CN103335606A - Three dimensional laser scanning and surveying and mapping method - Google Patents
Three dimensional laser scanning and surveying and mapping method Download PDFInfo
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Abstract
The invention provides a three dimensional laser scanning and surveying and mapping method which comprises the following steps: step 1, preparing a target and a material object numbering corresponding to the target; step 2, placing the target and the corresponding material object numbering; step 3, regarding a scene comprising the target, the corresponding material object numbering and a scanning object as a whole and carrying out one-time scanning to the whole by a one-time scanner, so as to acquire scanning data; step 4, during processing the scanning data indoors, carrying out numbering to the target comparing with the material object numbering point cloud data in the scanning data, so as to acquire target numbering; step 5, carrying out automatic splicing integration to the scanning data acquired by a plurality of surveying stations scanning comprising the target numbering information by adopting a scanner bundled software, so as to solve the problems of time consumption, strenuosity, high error probability existed in a conventional surveying and mapping method. Therefore, the level of surveying and mapping of a present three-dimensional laser scanning technique is improved.
Description
Technical field
The invention belongs to the 3 D laser scanning survey field, relate in particular to a kind of 3 D laser scanning mapping method.
Background technology
For urban construction work, in the virtual environment of three-dimensional, analyze much more efficient than relying on the conventional two-dimensional cartographic information.And utilize the sweep object that three-dimensional laser scanning technique can easily obtain high density, the cloud data of accurate three-dimensional coordinate is arranged, can be widely used in the overall process work such as planning, design and construction of urban construction.
3 D laser scanning adopts contactless high-rate laser metering system, obtains the array geometry data of landform and complex object three-dimensional surface with the form of a cloud, thereby realizes three-dimensional reconstruction.The advantage of three-dimensional laser scanning technique is to obtain sweep object surface three dimension coordinate fast, be accurate to centimetre even millimeter level, picking rate is up to a per second hundreds of thousands point, and its subsidiary high precision phase function is obtained the high-resolution image data of sweep object simultaneously.Handle the high-precision digital terrain model of back generation, contour map and building through related software and put down, stand, cut open figure, building model and Image registration by cloud data is obtained obtain the high accuracy three-dimensional building model, show until the digital city.Laser scanner technique showed at complex-curved three-dimensional information to people obtain, the unique advantage of aspect such as three-dimensional reconstruction, build in " digital city ", be with a wide range of applications in the city planning.
Three-dimensional laser scanning system comprises three-dimensional laser scanner (seeing 10 in " Fig. 1 "), portable tripod, cable, portable computer (seeing 20 in " Fig. 1 ") and control device (seeing 30 in " Fig. 1 "), target, TT﹠C software, information the poster processing soft etc.Figure 1 shows that the synoptic diagram that concerns of the ground three-dimensional laser scanning system of traditional common and coordinate system, the main structure of described three-dimensional laser scanner, comprise an accurate laser range finder of high speed, mix one group of rotary reflection prism that can guide laser and scan with uniform angular velocity.The laser range finder major function is emission laser, thereby accept simultaneously can be found range by the signal of natural thing surface reflection, can record survey station to the oblique distance of analyzing spot at each analyzing spot, cooperate level and the vertical direction angle of scanning again, can obtain the space relative coordinate of each analyzing spot and survey station.If the volume coordinate of survey station is known, so then can be in the hope of the three-dimensional coordinate of each analyzing spot.
The three-dimensional laser scanner entire work process is: at first be to launch laser signal by laser range finder, signal is through rotary reflection prism directive target, pass through laser range finder then, the laser signal that reception reflects, and by the scanner record, convert the data message of can Direct Recognition handling at last to, handle the data output that obtains wanting through software.
Complete reconstructed object, be not enough from an observation station scanning mapping target data only, also must scan mapping in different observation stations, and could generate after in same space coordinates, merging, correlation technique provides artificial auxiliary automatic pooling function at present, needs only in the scanning good scans content of target preplanning and set target just can.The cloud data that different observation stations is scanned the same sweep object that obtains merges in same space coordinates, in the poster processing soft functional module, cut out irrelevant part then, just obtain required target three-dimensional reconstruction content, ensuing work is that the quality of cloud data is handled, carry out level and smooth, denoising, precision screening, mean variance processing etc., so just obtaining can be for the work of various application purposes.
Based on the mapping level of present three-dimensional laser scanning technique, be example with process flow diagram shown in Figure 2, the following steps of the 3 D laser scanning mapping method of traditional common are described:
Step 1: prepare target and target information inking chart, target as shown in Figure 3, target information inking chart is as shown in Figure 4.
Step 2: place target, simultaneously in described target information inking chart, carry out target information record, also just say, after placing target, the following information of record in target information inking chart: draw the target arrangenent diagram, the survey station numbering (S1, S2......) of the target correspondence that record is placed and target numbering, even have photo or carry out remarks, with the live telecast of comprehensive record target information.Divide three sub-steps,
Step 3: scanning comprises that three sub-steps, preceding two sub-steps one are high-precision target scanning, and its result is the cloud data of each target; The 2nd, the destination object scanning that precision is lower, its result is the cloud data of destination object; The 3rd sub-steps is at the scene the target point cloud information in the scanner to be numbered and to store, the respectively corresponding high precision target data storage folders of Z1 to Z6 as shown in Figure 5, (2578995points 2357x2190) is impact point cloud data storage folders to Scan-0001.bin.
Step 4: the target number information in the scanner and the target information in the record sheet are checked and checks.
Step 5: the multistation scan-data that utilizes the scanner software kit will comprise the target number information splices integration automatically.
As can be seen from the above description, there is following some worth improved place in the 3 D laser scanning mapping method of traditional common:
1, target and sweep object scan the workload that has increased field operation scanning respectively, have also increased cumulative errors simultaneously.
2, need at the scene the target in the scanner data to be numbered, and need the target information inking chart of by-product recording target information live telecast to prepare against inspection, increased the field work amount, also increased simultaneously error probability, reason is that the mark of target itself may be made mistakes, and also there is the possibility of makeing mistakes in target information record sheet.
Therefore, though the development of scanning technique is advanced by leaps and bounds, the serviceability of scanner, the intellectuality of scanning software have also had significant progress.But because objects such as urban architecture, physiographic relief remain a huge yardstick for the nature person, carry out comprehensive, high-precision scanning to it still needs to expend a large amount of muscle power and time.Therefore how under the condition on existing soft hardware equipment basis, going out a scanning mapping method that cover efficient is higher, error rate is lower, more time saving and energy saving by technical development, is the sector field important technology in urgent need to be improved.
Summary of the invention
The purpose of this invention is to provide a kind of 3 D laser scanning mapping method, solving exist in the traditional common mapping method consuming time, effort, the high deficiency of error probability, thereby improve at present mapping level based on three-dimensional laser scanning technique.
In order to address the above problem, 3 D laser scanning mapping method provided by the invention comprises the steps:
Step 1: prepare target and corresponding material object numbering thereof;
Step 2: carry out the placement that target and corresponding material object are numbered;
Step 3: utilize the one scan instrument will comprise that the material object of described target, described target correspondence is numbered and the scene of sweep object is carried out one-off scanning as a whole, obtain scan-data;
Step 4: in indoor processing scan data work, the material object numbering cloud data that contrasts in the described scan-data is numbered described target, to obtain the target numbering;
Step 5: the scan-data that a plurality of survey station scannings that utilize described scanner software kit will comprise described target number information obtain splices integration automatically.
Further, in step 1, described target and described numbering in kind all can be finished by the papery printing and making of cost cheapness, or adopt the material superior, that have high reflectance of doing manual work to complete.
Further, in step 1, the size of described numbering in kind and target is made as common A4 paper size or bigger.
Further, in step 2, the material object numbering that each is unique is positioned over corresponding target next door.
Further, in step 3, need not each described target is carried out high-precision independent scanning.
Further, in step 4, need not at the scene the target in the scan-data of described scanner acquisition to be numbered.
As seen from the above technical solution, the present invention compares with the 3 D laser scanning mapping method of traditional common, the present invention is swept object method for scanning together by added a numbering in kind by target with target, numbering in kind and quilt, has reduced number of times and the time of actual scanning; Avoided fully simultaneously target is carried out the possibility that on-the-spot numbering goes wrong, directly saved the operation that numbering checks, simplified the operation of 3 D laser scanning mapping on the whole, improved work efficiency; In addition, also shorten the working time of open-air scanning, thereby alleviated labor intensity of operating personnel, in a sense, also improved the quality of scanning finished product.
Description of drawings
Fig. 1 is the synoptic diagram that concerns of the ground three-dimensional laser scanning system of traditional common and coordinate system;
Fig. 2 is the schematic flow sheet of the 3 D laser scanning mapping method of traditional common;
The target synoptic diagram of Fig. 3 for using in the 3 D laser scanning mapping method of traditional common;
The target information inking chart synoptic diagram of Fig. 4 for using in the 3 D laser scanning mapping method of traditional common;
Fig. 5 is for scanning and preserve the storage organization synoptic diagram of sweep object and target information respectively in the 3 D laser scanning mapping method of traditional common;
Fig. 6 is the schematic flow sheet of the 3 D laser scanning mapping method in one embodiment of the invention;
Target and the in kind example of numbering thereof of Fig. 7 for using in the 3 D laser scanning mapping method in one embodiment of the invention;
Fig. 8 is for being pasted on the example that the target material object corresponding with it swept on the building wall numbered in that scanning is on-the-spot in one embodiment of the invention;
Fig. 9 is the storage organization synoptic diagram of one-off scanning and writing scan information in one embodiment of the invention;
Figure 10 is the target that is stored as cloud data in one embodiment of the invention and numbering in kind thereof, and the example that the some cloud information of foundation numbering in kind is numbered target in cloud data.
Embodiment
For above-mentioned purpose of the present invention, feature and advantage can be become apparent more, below in conjunction with accompanying drawing the specific embodiment of the present invention is described in detail.
A lot of details have been set forth in the following description so that fully understand the present invention.But the present invention can implement much to be different from alternate manner described here, and those skilled in the art can do similar popularization under the situation of intension of the present invention, so the present invention is not subjected to the restriction of following public concrete enforcement.
Be example with schematic flow sheet shown in Figure 6, in conjunction with Fig. 7 to Figure 10, a kind of 3 D laser scanning mapping method that the present invention carries out the indoor and outdoor of a villa buildings is described in detail, and those of ordinary skill in the art should know the method for operating of conventional three-dimensional laser scanner.Described 3 D laser scanning mapping method of the present invention comprises the steps:
Step 1: prepare target and corresponding material object numbering thereof.In this step, described target can be characteristic image or the object that corresponding scanner can be identified, therefore, described target namely can be bought specially, also can self manufacture, self manufacture in this way, then described target can be by the simplest, the papery of cost cheapness is by normal printer printing feature image or make object, or adopt workmanship superior, material with high reflectance is made characteristic image or object, for the present invention, the size of described target is should be as far as possible under the situation of conditions permit big, in order to can obtain more cloud data when using the scanner scanning target.Described numbering in kind is important innovations point of the present invention, but its making is quite simple, equally can be with normal printer the simplest, print the feature pattern of other type on the papery of cost cheapness or with the simplest, the papery of cost cheapness is made the object of other type as a kind of numbering in kind, can certainly adopt workmanship superior, material with high reflectance is made into the characteristic image of other type or object as a kind of numbering in kind, the same with described target, be convenient remote identification, the size of described numbering in kind comprises that the font of described numbering in kind is also done greatly as far as possible.
Illustrate described target and numbering in kind, adopt 3 A4 paperys, every A4 papery is printed 1 black and white target and 1 corresponding numbering in kind, described numbering in kind is respectively B1, A8, A9, for making size and the font on the numbering in kind of described target and numbering in kind big as far as possible, target on same the papery and numbering in kind are made as herein all over the screen, one of them black and white target and 1 corresponding numbering in kind be printed on together effect as shown in Figure 7.
In present embodiment, be not limited to the particular content of described numbering in kind, described B1, A8 and A9 only limit to the characteristic image of numbering in kind of the present invention or the actual symbolical meanings of object are described; Also being not limited to each black and white target 1 in kind numbering corresponding with it need be printed on same the papery, after even each black and white target and numbering in kind separately print, 1 numbering in kind that each black and white target and its is corresponding also is the same according to position placement as shown in Figure 7 again.
Step 2: carry out the placement that target and corresponding material object are numbered.In this step, described target and corresponding material object numbering thereof be pasted on the metope of being swept building or be positioned over the metope next door of being swept building also can, suitably draw back three distances between the described target, and described numbering in kind needs the target stickup of adjacent correspondence separately, discharging modes as shown in Figure 8 are identical, purpose be in next step with the material object of described target and target correspondence numbering directly and sweep object be scanned together and enter in the middle of the data file.The placement location of described target is identical with the traditional common method, is to make according to the needs of detailed programs; And the important difference of this step and traditional common method is, special material object numbering is not set in the universal method, but numerous targets that the method that adopts diagram and charting is laid the scene record and numbering in kind, and the present invention has saved the operation of avoiding target and its number information to record respectively, store.
Step 3: utilize the operation manual of one scan instrument and the concrete scanner that uses of basis will comprise that the material object of described target, target correspondence is numbered and the scene of sweep object is carried out one-off scanning as a whole, obtain scan-data and have a data file Scan-0001.bin (14279422points, 2307x6282), as shown in Figure 9.Described scanning process is compared with the traditional common method, in scanning step, need in the universal method respectively the sweep object that comprises target and each independent target are scanned, and then in the on-the-spot information of putting down in writing according to target information inking chart of scanning, by the operation of described scan-data is carried out scene numbering and record to described target, and this method is with described target, material object numbering and the sweep object of described target correspondence are made the as a whole single pass that carries out, need not by the operation to described scan-data target to be carried out scene numbering and record at the scene again, make foreshorten to outdoor sweep time original 1/3, thereby improved work efficiency greatly.
Step 4: in indoor processing scan data work, the material object numbering point cloud E that contrasts in the described scan-data is numbered described target (target of this moment is represented by target point cloud F), to obtain target numbering G.In this step, described scan-data is taken back indoor, and be transferred to data and handle in the hard disk of computer, beginning is numbered each described target one by one according to the cloud data of the material object numbering of described target correspondence, to form target numbering G at each described target, as shown in figure 10.Be actually and originally transfer to indoor carrying out in the outdoor part work of carrying out in the traditional common method, and because described numbering in kind directly is permanently affixed at corresponding described target next door with the form of cloud data, compare with target numbering and inspection step in the traditional common method, do not exist in the traditional common method because phenomenons such as the target that human factor produces numbering mistake, confusions, and saved described target numbering and check this procedure, the working time of indoor processing foreshortens to original 1/5 approximately.
Step 5: the scanner software kit is write information according to the target of finishing, and the scan-data that a plurality of survey stations are obtained splices integration automatically.
Therefore, a kind of 3 D laser scanning mapping method of the present invention is compared with the traditional common method, has following advantage:
1, saved independent scanning to described target.
3, saved in the on-the-spot step that in scanner, described target is numbered of scanning.
3, saved method record and the live telecast of preservation target information of adopting chart recording, with the convenient work that checks.
4, based near the cloud data that described numbering in kind is scanned into the corresponding target, thereby the markers work of the target data in the described scanning is transferred to indoor carrying out by outdoor.
5, saved the operation that the described target in the classic method and corresponding target numbering are checked.
Though the present invention with preferred embodiment openly as above; but it is not to limit claim; any those skilled in the art without departing from the spirit and scope of the present invention; can make possible change and modification, so protection scope of the present invention should be as the criterion with the scope that claim of the present invention was defined.
Claims (6)
1. a 3 D laser scanning mapping method is characterized in that, comprises the steps:
Step 1: prepare target and corresponding material object numbering thereof;
Step 2: carry out the placement that target and corresponding material object are numbered;
Step 3: utilize the one scan instrument will comprise that the material object of described target, described target correspondence is numbered and the scene of sweep object is carried out one-off scanning as a whole, obtain scan-data;
Step 4: in indoor processing scan data work, the material object numbering cloud data that contrasts in the described scan-data is numbered described target, to obtain the target numbering;
Step 5: the scan-data that a plurality of survey station scannings that utilize described scanner software kit will comprise described target number information obtain splices integration automatically.
2. 3 D laser scanning mapping method as claimed in claim 1, it is characterized in that: in step 1, described target and described numbering in kind all can be finished by the papery printing and making of cost cheapness, or adopt the material superior, that have high reflectance of doing manual work to complete.
3. 3 D laser scanning mapping method as claimed in claim 1 is characterized in that: in step 1, the size of described numbering in kind and target is made as common A4 paper size or bigger.
4. 3 D laser scanning mapping method as claimed in claim 1 is characterized in that: in step 2, the material object numbering that each is unique is positioned over the next door of corresponding described target.
5. 3 D laser scanning mapping method as claimed in claim 1 is characterized in that: in step 3, need not each described target is carried out high-precision independent scanning.
6. 3 D laser scanning mapping method as claimed in claim 1 is characterized in that: in step 4, need not at the scene the target in the scan-data of described scanner acquisition to be numbered.
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| CN104048645A (en) * | 2014-06-25 | 2014-09-17 | 山东理工大学 | Integral orientation method of ground scanning point cloud through linear fitting |
| CN105241406A (en) * | 2015-09-29 | 2016-01-13 | 苏州金螳螂建筑装饰股份有限公司 | Building decoration three-dimensional molding precision examination method |
| CN105571519A (en) * | 2016-02-19 | 2016-05-11 | 广西玉柴机器股份有限公司 | Auxiliary device of point cloud registration of three-dimensional scanner and registration method of three-dimensional scanner |
| CN106918300A (en) * | 2017-01-11 | 2017-07-04 | 江苏科技大学 | A kind of large-sized object three-dimensional Measured data connection method based on many three-dimensional tracking devices |
| CN108548486A (en) * | 2018-04-20 | 2018-09-18 | 程刚 | A kind of coal field Subsidence Area mapping three-dimensional laser scanner |
| CN109991621A (en) * | 2019-04-15 | 2019-07-09 | 贵州省山地资源研究所 | A kind of cave three-dimensional laser scanning measurement method |
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| CN104008573A (en) * | 2014-06-11 | 2014-08-27 | 清华大学 | Particle analysis method based on three-dimensional configuration and particle containing support |
| CN104008573B (en) * | 2014-06-11 | 2018-04-20 | 清华大学 | Grading analysis method and particle based on three-dimensional configuration place stent |
| CN104048645A (en) * | 2014-06-25 | 2014-09-17 | 山东理工大学 | Integral orientation method of ground scanning point cloud through linear fitting |
| CN104048645B (en) * | 2014-06-25 | 2016-06-29 | 山东理工大学 | Linear fit ground sweeping described point cloud global orientation method |
| CN105241406A (en) * | 2015-09-29 | 2016-01-13 | 苏州金螳螂建筑装饰股份有限公司 | Building decoration three-dimensional molding precision examination method |
| CN105241406B (en) * | 2015-09-29 | 2018-09-25 | 苏州金螳螂建筑装饰股份有限公司 | Building decoration three-dimensional modeling inspection method of accuracy |
| CN105571519A (en) * | 2016-02-19 | 2016-05-11 | 广西玉柴机器股份有限公司 | Auxiliary device of point cloud registration of three-dimensional scanner and registration method of three-dimensional scanner |
| CN106918300A (en) * | 2017-01-11 | 2017-07-04 | 江苏科技大学 | A kind of large-sized object three-dimensional Measured data connection method based on many three-dimensional tracking devices |
| CN106918300B (en) * | 2017-01-11 | 2019-04-05 | 江苏科技大学 | A kind of large-sized object three-dimensional Measured data connection method based on more three-dimensional tracking devices |
| CN108548486A (en) * | 2018-04-20 | 2018-09-18 | 程刚 | A kind of coal field Subsidence Area mapping three-dimensional laser scanner |
| CN109991621A (en) * | 2019-04-15 | 2019-07-09 | 贵州省山地资源研究所 | A kind of cave three-dimensional laser scanning measurement method |
| CN110160465A (en) * | 2019-06-12 | 2019-08-23 | 北京住总第一开发建设有限公司 | The scanning mapping method of waste and old pollution plant area is carried out using three-dimensional laser technology |
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Application publication date: 20131002 |