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Method for refining edge of laser-point cloud

A laser point cloud and edge technology, which is used in the re-radiation of electromagnetic waves, image data processing, measurement devices, etc., can solve the problems of not getting geometric edges and texture edges, missing and sparse point cloud data, etc.

Inactive Publication Date: 2014-09-24
BEIJING UNIVERSITY OF CIVIL ENGINEERING AND ARCHITECTURE
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Problems solved by technology

In the actual scanning process, due to the influence of the scanning point spacing and scanning angle, the point cloud data in the local area is missing or sparse, and the precise geometric edge and texture edge of the object cannot be obtained, so it cannot be finely modeled

Method used

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  • Method for refining edge of laser-point cloud
  • Method for refining edge of laser-point cloud
  • Method for refining edge of laser-point cloud

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Embodiment Construction

[0063] The present invention will be further described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the description.

[0064] like figure 1 As shown, the present invention proposes a method for refining the edge of a laser point cloud, comprising the following steps:

[0065] Step 1. Data collection:

[0066] Using terrestrial lidar to obtain such as figure 1 In the laser point cloud of the measured object shown, multiple optical images of the measured object are obtained by using a camera device, and there is an overlapping area between two adjacent optical images;

[0067] Step 2. Generate image point cloud:

[0068] Two adjacent optical images are generated as figure 2 The image point cloud shown, wherein the image point cloud is at least composed of edge point clouds used to represent edge features;

[0069] Step 3, edge refinement:

[0070] According to the organizational form of ...

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Abstract

The invention provides a method for refining the edge of a laser-point cloud. The laser-point cloud and multiple optical images of a detected object are obtained respectively by adopting a ground laser radar and camera shooting equipment, then an image point cloud is generated by using the optical images, finally an intensity image is generated according to the laser-point cloud, and the intensity image is matched with one of the multiple optical images to obtain at least three matching point pairs; laser scanning points and corresponding points are found from the laser-point cloud and the image point cloud respectively, coordinate transformation parameters are calculated by using homonymy point pairs formed by the laser scanning points and the corresponding points, the image point cloud is converted into the laser-point cloud, and the laser-point cloud with the edge refined is generated. According to the method refining the edge of the laser-point cloud, edge refining can be carried out on data of the laser-point cloud effectively, and the problem that point cloud data of the edge of an entity are missed or sparse is solved.

Description

technical field [0001] The method of the invention belongs to the combination of three-dimensional laser scanning technology and photogrammetry, and in particular relates to a method for refining the edge of a laser point cloud. Background technique [0002] Terrestrial lidar technology is an emerging technology in recent years. It is widely used in various fields to obtain the three-dimensional information of the scanned object in a fast, accurate and non-direct contact manner. The point cloud data obtained by lidar can be well completed in 3D reconstruction under certain circumstances. However, due to the limitations of ground lidar instruments and scanning conditions, the reconstructed structure is not ideal in some cases. However, with the rapid development of photogrammetry technology and the continuous innovation of theories, the application of photogrammetry images and related theories to reconstruct the model of the measured object can make up for the lack of ground ...

Claims

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Application Information

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IPC IPC(8): G06T7/00G01S17/89G01C11/00
Inventor 胡春梅王晏民曾飞翔李天烁
Owner BEIJING UNIVERSITY OF CIVIL ENGINEERING AND ARCHITECTURE
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