CN104729464B - Flattish form subarea scanning method based on three-dimensional laser scanner - Google Patents
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Abstract
The invention relates to a flattish form subarea to-be-scanned method based on a three-dimensional laser scanner. The method comprises the following steps: (1) partitioning a to-be-scanned area: when the to-be-scanned area is scanned, a horizontal scanning step angle and a vertical scanning step angle from the center of the scanner from inside to outside are respectively reduced; a flattish form is characterized in that the terrain height difference H from an arbitrary point in the to-be-scanned area to the center of the scanner is less than or equal to 5 meters and the gradient beta is less than or equal to 15 degrees; (2) setting scanning parameters: respectively setting different scanning parameters for each ring zonal area; (3) carrying out the subarea scanning: respectively scanning each ring zonal area by utilizing the three-dimensional laser scanner. By adopting the flattish form subarea scanning method based on the three-dimensional laser scanner, the redundant data can be reduced, the data acquisition time is shortened, and the operation efficiency for measuring the flattish form can be improved.
Description
Technical field
The present invention relates to Laser Scanning, particularly to a kind of three-dimensional laser scanner gentle landform subarea-scanning side
Method.
Background technology
Laser scanner technique is the cutting edge technology that survey field develops rapidly in recent years, has data acquisition speed
Hurry up, high precision, noncontact and can the advantage such as quick obtaining close packed plane lattice point cloud, show vast potential for future development.By carrying
The difference of platform, laser scanning is broadly divided into airborne lidar, Vehicle-borne Laser Scanning and Three Dimensional Ground laser scanning, wherein
Face 3 D laser scanning, due to the flexible feature of its relatively convenient, measures in historical relic's protection, archaeology, subtle three-dimensional modeling, disaster
It is widely applied in field.Topographic survey is an importance of 3 D laser scanning application, by quick obtaining ground
Table close packed plane lattice point cloud, and adopt corresponding data processing method, build subtle three-dimensional surface model, provide basis for various applications
Data is supported.In engineering construction, using subtle three-dimensional surface model be accurate topographic survey and earth volume is calculated offer technology and propped up
Hold, can quickly grasp engineering progress situation.By the relative analyses to the same area different times subtle three-dimensional surface model, can
So that, in the case of not needing control point to support, the angle covering from face realizes earth's surface change detection and detection, for control point
Lay monitoring and research work (for example dangerous Landslide Monitoring, the desert change prison that difficult and control point is easily destroyed
Survey, mining subsidence monitoring etc.), significant.Application in terms of topographic survey for the three-dimensional laser scanner becomes increasingly popular, its
One of importance be exactly gentle topographic survey (as mining subsidence monitoring, site construction measurement, highway acceptance survey etc.),
Limited by setting up height of instrument, when scanning gentle landform, often only tens meters of effective scanning radius, in scanning marginal zone
Domain, scanning dot density is very sparse, to increase edge dot density, then needs to increase considerably sweep time, working performance is subject to
To restriction.
Content of the invention
In view of this, the invention reside in offer one kind can reduce redundant data, shorten data acquisition time and raising is right
The gently three-dimensional laser scanner of topographic working performance gentle landform subarea-scanning method.
For solving the above problems, the present invention adopts the following technical scheme that three-dimensional laser scanner gentle landform subarea-scanning
Method, comprises the steps:
(1) scanning area is carried out with subregion: self-scanning instrument center carries out subregion to scanning area from inside to outside, to scanning area
When domain is scanned, horizontal sweep step angle and vertical sweep step angle subtract respectively from inside to outside at self-scanning instrument center
Little；Described gentle landform refers to that in scanning area, any point and the topographical elevation difference h at scanner center are less than or equal to 5 meters and slope
Degree β is less than or equal to 15 °；
(2) sweep parameter is set: be respectively provided with different sweep parameters for each scanning area；
(3) subarea-scanning: respectively each scanning area is scanned using three-dimensional laser scanner.
The gentle landform subarea-scanning method of above-mentioned three-dimensional laser scanner, in step (1): self-scanning instrument center is by introversion
Outward, scanning area is divided into two or more ring-band shape regions, the corresponding vertical sweep in each described ring-band shape region
Angular interval is sequentially reduced.
The gentle landform subarea-scanning method of above-mentioned three-dimensional laser scanner, in step (2): self-scanning instrument center is by introversion
Outward, the horizontal sweep step angle in each described ring-band shape region is sequentially reduced.
The gentle landform subarea-scanning method of above-mentioned three-dimensional laser scanner, in step (2): self-scanning instrument center is by introversion
Outward, the vertical sweep step angle in each described ring-band shape region is sequentially reduced.
The gentle landform subarea-scanning method of above-mentioned three-dimensional laser scanner, in step (2): in same described ring-band shape
When region is scanned: vertically sampling interval is equal and horizontal sampling interval is also equal.So can be non-in real work
Often realized conveniently by setting to the sweep radius of laser scanner and horizontal sampling interval self-scanning instrument center by
Horizontal sweep step angle from inside to outside is sequentially reduced；And in the case that instrument antenna height is certain, can be very convenient
Ground is by being set and being realized self-scanning instrument center from inside to outside to the sweep radius of laser scanner and vertical sampling interval
Vertical sweep step angle be sequentially reduced.
The gentle landform subarea-scanning method of above-mentioned three-dimensional laser scanner, using leica scanstation2 laser scanning
Instrument gathered data, instrument rational height is 1.8 meters, and this instrument scanning angle is 360 ° × 270 °, specifically includes following steps:
(1) scanning area is carried out with subregion: scanning area is divided into the 4th annulus by self-scanning instrument center from inside to outside successively
Shape region, the 3rd ring-band shape region, the second ring-band shape region and the first ring-band shape region, the vertical angles of Fourth Ring belt-like zone
Interval is 45-70 °, and the vertical angles in the 3rd ring-band shape region are interval to be 70-85 °, the vertical angles area in the second ring-band shape region
Between be 85-88 °, the vertical angles in the first ring-band shape region are interval to be 88-89 °；Fourth Ring belt-like zone, the 3rd ring-band shape area
The level angle interval in domain, the second ring-band shape region and the first ring-band shape region is 0-360 °；
(2) sweep parameter is set: the sweep radius of Fourth Ring belt-like zone is 5m, horizontal sampling interval is 10cm, vertically
Sampling interval is 5cm, and the sweep radius in the 3rd ring-band shape region is 10m, horizontal sampling interval is 5cm, vertical sampling interval
2cm, the sweep radius in the second ring-band shape region is 50m, horizontal sampling interval is 5cm, vertical sampling interval is 0.5cm, first
The sweep radius in ring-band shape region is 100m, horizontal sampling interval is 5cm, vertical sampling interval is 0.5cm；
(3) subarea-scanning: using leica scanstation2 laser scanner respectively to Fourth Ring belt-like zone, the 3rd
Ring-band shape region, the second ring-band shape region and the first ring-band shape region are scanned.
The invention has the beneficial effects as follows: the present invention proposes a kind of subarea-scanning according to three-dimensional laser scanner operating principle
Method, based on the principle of data point density equalization, arranges different sweep parameters, reasonable distribution data to different scanning region
Point, reduces redundant data, shortens data acquisition time, improves to gently topographic working performance.
Brief description
Fig. 1 is vertical scan direction angle and sweep radius relation schematic diagram；
Fig. 2 is data point distribution schematic diagram；
Fig. 3 is scanning angle interval and annulus area relationship schematic diagram；
Fig. 4 is subarea-scanning principle；
Fig. 5 a is trial zone scene；
Fig. 5 b is subarea-scanning point cloud chart picture；
Fig. 5 c is entire scan point cloud chart picture；
The horizontal sampling interval of Fig. 6 arrange with horizontal stepping angle relation [r be sweep radius, δ h1 be horizontal sampling interval,
θ 1 is horizontal stepping angle, δ h1=2rsin (θ 1/2)；Further, since horizontal stepping angle θ 1 very little, can approximately use formula θ 1=
Arctan (δ h1/r) tries to achieve δ h1]；
The vertical sampling interval of Fig. 7 arranges that (h is: instrument height with the relation of horizontal stepping angle；R: sweep radius；δ h2 is perpendicular
Straight sampling interval；θ 2 is for scan line and by the angle of centre vertical curve；δ is vertical stepping angle；δ h2=htan θ 2-r
=h [tan θ 2-tan (θ 2- δ)])；
(h is the topographical elevation difference h schematic diagram of Fig. 8 scanner center and any point in scanning area: instrument height；R: scanning
Radius；S is the horizontal range at any point and scanner center in scanning area；H: for the height of any point in scanning area
Degree；The gradient: β).
Specific embodiment
For the scheme in the clear explanation present invention, preferred embodiment is given below and is described with reference to the accompanying drawings.
Three-dimensional laser scanner operating principle is analyzed
Three Dimensional Ground laser scanner mainly has two kinds of mode of operations: pulse mode and phase pattern, for topographic survey
Three-dimensional laser scanner mostly be pulse mode.Laser scanner under built-in servosystem orders about, in the horizontal direction and vertically
Direction is equiangularly launched respectively and is accepted pulse signal, measures each scanning element to laser scanner according to each pulse time-of-flight
The distance at center, according to the angle of each flying spot and the self-defined coordinate axess of laser scanner, calculates each data point in scanner
Coordinate in self-defined coordinate system.In the case that height of instrument h is certain (Fig. 1), in same vertical sweep line, scanner with
Step angle θ scan data, with the increase of scanning angle α, sweep radius is gradually increased, and the interval of adjacent scanning element is also gradually
Increase bigger, when scanning angle is close to 90 °, sweep radius becomes very big, and the interval of adjacent scanning element is also very big.Assume instrument
1.8 meters of device centre-to-centre spacing ground, then the sweep radius corresponding to different scanning angle [alpha] is as shown in table 1.It is equally, interior in the horizontal direction,
Laser scanner equiangularly rotates around vertical axes, every one angle of stepping, and laser scanner obtains a vertical sweep line number
According to the increase of sweep radius, between adjacent upright scan line, the interval of data is also gradually increased.
Table 1 scanning angle and sweep radius synopsis
| Angle (°) | 45 | 55 | 65 | 75 | 80 | 85 | 86 | 87 | 88 | 88.5 | 89 | 89.5 | 90 |
| Radius (m) | 1.8 | 2.6 | 3.9 | 6.7 | 10.2 | 20.6 | 25.7 | 34.3 | 51.5 | 68.7 | 103.1 | 206.3 | +∞ |
Fig. 2 is laser scanner data point distribution schematic diagram, it can be seen that laser scanning point is attached in centre
Closely, the density of point is very big, with the increase of distance, scans dot density and is gradually reduced, edge region becomes very sparse.Three
Dimension laser scanner is very unbalanced to gently topographic data point distribution, and whole survey has been concentrated in the zonule that 10 meters of radius
Stand 80% data point, there is mass of redundancy data, and other all marginal area data volumes be only 20%, peripheral data points are close
Degree wretched insufficiency, this is the major issue that single parameter method to set up exists.
When obtaining gentle terrain data using landform three-dimensional laser scanner, important principle be obtain as far as possible close
Degree data point in a balanced way.When obtaining earth's surface subtle three-dimensional surface model using three-dimensional laser scanner, data dot density is three-dimensional
The important leverage of surface accuracy, taking mining subsidence monitoring as a example, generally, the ground meter accuracy of 1-2cm to be obtained, data point
Interval need to reach 0.2-0.3m, when only data dot density reaches to a certain degree, just can become effective scanning.To gentle
When landform carries out data acquisition, in the case that instrument sets up limited height, its data distribution is very uneven: attached in centre
Closely, the density of data point is very big, and the interval of data point is even up to grade, considerably beyond application demand, causes data
Serious waste；Edge region, data point is very sparse, and the effective scanning radius that this has resulted in every survey station is limited.Laser
Scanner launches laser pulse with certain frequency, transmitting laser pulse quantity and sweep time is substantially proportional to relation, if making
Marginal area packing density increases, then need to increase scanning dot density, certainly will cause increase considerably sweep time, working performance
Significantly reduce.In every survey station, the contradiction of effective scanning radius and sweep time, limit three-dimensional laser to a certain extent and sweep
Retouch the measurement to gentle landform for the instrument.
When three-dimensional laser scanner carries out topographical scan, generally adopt 360 ° of angle scannings in level angle, and vertical
During angle setting, the annulus area that different scanning angular interval is covered is different, and its derivation is as follows: set height of instrument as h,
Scanning angle is interval to be [α, α+θ], then the internal ring radius of annulus is h × tan α, and outer shroud radius is h × tan (α+θ), then annulus
Area is π h2[tan2(α+θ)-tan2α], fig. 3, it is shown that with the increase of scanning angle α, the area of annulus by
Cumulative plus, when scanning angle α is close to 90 °, even if θ value very little, annulus area is still very big, to scanning element in guarantee annulus
Density, then the step angle in horizontally and vertically direction must be made to reduce, increase annulus in data point acquisition time, increase data
Point quantity；When scanning angle α is less, even if θ value is larger, annulus area is still less, to improve data acquisition efficiency, then
Need to increase the step angle in horizontally and vertically direction, shorten data point acquisition time in annulus, reduce number of data points.
Three-dimensional laser scanner in the present invention gentle landform subarea-scanning method
As shown in Figure 5 a, the open vacant lot selecting gentle landform is that (described gentle landform refers in scanning area for trial zone
The topographical elevation difference h at any point and scanner center is less than or equal to 5 meters and gradient β is less than or equal to 15 °), in self-scanning instrument
The heart from inside to outside, scanning area is divided into two or more ring-band shape regions.3 D laser scanning in the present embodiment
Instrument gentle landform subarea-scanning method uses leica scanstation2 laser scanner gathered data, and instrument rational height is
1.8 meters, this instrument scanning angle is 360 ° × 270 °, after scanning using 360 ° of modes, radius can be stayed to be 1.8 below instrument
The hole region of rice；Specifically include following steps:
(1) scanning area is carried out with subregion: as shown in figure 4, according to the difference to scanner centre distance, in self-scanning instrument
Scanning area is divided into Fourth Ring belt-like zone, the 3rd ring-band shape region, the second ring-band shape region and by the heart from inside to outside successively
One ring-band shape region；Each ring-band shape region corresponds to different vertical sweep angles: the vertical angle of Fourth Ring belt-like zone respectively
Degree is interval to be 45-70 °, and the vertical angles in the 3rd ring-band shape region are interval to be 70-85 °, the vertical angles in the second ring-band shape region
Interval is 85-88 °, and the vertical angles in the first ring-band shape region are interval to be 88-89 °；Fourth Ring belt-like zone, the 3rd ring-band shape area
The level angle interval in domain, the second ring-band shape region and the first ring-band shape region is 0-360 °；
(2) sweep parameter is set: the principle based on scanning element density equalization for each ring-band shape region, different scanning ginsengs are set
Number: the sweep radius of Fourth Ring belt-like zone is 5m, horizontal sampling interval is 10cm, vertical sampling interval is 5cm, the 3rd annulus
The sweep radius in shape region is 10m, horizontal sampling interval is 5cm, vertical sampling interval 2cm, the scanning in the second ring-band shape region
Radius is 50m, horizontal sampling interval is 5cm, vertical sampling interval is 0.5cm, and the sweep radius in the first ring-band shape region is
100m, horizontal sampling interval are 5cm, vertical sampling interval is 0.5cm；
When the sweep radius of Fourth Ring belt-like zone is 5m: horizontal sweep stepping angle when horizontal sampling interval is 10cm
Spend for 1.146 °, vertical sampling interval is that vertical sweep step angle during 5cm is 0.2 °；
When the sweep radius in the 3rd ring-band shape region is 10m: horizontal sweep stepping angle when horizontal sampling interval is 5cm
Spend for 0.286 °, vertical sampling interval is vertical sweep step angle during 2cm is 0.02；
When the sweep radius in the second ring-band shape region is 50m: horizontal sweep stepping angle when horizontal sampling interval is 5cm
Spend for 0.057 °, vertical sampling interval is vertical sweep step angle during 0.5cm is 0.0002 ° [for those vertical sweeps
Step angle does not reach the laser scanner of this numerical value, and in the case that vertical sampling interval sets, laser scanner is certainly
The dynamic minimum vertical sweep step angle that can reach according to itself is scanned]；
When the sweep radius in the first ring-band shape region is 100m: horizontal sweep stepping when horizontal sampling interval is 5cm
Angle is 0.029 °, and vertical sampling interval is that vertical sweep step angle during 0.5cm [is vertically swept for those for 0.00005 °
Retouch the laser scanner that step angle does not reach this numerical value, in the case that vertical sampling interval sets, laser scanner
Automatically the minimum vertical sweep step angle that can reach according to itself is scanned].
Under identical parameters facilities, in each annulus near laser scanner center part, its data point still than
Big away from scanner central area data dot density, therefore each annulus institute is unsuitable excessive across scope, and peripheral belt width is 25-
30 meters, the middle annulus width between peripheral belt and interior collarette band is that (middle annulus can be further partitioned into 2-3 ring to 30-40 rice
Band is advisable), interior collarette bandwidth is advisable for 2-5 rice.
Area shared by outermost annulus is maximum, and the scanning angle being comprised very little (between 88 ° -89 °), vertical
Direction needs to arrange the scanning stepping angle of very little, and stepping angle in the horizontal direction is also required to arrange the scanning stepping of very little simultaneously
Angle, so just can make whole region data dot density increase and relative equilibrium.Interior collarette band institute area coverage is minimum, is comprised
Scanning angle larger (between 45 ° -70 °), need to arrange larger scanning stepping angle in vertical direction, step in the horizontal direction
Enter angle to be also required to arrange larger scanning stepping angle.Zone line between outermost annulus and interior collarette band, relatively
In outermost annulus, will suitably increase in vertically and horizontally stepping angle；But with respect to interior collarette band, vertical
Direction and horizontal direction stepping angle will suitably reduce.
(3) subarea-scanning: using leica scanstation2 laser scanner respectively to Fourth Ring belt-like zone, the 3rd
Ring-band shape region, the second ring-band shape region and the first ring-band shape region are scanned.
Meanwhile, trial zone terrain data is obtained using entire scan method, parameter setting and used time are as shown in table 2.
Table 2 test parameterss are arranged
The present embodiment subarea-scanning method is divided into 4 subregions, 26.5 minutes used times, and each sweep parameter setting time is
1 minute, 30.5 minutes altogether.86.5 minutes entire scan used times, the parameter setting time is 1 minute, 87.5 minutes altogether.From work
From the point of view of the industry time, subarea-scanning the spent time is that entire scan spends time taking 35%, and working performance significantly improves.
Each partition data is analyzed, result as shown in table 3 it can be seen that each subregion annulus area with comprised number
Strong point number is proportional, and uniformly, data dot density is in 100-300/m for data point distribution2, marginal point interval is all higher than 0.2 meter.
With 0.2 meter of data dot density for effective scanning range computation, its effective scanning radius is more than 67 meters.Overall data is carried out point
Analysis, counts corresponding subregion by subarea-scanning radius, and result is as shown in table 4 it can be seen that each Division area proportion and points
Ratio is in inverse ratio, and the distributed pole of data point is uneven, and with 0.2 meter of data dot density for effective scanning range computation, it is effectively swept
Retouch radius still less than 43 meters.Vertical sweep angle is respectively 88 ° -89 °, 85 ° -88 °, 70 ° -85 °, 45 ° -70 ° of subarea-scanning
Method is ideal method, and compared with entire scan mode, the former all has at aspects such as working performance, effective scanning radiuses
Clear superiority, data point Density Distribution is greatly improved, and utilization ratio significantly improves.
Table 3 subarea-scanning interpretation of result
Table 4 entire scan interpretation of result
The present invention according to ground three-dimensional laser scanner basic functional principle, for gentle topographical scan time point density unevenness
The problems such as even, redundant data is many, effective scanning radius is little, the method proposing subarea-scanning, different child partitions arrange different sweeping
Retouch parameter, reasonable distribution data dot density, improve working performance.Subarea-scanning method is that single parameter scan mode is changed
Enter, scan efficiency significantly improves, sweep radius significantly increases, will further facilitate three-dimensional laser scanner in topographic survey
Application and research.Three-dimensional laser scanner to be improved, to gently topographic efficiency, mainly improves: one in terms of two
It is to start with from instrument performance, selects the more excellent instrument of performance, shorten single station scanning required time；Two is to start with from operational method,
In addition to the subarea-scanning method proposed in literary composition, scanner antenna height can also be increased, to increase effective scanning radius.Although
Current three-dimensional laser scanning technique quickly grows, and instrument and equipment updates quickly, and every 2-3 completes generation technology innovation, but makees
For expensive instrument and equipment, every money equipment is required for certain service life, while pursuing instrument performance progress,
It is also required to pay attention to the improvement to operational approach.
Above-described embodiment is only intended to clearly illustrate the invention example, and not the invention is had
The restriction of body embodiment.For those of ordinary skill in the field, can also make on the basis of the above description
The change of other multi-forms or variation.There is no need to be exhaustive to all of embodiment.All the present invention's
Spirit and principle within extended out any obvious change or variation still in the invention claim guarantor
Among shield scope.
Claims (5)
1. three-dimensional laser scanner gentle landform subarea-scanning method is it is characterised in that comprise the steps:
(1) scanning area is carried out with subregion: self-scanning instrument center from inside to outside, scanning area is divided into two or more
Ring-band shape region, the corresponding vertical sweep angular interval in each described ring-band shape region is sequentially reduced, and scanning area is swept
When retouching, horizontal sweep step angle and vertical sweep step angle reduce respectively from inside to outside at self-scanning instrument center；Described
Gentle landform refers to that less than or equal to 5 meters and gradient β is less than for the topographical elevation difference h of any point and scanner center in scanning area
Or it is equal to 15 °；
(2) sweep parameter is set: self-scanning instrument center is respectively provided with different scanning ginsengs for each scanning area from inside to outside
Number；
(3) subarea-scanning: respectively each scanning area is scanned using three-dimensional laser scanner.
2. the gentle landform subarea-scanning method of three-dimensional laser scanner according to claim 1 is it is characterised in that in step
(2) in: from inside to outside, the horizontal sweep step angle in each described ring-band shape region is sequentially reduced at self-scanning instrument center.
3. the gentle landform subarea-scanning method of three-dimensional laser scanner according to claim 2 is it is characterised in that in step
(2) in: from inside to outside, the vertical sweep step angle in each described ring-band shape region is sequentially reduced at self-scanning instrument center.
4. the gentle landform subarea-scanning method of three-dimensional laser scanner according to claim 3 is it is characterised in that in step
(2) in: when same described ring-band shape region is scanned: vertically sampling interval is equal and horizontal sampling interval also phase
Deng.
5. the gentle landform subarea-scanning method of three-dimensional laser scanner according to claim 4 is it is characterised in that use
Leica scanstation2 laser scanner gathered data, instrument rational height is 1.8 meters, and this instrument scanning angle is 360 °
× 270 °, specifically include following steps:
(1) scanning area is carried out with subregion: scanning area is divided into Fourth Ring banded regions by self-scanning instrument center from inside to outside successively
Domain, the 3rd ring-band shape region, the second ring-band shape region and the first ring-band shape region, the vertical angles of Fourth Ring belt-like zone are interval
For 45-70 °, the vertical angles in the 3rd ring-band shape region are interval to be 70-85 °, and the vertical angles interval in the second ring-band shape region is
85-88 °, the vertical angles in the first ring-band shape region are interval to be 88-89 °；Fourth Ring belt-like zone, the 3rd ring-band shape region,
The level angle interval in bicyclo- belt-like zone and the first ring-band shape region is 0-360 °；
(2) sweep parameter is set: the sweep radius of Fourth Ring belt-like zone is 5m, horizontal sampling interval is 10cm, vertically samples
Spacing is 5cm, and the sweep radius in the 3rd ring-band shape region is 10m, horizontal sampling interval is 5cm, vertical sampling interval 2cm, the
The sweep radius of bicyclo- belt-like zone is 50m, horizontal sampling interval is 5cm, vertical sampling interval is 0.5cm, the first ring-band shape
The sweep radius in region is 100m, horizontal sampling interval is 5cm, vertical sampling interval is 0.5cm；
(3) subarea-scanning: using leica scanstation2 laser scanner respectively to Fourth Ring belt-like zone, the 3rd annulus
Shape region, the second ring-band shape region and the first ring-band shape region are scanned.
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| JP6709471B2 (en) * | 2018-08-02 | 2020-06-17 | クモノスコーポレーション株式会社 | Three-dimensional laser light scanning device |
| CN113446992B (en) * | 2021-06-28 | 2023-06-16 | 中国水利水电科学研究院 | Method for optimizing distribution of topographic survey points in topographic survey |
| CN117570855B (en) * | 2024-01-19 | 2024-04-09 | 江苏奇点闪耀科技有限公司 | Geographic information survey system applying GIS |
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| CN101290237A (en) * | 2008-01-18 | 2008-10-22 | 天津大学 | Architecture physical data rapid three-dimensional sampling method |
| CN101777189A (en) * | 2009-12-30 | 2010-07-14 | 武汉大学 | Method for measuring image and inspecting quantity under light detection and ranging (LiDAR) three-dimensional environment |
| CN103175484A (en) * | 2012-12-17 | 2013-06-26 | 谢鸿宇 | Crown measuring method based on three-dimensional laser scanning system |
| CN103644896A (en) * | 2013-12-30 | 2014-03-19 | 中国水电顾问集团成都勘测设计研究院有限公司 | Three-dimensional laser scanning-based engineering geological mapping method |
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