Continuous acquisition method for three-dimensional information of indoor environment

Abstract

The invention relates to a continuous acquisition method for the three-dimensional information of an indoor environment. The method comprises the following operation steps: acquiring point cloud data by using an indoor mobile measuring system; selecting point clouds of line scanning of adjacent time quanta, carrying out feature searching and rough matching and calculating a relative geometrical relationship; constructing the relative positional relationship of all the line scanning point clouds in the whole acquisition time quantum; calculating the precise relative positional relationship of three-dimensional laser point clouds according to time and the roughly matched relative positional relationship; correcting the roughly matched relationship in the whole time quantum according to the precise positional relationship; comparing whether the relative relationship value of rough matching and precise matching is less than a threshold and checking whether all the data has been rectified; and repeating precise matching and correction if not, or otherwise, finishing acquisition of the three-dimensional information of space. The method has the advantages of a high degree of automation, rapidness and high efficiency.

Description

technical field [0001] The invention relates to a method for continuously collecting three-dimensional space information of an indoor environment, and belongs to the technical fields of photogrammetry and three-dimensional laser. Background technique [0002] As a new means of spatial information collection, the mobile measurement system is gradually being widely used in various industries. In the outdoor environment, the mobile measurement system uses the POS system for positioning and posture determination, and then combines various sensors equipped on the system, such as 3D laser scanners and high-definition panoramic cameras, to collect and acquire spatial 3D information. However, in the indoor environment, due to the lack and unreliability of GPS signals, the accuracy of basic positioning and attitude determination cannot be guaranteed, and the subsequent information cannot be fused. As a result, it is impossible to directly use the mobile measurement system available i...

AI Technical Summary

Problems solved by technology

However, in the indoor environment, due to the lack and unreliability of GPS signals, the accuracy of basic positioning and attitude determination cannot be guaranteed, and the subsequent information cannot be fused. As a result, it is impossible to directly use the mobile measurement system available in the outdoor environment for continuous and accurate spatial information. collection

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