266 results about "Laser data" patented technology

The invention belongs to the technical field of structure monitoring systems, and discloses a structure monitoring system and method for civil engineering, and the method comprises the steps that a data collection module collects structure data; the cruise monitoring mechanism collects a high-definition image, an infrared image and laser point cloud data; the environment data acquisition module acquires environment data; the image analysis module identifies abnormal conditions; the infrared data analysis module detects internal defects; the laser data analysis module accurately measures the deformation of the structure; the comprehensive analysis module performs comprehensive evaluation; the risk prediction module fuses multi-source data and predicts potential problems and risks; when an abnormal condition or a potential problem risk is monitored, the alarm module gives an alarm in time. According to the invention, through combination of sensor monitoring and unmanned aerial vehicle cruise monitoring, the structure of civil engineering is monitored in an omnibearing manner; the comprehensive analysis module is used for integrating the multi-source monitoring data to carry out comprehensive evaluation and abnormity judgment; and the risk prediction module fuses monitoring results of multiple modules and predicts potential problems and risks.

The invention relates to the technical field of surface measurement, in particular to a road surface flatness rapid detection method based on a laser radar, which comprises the following steps: collecting vehicle attitude data to form a three-dimensional vector, mapping laser data to a space coordinate system, identifying a projection difference adjustment track, detecting a disturbance generation distribution area, and transversely distributing a translation direction line. Uniformly projecting to construct a reference line, extracting an echo and time index recombination time sequence segment, analyzing a point number trend to screen a stable segment, and extracting symmetric points to compare an included angle to generate a closed zone. According to the method, the attitude vectors of the vehicle in rolling, pitching and yawing states are obtained, the laser echo distance measurement data are mapped to the absolute space coordinate system, and the included angle difference between the distance measurement direction and the ground direction is accurately calculated, so that the space matching precision of a measurement path is remarkably improved, and a longitudinal section analysis result is closer to a real road state; and the space integrity, the track smoothness and the section structure rationality of the whole measurement process are comprehensively optimized.

The invention discloses a high-precision laser positioning unpacking path planning system, and belongs to the technical field of robot automatic control and industrial automation. The system comprises a data synchronization module used for multi-sensor hardware synchronization and data alignment; the high-precision positioning module is used for outputting a precise pose based on environment skeleton characteristics and sliding window optimization; the semantic map construction module is used for fusing vision and laser data to generate a dynamic semantic grid map; the global path planning module is used for planning a smooth path in the skeleton channel by utilizing a mixed potential field improved A * algorithm; the motion control module is used for realizing closed-loop motion control and safety monitoring through model prediction and tracking; and the operation execution module is used for finishing millimeter-level precise stopping of an operation point by adopting visual servo and triggering unpacking operation. According to the method, the positioning robustness under dynamic shielding is improved through the environmental skeleton features, the safety and the high efficiency of the path are ensured by utilizing semantic understanding and intelligent planning, and the full-process automation from navigation to precise operation is realized.

The invention discloses a roadway deformation monitoring device based on a millimeter wave radar. The roadway deformation monitoring device comprises a main shell, the millimeter wave radar, a laser sensor, a PCBA (Printed Circuit Board Assembly) and a bubble level, and an integrated multi-modal data fusion analysis module, a dynamic measurement range intelligent adjustment module, a real-time deformation prediction and control module and a self-calibration and fault diagnosis module. The multi-modal fusion system fuses radar and laser data through a Kalman filtering algorithm, and full-scale high-precision monitoring is realized by using median filtering, Gaussian fitting preprocessing and dynamic weight distribution; the dynamic range measurement module intelligently switches measurement and frequency sweeping ranges based on a decision tree algorithm according to mining progress, geological conditions and distance fluctuation coefficients; the real-time prediction module adopts an ARIMA model to predict the deformation in advance, and automatically adjusts the scanning angle and the acquisition frequency; the self-calibration module uses a high-precision reflecting plate to correct errors everyday; the system supports 5G communication and remote control, has the advantages of high precision, self-adaption and high reliability, and is suitable for long-term deformation monitoring of mine roadways.

The invention provides an inter-satellite laser data transmission method and system under background light interference, and the method comprises the steps: a satellite calculates an inter-satellite visible arc segment according to the GNSS information of the satellite and a link building satellite, generates an inter-satellite link building work task package according to an inter-satellite visible effective communication window, and forwards the inter-satellite link building work task package to a laser communication terminal; the laser communication terminal analyzes the inter-satellite link establishment work task package, completes single-machine power-up through autonomous program control, carries out scanning, capturing and tracking, and turns to an autonomous tracking stage; calculating an included angle between the background light vector and the optical axis in real time, judging whether the included angle is smaller than an autonomous avoidance angle, if so, performing autonomous avoidance operation by the laser communication terminal, and finishing a reset capturing and tracking task; if not, the satellites perform inter-satellite data transmission, the background light interference condition is judged in real time during transmission, a shutdown program is executed autonomously after inter-satellite communication is finished, and next inter-satellite link establishment transmission is waited. According to the invention, inter-satellite laser visible calculation, link establishment planning, sun-sun autonomous forecast and avoidance and autonomous program control data transmission are realized.

The invention discloses a weld joint three-dimensional structure detection device based on vortex laser, and relates to the field of laser welding, and the weld joint three-dimensional structure detection device comprises a vortex laser generation system used for generating and emitting vortex laser; the image acquisition unit is used for collecting returned laser data projected to the welding seam and carrying out dynamic scanning and data acquisition; the motion control and feedback system is used for adjusting the relative position of the laser welding head and the workpiece in real time and dynamically adjusting parameters such as welding power and scanning speed according to the collected data result; and the data processing and analyzing platform is used for carrying out image processing and feature extraction on the collected multi-dimensional data and modeling the morphology of the welding sample. The vortex laser serves as a light source for welding seam detection, high-precision, high-depth, multi-parameter and strong-interference-resistance three-dimensional welding seam modeling is achieved, the problems that in the long and thick plate welding process, welding seam detection parameters are few, precision is low, and real-time adjustment cannot be achieved are solved, and meanwhile the device has the performance characteristics of being high in detection precision, high in efficiency and comprehensive in structural parameter.

According to the road topology analysis and scene hierarchical representation method under environment open set perception reasoning, the image mask of the object instance is obtained, and the limitation of closed set environment perception is avoided; in combination with laser data, obtaining a three-dimensional instance of an object, and improving instance representation and open set understanding capability of a three-dimensional space of a complex open environment; based on object instances and large language model analysis and inference, artificially defined abstract objects or areas are obtained, an instance semantic map containing explicit and abstract objects is constructed, the environment cognition degree is improved, and the gap with the human cognition environment is shortened; in combination with an instance object map, point cloud geometric information and open vocabulary road semantics, environment obstacle information is extracted, a road Voronoi diagram is constructed, and the topology precision and generalization of an open scene are improved; finally, environment hierarchical representation containing geometry-semantics-topology is constructed, efficient understanding, reasoning and hierarchical representation of the environment are achieved, and an environment representation basis is provided for task application such as environment understanding, reasoning, query, positioning and planning.

The invention relates to an automatic guided vehicle (AGV) adaptive path tracking method based on MPC. The method comprises the following steps: S1, establishing a kinematic discretization error model based on the kinematic characteristics of the two-wheel differential AGV, processing a continuous kinematic equation by adopting an Euler discretization method, expressing a dynamic change relationship between a transverse deviation distance and an angle deviation in a state-space equation form, and generating a kinematic discrete state-space model; the method has the advantages that the continuous equation is processed by establishing the kinematics discretization error model and adopting the Euler discretization method, the deviation dynamic relation is expressed through the state space, the calculation process is simplified, the precision is kept, sensor data are fused, the wheel type odometer, IMU and laser data are integrated through the extended Kalman filtering algorithm, and the precision is improved. The real-time position and angle deviation are calculated, the positioning accuracy is improved, a model prediction controller objective function is designed, a weight matrix and boundary constraint are introduced according to constraint conditions, and the effect of obstacle avoidance constraint is combined.

According to the panorama camera and 3D laser scanner mobile measurement matching method, distortion correction, camera calibration and multi-lens relative orientation matching of the panorama camera are carried out based on the characteristics of the panorama camera for a monocular camera and the panorama camera; establishing collaborative matching between the laser data and the image data and a matching and fusion basis between the laser data and the image data; based on a pinhole imaging model, all parameters of camera calibration are introduced to complete camera calibration, and the relative orientation relation between the laser scanner and the panoramic camera is deduced according to a cylindrical or spherical projection method; a cooperative calibration method based on plane constraint is adopted, initial values of rotation and translation vectors between a checkerboard plane and a distance are solved by utilizing a constraint relation between the normal vector and the distance of the checkerboard plane in a laser and camera coordinate system, and finally a global optimal solution is obtained by iteratively optimizing a target equation. The method is simpler to operate and does not need too much manual intervention. And the matching precision is high, the speed is high, and the robustness is good.

The invention relates to the technical field of quartz crystal processing, and discloses a quartz crystal wafer laser fine tuning method, which comprises the following steps: acquiring wafer data and laser data during wafer processing in real time; comparing the vibration frequency with a preset standard vibration frequency range, determining an adjustment coefficient according to the vibration frequency and the standard vibration frequency range, and adjusting the scanning speed according to the adjustment coefficient; calculating an ablation deviation value according to the plurality of ablation depths of the wafer and a preset ablation depth standard value, constructing an ablation depth deviation sequence, and judging whether the laser power is adjusted or not according to the ablation depth deviation sequence; the ablation uniformity is calculated according to the maximum value of the ablation deviation absolute value and the mean value of the ablation deviation absolute value, the ablation roughness is calculated according to the proportion of the unqualified number in the ablation depth deviation sequence, and the laser power is adjusted according to the ablation uniformity and the ablation roughness. According to the invention, dynamic monitoring and adjustment in the processing process are realized, and the frequency precision and the ablation quality are ensured.

A rock mass informatization model establishment method based on laser point cloud relates to the field of model identification and analysis, and is characterized by comprising the following steps: unmanned aerial vehicle laser data acquisition; establishing an inclination model; re-matching the laser point cloud flight strip; carrying out refined point cloud classification; establishing a triangulation network model; establishing a rock form model; establishing a rock mass information model; establishing a rock mass analysis system; and collapse simulation. The method provided by the embodiment of the invention has the advantages that the unmanned aerial vehicle can be used for carrying the laser radar to carry out close-to-land imitation flight, structures such as collapse, cracks and rockfall of the mountain under the dense forest can be directly measured by using the good vegetation penetrating ability of the laser point cloud, and compared with the original modes such as field investigation and photogrammetry, the method has the advantages that the measurement accuracy is greatly improved. The information obtained by the laser point cloud is more accurate and comprehensive, and the geometric dimension, the steep cliff section shape, the structural surface feature, the lithology, the boundary condition and other features of the dangerous rock mass can be directly confirmed.

The invention belongs to the technical field of lake remote sensing monitoring, discloses a lake water level and water reserve dynamic monitoring method based on satellite-borne active and passive remote sensing information fusion, and effectively solves the problem that lake information in remote areas is difficult to efficiently and accurately obtain. Comprising the following steps: S1, preprocessing laser data; s2, preprocessing the multispectral data; s3, taking the ICESat-2 data as a core, combining with a multispectral image covering a corresponding region, and constructing a lake bottom DEM inversion data set based on neighborhood features; s4, constructing and training an elevation inversion convolutional neural network model; s5, predicting and generating a lake bottom DEM by using the trained elevation inversion convolutional neural network model; and S6, calculating the absolute water volume of the lake according to the DEM at the bottom of the lake, and carrying out lake water level-water reserve monitoring. According to the invention, long-time-sequence hydrological observation of remote region lakes can be effectively realized with low cost.

The invention discloses an intelligent component three-dimensional position acceptance method based on image and laser data fusion, and the method comprises the steps: (1) providing an oblique photography automatic correction model and employing a step-by-step detection method for solving a problem that the position of a component is difficult to accurately mark and locate by employing a single target detection network, the analysis process of the component image is divided into two independent steps of target detection and positioning. And (2) providing a point cloud segmentation and point cloud and image registration method based on environmental perception for the problem that the pose of the camera and the laser radar is difficult to calibrate in real time. By fusing the above method, the method can be successfully applied to quality detection and evaluation of the embedded plate of a certain nuclear power plant, efficient data acquisition and automatic processing are realized, and the result shows that the method can automatically analyze the three-dimensional position, the rotation angle and the missing of one wall member within 3 min, and visually displays the collision inspection result in combination with the BIM model.

The invention discloses an underground mine positioning and mapping trajectory optimization method based on underground control point constraint, and belongs to the field of positioning and mapping, and the method comprises the steps: respectively obtaining GNSS data, laser data, IMU data and image data; according to the GNSS data, the laser data, the IMU data and the image data, completing initialization of a laser radar-vision-inertial odometer system and GNSS initialization; extracting point cloud features of the distributed underground control points in real time based on an RANSAC algorithm, and generating a global coordinate constraint factor of nonlinear least square optimization; and performing relative attitude calculation according to the global coordinate constraint factor to complete underground mine positioning and mapping trajectory optimization. According to the method, the problems of accumulated error overrun and point cloud dislocation layering easily caused by pose drift in a special environment of an underground mine are solved.

The invention provides open pit coal mine goaf detection equipment and a goaf detection method. The open-pit coal mine goaf detection equipment comprises a vehicle frame which is provided with a detection hole; a plurality of telescopic support parts; the pulley assembly comprises a pulley frame and a pulley, and the pulley frame is arranged on the frame; the first winch, the second winch and the third winch are all arranged on the frame; a data integration display device; the drilling television module is used for imaging and detecting a goaf; the three-dimensional laser scanning detection part comprises a three-dimensional laser data receiver, a second transmission line and a three-dimensional laser scanning module; and the sonar detection part comprises a sonar data receiver, a third transmission line and a sonar detection module. Therefore, the open pit coal mine goaf detection equipment has the advantage of being convenient to detect the goaf.

The invention provides an indoor three-dimensional environment map construction method and device based on laser SLAM, and the method comprises the steps: carrying out the time-space synchronization processing of laser data and IMU data, and carrying out the correction or distortion removal processing of the synchronized laser data; then determining a gravity direction in an equipment coordinate system by using data of the IMU equipment at a static moment, and then performing normal vector screening and clustering processing on feature points according to the gravity direction to obtain a candidate normal vector set; removing invalid feature points by using an affiliation relationship between normal vectors of feature points of the dedistorted laser data and a candidate normal vector set and a distance between each feature point and a laser radar center, screening to obtain effective feature points, and determining weights of the effective feature points; and then optimizing the positions and postures of the effective feature points by constructing a line feature residual equation and a surface feature residual equation, and dynamically updating the map feature points.

The invention relates to the technical field of laser data transmission, and provides a multi-dispersion laser system and a control method thereof. The control method of the multi-dispersion laser system comprises the following steps: establishing a first model and a second model; in the initial state, the pumping power of the pumping light source is adjusted, and a first target pulse interval and first target power are determined in combination with the first attenuation coefficient, the second attenuation coefficient and the first model; determining a second target power, a second target pulse interval and a target attenuation coefficient by a second model in combination with the fact that the second attenuation coefficient is zero; the real-time pumping power is controlled to be first target power, the first real-time attenuation coefficient is zero, the second real-time attenuation coefficient is zero, the first laser is output in a first state, and the second laser is output in a third state; the third state comprises a soliton dissipation state; the real-time pumping power is controlled to be second target power, the first real-time attenuation coefficient is the target attenuation coefficient, the second real-time attenuation coefficient is zero, the first laser is output in the first state, and the second laser is output in the second state.

The invention relates to a multi-sensor fusion detection method, device and equipment, a medium and a program product. The method comprises the following steps: acquiring laser radar data and binocular camera data, and determining an obstacle type and candidate contour information of a target obstacle according to the binocular camera data; according to the laser radar data and the binocular camera data, carrying out confidence degree labeling on the candidate contour information to obtain the contour confidence degree of the target obstacle; acquiring line laser data under the condition that the contour confidence is lower than a preset threshold value; performing contour information supplement on the candidate contour information according to the line laser data to obtain target contour information; and performing fusion detection according to the obstacle type, the target contour information and the laser radar data to obtain a fusion detection result. By adopting the method, the accuracy of fusion detection can be improved, and a more accurate fusion detection result can be obtained.

The invention discloses an unmanned aerial vehicle surveying and mapping method and system based on three-dimensional point cloud data analysis, and relates to the technical field of unmanned aerial vehicle surveying and mapping. Determining the altitude of a key position node, and constructing an initial three-dimensional model; analyzing the laser data, generating a ground point cloud model, and screening an adjustment strategy with a high initial matching degree through proportional adjustment, rotation and translation optimization; and comparing the ground image with the surveying and mapping block features, determining a secondary matching degree, selecting an optimal point cloud model, and outputting data in combination with surveying and mapping marks. According to the method, GIS positioning, node modeling, point cloud optimization and image calibration are creatively fused, the complex terrain surveying and mapping precision is improved, and the method is suitable for the fields of engineering planning and the like.

The invention relates to the technical field of remote control positioning, and discloses a Bluetooth voice remote control positioning method and system based on laser ranging, and the method comprises the steps: obtaining laser ranging data, Bluetooth positioning data, ambient light intensity and reference object data; performing reflection feature extraction according to the reference object data to obtain laser reflection features; inputting the laser ranging data and the laser reflection characteristics into a pre-trained laser correction model to obtain corrected laser data; performing stain analysis according to the reference object data to obtain surface stain data; carrying out weight distribution according to the surface stain data and the ambient light intensity to obtain a positioning weight; and performing weighted fusion according to the positioning weight, the corrected laser data and the Bluetooth positioning data to obtain a final positioning coordinate. The method has the advantages that the Bluetooth voice remote control positioning accuracy based on laser ranging can be improved.

The invention provides an indoor robot target detection method and system based on multi-modal tracking and a medium, and belongs to the field of robotics.The method comprises the steps that laser data processing is optimized through static furniture learning and filtering and dynamic region clustering, and the visual anti-illumination interference capacity is combined; a dynamic cost matrix matching strategy based on target motion characteristics is adopted to obtain a stable trajectory of a target person; kalman filtering trajectory prediction and target appearance feature matching are fused, and it is ensured that tracking can be rapidly recovered after the target is temporarily lost; a human-guided following mapping mode is adopted, a moving track of a tracked target is used as dynamic guidance, dynamic and static point clouds are separated, and a high-precision environment map with semantic tags is constructed; according to the invention, a following state monitoring and active service linkage mechanism is established, scene decision is carried out by identifying a target attitude and combining a semantic map, corresponding health monitoring and safety services are triggered, and the crossing from passive tracking to active intelligent services is realized.

The invention relates to the field of data processing, in particular to a data processing method and system of a thulium laser treatment device. The method comprises the following steps: acquiring a laser data time sequence and a biological reflection data time sequence; dividing the laser data time sequence and the biological reflection data time sequence into a plurality of laser data segments and a plurality of biological reflection data segments respectively; setting a plurality of preset layer numbers, setting the decomposition layer number of a wavelet filtering algorithm as the preset layer number, and carrying out filtering processing on the laser data segment to obtain a denoised data segment; the denoising credibility of the preset number of layers is calculated, and the denoising credibility is positively correlated with the signal-to-noise splitting degree and negatively correlated with the information loss degree; and selecting the denoised data segments obtained by the preset number of layers with the maximum denoising credibility as final denoised data segments, and splicing all the final denoised data segments into a final denoised time sequence. The denoising accuracy is improved by setting a proper number of decomposition layers.

The invention discloses an online quality detection method and system for a stranded cable. The system comprises a data acquisition module, a data processing module and a quality detection module, relates to the technical field of cable quality detection, and solves the technical problem that the accuracy of cable quality detection in the wire drawing and stranding process is not high due to the fact that the acquisition frequency of a sensor is dynamically adjusted according to the movement speed of a stranded cable in the prior art. According to the invention, the movement speed of the wire rod is obtained in real time and the detection frequency is dynamically adjusted, so that the synchronous matching of the detection process and the production rhythm is ensured, and the problem of missing detection or repeated acquisition caused by traditional fixed frequency detection is avoided; the cable stranded wire is divided into a plurality of detection sections, and multi-dimensional data acquisition and analysis are performed in combination with an image recognition algorithm and a laser detection technology, so that the defect recognition precision and the detection efficiency are improved; and furthermore, the quality condition is comprehensively judged based on the defect area and the laser data, so that the accuracy of quality evaluation of the cable stranded wire is improved.

The invention discloses a multi-sensor fusion indoor three-dimensional reconstruction method, system and device and a medium, and belongs to the technical field of three-dimensional reconstruction, and the method comprises the steps: collecting laser radar point cloud data, odometer data and RGB-D data of each frame when a robot moves; acquiring a current frame pose of the robot; judging whether the current frame is a key frame according to the pose change of the current frame, and if so, storing the current frame into a key frame set; if not, judging whether the next frame is a key frame or not; obtaining RGB-D data matched with the time of the current key frame, and generating a color point cloud according to the matched RGB-D data and the pose of the current frame; loopback detection is carried out on the current key frame, and pose optimization is carried out on all the key frames in a graph optimization mode; and carrying out spatial position correction and fusion on the generated color point cloud by utilizing the optimized poses of all the key frames so as to generate a final color point cloud for indoor three-dimensional reconstruction. The pose calculation is based on single-line laser data, the calculation amount is small, and the precision is high.

The invention relates to the technical field of positioning and navigation of reinforcing steel bar binding robots, in particular to a BIM multi-sensor fusion-based adaptive weighted positioning method and electronic equipment, and the method comprises the following steps: S1, obtaining a two-dimensional grid map; s2, collecting data; s3, laser data processing; s4, laser point cloud screening and transmission; s5, generating an error term; s6, calculating the weight of the sensor; s7, smoothing weight change; s8, performing preliminary positioning; s9, optimizing a positioning result; according to the invention, the BIM model of the building is exported and the two-dimensional grid map is generated, and the map is imported into the ROS as an environment reference for laser radar positioning, so that the positioning precision of the robot is improved; the multi-sensor fusion model is constructed by combining various sensors, the real-time data quality of each sensor is dynamically evaluated to adjust the data weight of each sensor, the positioning precision and stability of the method in complex environment changes are effectively improved, the application range of the steel bar binding robot is expanded, and the method has wide application prospects.

The invention discloses an enamelled rectangular wire online detection system and method, relates to the technical field of enamelled rectangular wire quality inspection, solves the problems of limited range and poor precision of a current enamelled wire detection mode, and comprises a laser data acquisition unit, a laser initial inspection unit, an image acquisition unit, an image monitoring unit and a defect identification module, the laser initial detection unit is used for detecting and analyzing external monitoring data of the enameled rectangular wire, abnormal laser monitoring data, obtained through analysis, of the enameled rectangular wire are sent to the database module, and the image monitoring unit is used for detecting and analyzing surface image data of the enameled rectangular wire, obtaining abnormal image monitoring data of the enameled rectangular wire and sending the abnormal laser monitoring data to the database module. The defect identification module is used for analyzing the defect condition of the enameled rectangular wire in combination with the abnormal laser monitoring data and the abnormal image monitoring data, the abnormal degree of the enameled rectangular wire is obtained through analysis, and comprehensive detection and accurate detection of the enameled rectangular wire are achieved.

The invention is suitable for the technical field of data identification, and provides a laser data processing method and device and a laser sensor, and the laser data processing method comprises the steps: obtaining a plurality of current original laser data in a collection detection range of a laser anti-pinch sensor; acquiring a plurality of standard original laser data in a historical acquisition detection range; matching a current environment type according to the plurality of current original laser data and the plurality of standard original laser data; matching a preset correction strategy corresponding to the environment type; the preset correction strategy comprises a filtering intensity threshold value and error compensation; the preset correction strategy is sent to the laser anti-pinch sensor; the preset correction strategy is used for adjusting the laser data. According to the technical scheme, the laser anti-pinch sensor can keep an efficient and accurate anti-pinch detection function in various adverse environments, so that the overall safety performance of equipment is improved.

The invention discloses a 3D printing method, device and equipment and a storage medium, and the 3D printing method comprises the steps that first laser data of first laser are obtained, and the first laser data comprise first laser power and a first light spot size; determining the number of scanning turns of the first laser according to the size of the first to-be-printed area and the size of the first light spot; the first to-be-printed area is scanned through first laser according to the first laser data, the number of scanning turns and the first preset number of scanning layers; and second laser is adopted to scan the second to-be-printed area with second laser data, the second laser data comprise second laser power and a second light spot size, the second light spot size is larger than the first light spot size, and at least part of the second to-be-printed area is located in the limited area of the first to-be-printed area. By the adoption of the technical scheme, the printing efficiency is greatly improved while the surface quality of the to-be-printed product is guaranteed.

The invention discloses a control sheet generation and geometric positioning method fusing satellite-borne laser and an orthoimage. The method comprises the following steps: firstly, screening satellite-borne laser point clouds to obtain a high-quality laser point set; secondly, projecting high-quality satellite-borne laser points obtained by screening onto an orthoimage through coordinate transformation, and removing low-feature response points; and finally, generating a control sheet based on the orthoimage and the laser control point, and performing geometric correction on the target image by using the constructed control sheet to realize high-precision geometric positioning of the image. Different from the mode that only laser height measurement data is adopted for elevation control, the satellite-borne laser data and the orthoimage are fused, accurate horizontal height control over the remote sensing image is achieved, meanwhile, the defect that the DEM precision is limited is overcome, and the method is more suitable for geometric positioning of sub-meter images.

The invention provides a point cloud noise reduction method based on a three-dimensional distance transformation field, and belongs to the technical field of mobile robot autonomous environment perception. According to the method, noise points are adaptively removed through dynamic resolution voxel division and a three-dimensional field intensity model, and meanwhile, a key point cloud structure is reserved. According to the method, the noisy points in the three-dimensional laser ranging data can be removed in a relatively low computing resource mode without depending on the type of a three-dimensional laser sensor and the spatial distribution characteristics and structural characteristics of the point cloud, meanwhile, the detail characteristics of the point cloud can be stored, the data accuracy is effectively improved, and the accuracy of the three-dimensional laser ranging data is improved. And the requirements of real-time positioning, scene reconstruction, subsequent map construction, scene understanding, path planning and other tasks of the mobile robot in an unknown dynamic environment on accurate three-dimensional laser data are met.