distance difference and angle difference meet the preset requirements. If so, the scan point to be processed and the previous scan point to be processed belong to the same line segment, storing the scan point to be processed in the temporary cache where the previous scan point to be processed is located, and then executing the reading step; if not, execute the filtering and new creation step; A filtering and new creation step: taking out all scan points in the temporary cache, performing one-dimensional linear filtering processing on the scan data of each scan point by using an 11th-order mean operator algorithm and storing them locally; at the same time, creating a new temporary cache, storing the scan point to be processed in the new temporary cache, and denoting the scan point to be processed as the starting point of a new line segment, and then executing the reading step; until all scan points in the original laser scan data are read and then ending.

2. The point cloud correction method of a laser scanner according to claim 1, characterized in that, The scan data of the scan point includes the distance data and angle data of the scan point.

3. A method for correcting point cloud of a laser scanner according to claim 2, characterized in that, In the filtering and new creation step, the filtering process of the scan data of each scan point specifically includes: filtering the distance data and / or angle data of each scan point.

4. A point cloud correction method for a laser scanner according to claim 1, characterized in that After storing the scan point to be processed in the corresponding temporary cache, it further includes: judging whether the scan point to be processed is the last scan point in the original laser scan data. If not, execute the reading step; if so, taking out all scan points in the temporary cache, performing filtering processing on the scan data of each scan point and storing them locally, ending the scan, and stopping the reading of data.

5. A point cloud correction device for a laser scanner, comprising a memory and a processor, wherein a point cloud correction program running on the processor is stored on the memory, and the point cloud correction program is a computer program, characterized in that: When the processor executes the point cloud correction program, it implements the steps of a point cloud correction method of a laser scanner as described in any one of claims 1-4.

6. A storage medium, which is a computer-readable storage medium and stores a point cloud correction program thereon. The point cloud correction program is a computer program, and is characterized in that: When the point cloud correction program is executed by the processor, it implements the steps of a point cloud correction method of a laser scanner as described in any one of claims 1-4.

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