Color point cloud producing method of vehicle-mounted laser mobile measurement system

Abstract

The invention relates to a color point cloud producing method of a vehicle-mounted laser mobile measurement system. The method includes adopting the vehicle-mounted mobile measurement system to acquire point cloud data and panoramic image data, selecting multiple pairs of characteristics of the same names from the panoramic images and point clouds, calculating outer parameters of a panoramic camera in a carrier coordinate system, acquiring the carrier coordinate system position and posture according to the outer parameters of the panoramic camera in the carrier coordinate system and the panoramic images, acquiring outer parameters of each panoramic image, segmenting the point clouds according to distance between the panoramic images, allowing the point clouds of each segment to correspond to the panoramic images, coloring the point clouds segment by segment, detecting the bad GPS signals or corner registration effect, adjusting the posture parameters, recoloring, detecting coloring errors caused by shielding, and selecting the point clouds with the coloring errors and correctly-corresponded panoramic images for coloring. The method has the advantages of high automation level, high speed and high efficiency.

Description

technical field [0001] The invention relates to a color point cloud production method of a vehicle-mounted laser mobile measurement system, belonging to the technical fields of photogrammetry and three-dimensional laser. Background technique [0002] The vehicle-mounted laser mobile measurement system consists of a positioning and attitude determination system (POS), a three-dimensional laser scanner and a panoramic camera, an industrial control computer system, and a vehicle carrier. In the process of mobile data collection, the POS system obtains the high-frequency and high-precision attitude parameters of the mobile measurement system, the laser scanner obtains the precise three-dimensional coordinates of the scanned object, and the panoramic camera obtains the texture information of the collected object. Using the principle of time-space alignment, the collected Multi-sensor data is fused to provide fast and accurate support for basic data construction such as 3D modelin...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the deficiencies and problems faced by the existing technology, and provide a method based on the principle and characteristics of data acquisition of the vehicle-mounted mobile measurement system, which can efficiently and process the production of color point cloud data, and solve the problem of sensor Inaccurate coloring of point clouds caused by integration errors between them, panoramic camera photo occlusion, incomplete scanning point cloud structure, etc.

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