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Method and system for extracting color point cloud in laser-scanned target object

A technology for target objects and color point clouds, applied in radio wave measurement systems, instruments, etc., can solve problems such as complex registration algorithms, affecting the accuracy of point cloud data processing results, and poor practicability.

Inactive Publication Date: 2018-11-23
广州市杜格科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] In recent years, with the continuous innovation and development of autonomous driving and robots, lidar technology has also been applied to a wider range of fields. At present, the point cloud data obtained through lidar technology only has spatial coordinate values ​​​​but no color information of the coordinate values. It affects the accuracy of the point cloud data processing results by the computer terminal, and the display of point cloud data without color information is not conducive to human observation
[0003] The traditional equipment for obtaining color point cloud data is generally a combination of radar and camera, but the color data and point cloud data of this device require complex registration algorithms, and are prone to misalignment, reducing the accuracy of color point cloud data. It can only work normally under the condition of light, which has certain limitations and poor practicability

Method used

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  • Method and system for extracting color point cloud in laser-scanned target object
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  • Method and system for extracting color point cloud in laser-scanned target object

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0076] Such as Figure 1 to Figure 2 As shown, the method for extracting the color point cloud in the laser scanning target object includes the following steps: the transmitting module emits the first laser beam, the second laser beam and the third laser beam, and records the first laser beam, the second laser beam and the The emission time of the third laser beam; the first laser beam, the second laser beam and the third laser beam form light spots on the opposite surface of the target object, and the light spot scans the target object; the first laser beam, the second laser beam and the second laser beam The three laser beams reflect on the opposite surface to form laser echo signals with characteristic detection parameters, obtain the laser echo signals, record the acquisition time of the laser echo signals, and record the characteristic detection parameters of the laser echo signals; according to the acquired laser echo signals Wave signal, the first electrical signal, the...

Embodiment 2

[0126] Such as image 3 As shown, compared with Embodiment 1 in this embodiment, the method for extracting the color point cloud in the laser scanning target object further includes the following steps:

[0127] After the transmitting module emits the first laser beam, the second laser beam and the third laser beam, synthesize the first laser beam, the second laser beam and the third laser beam into a total beam;

[0128] The combined total beam is acquired and collimated. According to the collimated total beam, the total beam forms a light spot on the opposite surface of the target object.

[0129] This embodiment has the following advantages:

[0130] 1. Synthesize the emitted first laser beam, second laser beam and third laser beam; then collimate the total beam after synthesis;

[0131] The light beam is firstly combined and then collimated. In the case of low angular resolution, only one collimation module is needed, which is beneficial to reduce the production and / or p...

Embodiment 3

[0133] Such as Figure 4 As shown, compared with Embodiment 1 in this embodiment, the method for extracting the color point cloud in the laser scanning target object further includes the following steps:

[0134] After the transmitting module emits the first laser beam, the second laser beam and the third laser beam, the first laser beam, the second laser beam and the third laser beam are collimated respectively, and the emitted first laser beam , the second laser beam and the third laser beam are arranged in parallel with each other;

[0135] Light spots are formed on opposite surfaces of the target object according to the collimated first laser beam, second laser beam and third laser beam.

[0136] This embodiment has the following advantages:

[0137] 1. The emitted first laser beam, second laser beam and third laser beam are arranged in parallel with each other. This setting does not need to perform combined light processing on the first laser beam, second laser beam and...

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Abstract

The invention discloses a method for extracting a color point cloud in a laser-scanned target object, comprising the following steps of emitting, by an emitting module, a first laser beam, a second laser beam and a third laser beam, and recording the emitting time of the first laser beam, the second laser beam and the third laser beam; forming spots on the opposite surfaces of a target object, wherein the spots scan the target object; enabling the first laser beam, the second laser beam, and the third laser beam to be reflected on the opposite surfaces so as to form a laser echo signal with acharacteristic detection parameter, recording the acquisition time of the laser echo signal, and recording the characteristic detection parameter of the laser echo signal; calculating a first electrical signal, a second electrical signal and a third electrical signal; calculating the color point cloud data and outputting the corresponding color point cloud data. The method for extracting the colorpoint cloud in the laser-scanned target object can more accurately acquire the color point cloud data, is not affected by an ambient lighting factor, and has good practicability.

Description

technical field [0001] The invention relates to the technical field of point cloud data processing, in particular to a method and system for extracting color point clouds in laser scanning target objects. Background technique [0002] In recent years, with the continuous innovation and development of autonomous driving and robots, lidar technology has also been applied to a wider range of fields. At present, the point cloud data obtained through lidar technology only has spatial coordinate values ​​​​but no color information of the coordinate values. It affects the accuracy of the point cloud data processing results by the computer terminal, and the display of point cloud data without color information is not conducive to human observation. [0003] The traditional equipment for obtaining color point cloud data is generally a combination of radar and camera, but the color data and point cloud data of this device require complex registration algorithms, and are prone to misal...

Claims

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Application Information

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IPC IPC(8): G01S7/487
CPCG01S7/487
Inventor 张莉均朱志伟冯遇春
Owner 广州市杜格科技有限公司
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