Fixed and handheld integrated laser scanning method and system

Abstract

This invention relates to the field of 3D scanning, specifically disclosing a fixed and handheld integrated laser scanning method and system. The method includes: in fixed mode, establishing a high-precision global coordinate system based on the mechanical and magnetic field references of a detachable fixed module and acquiring an initial point cloud; in handheld mode, aligning the handheld data to the global coordinate system by identifying spatiotemporal connectivity features shared with the fixed scan; using the fixed data as optimization anchor points, constructing a hierarchical factor graph model that incorporates uncertainty weights, and performing constraint optimization on the aligned handheld data to correct its accumulated errors; finally, outputting a complete and consistent 3D model through closed-loop verification and parameter adaptation steps; the system includes a scanning host, a detachable fixed module, and a processing unit. This invention fundamentally solves the architectural error problem of mode switching through a reference unification and anchor point optimization fusion architecture, achieving high-precision and high-efficiency scanning of a single device in various complex scenarios.

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