多站点云光束法全局配准方法
Global registration method for multi-station point clouds based on the bundle adjustment method
毛庆洲 1夏梦璇 1李清泉 2朱璟 1樊廷立1
作者信息
- 1. 武汉大学遥感信息工程学院,湖北武汉 430079
- 2. 深圳大学空间信息智能感知与服务深圳市重点实验室,广东深圳 518060
- 折叠
摘要
面对大面积、高密度的制冰排管,平行度、翘曲度数据的提取存在检测精度低、数据覆盖不全面的问题.本文结合多棱镜靶球的三维激光采集方式,提出多站点云光束法全局配准方法,使用半径约束的随机抽样一致性球拟合法方法提取靶球中心,利用各测站点云原点绝对坐标、标靶中心相对坐标与标靶中心绝对坐标之间的坐标转换关系,采用光束法全局求解所有测站的位置与姿态参数,完成场馆点云的全局配准.试验采用国家速滑馆扫描数据进行验证.结果表明,点云匹配后内符合精度为2.6 mm,外符合精度为1.9 mm,相比于现有方法,本文方法取得了更高的采集精度.
Abstract
In the extraction of parallelism and warping data for large-scale,high-density ice-making pipes,issues such as low detection accuracy and incomplete data coverage are prevalent.This paper proposes a method based on bundle adjustment for regional networks,utilizing a 3D laser acquisition approach with multi-prism target spheres.The target sphere centers are ex-tracted using a radius-constrained random sample consensus(RANSAC)sphere fitting method.By applying coordinate trans-formations between the absolute coordinates of the station point cloud origins,the relative coordinates of the target centers,and the absolute coordinates of the target centers,a global solution for the positions and orientations of all stations is achieved using bundle adjustment.The method was validated using scan data from the National Speed Skating Oval.The results show that after point cloud matching,the internal consistency accuracy is 2.6 mm,and the external consistency accuracy is 1.9 mm,demonstrating higher acquisition accuracy compared to existing methods.
关键词
三维激光扫描/棱镜靶球/光束法定向/制冰排管/国家速滑馆Key words
3D laser scanning/target sphere prism/beam legalization/ice making pipes/the National Speed Skating Oval引用本文复制引用
基金项目
国家重点研发计划(2023YFC3009400)
出版年
2024
NETL
NSTL
万方数据