Lifting motion-based panoramic three-dimensional color laser scanning system and method thereof

Abstract

The invention belongs to the technical fields of three-dimensional color point cloud data processing and three-dimensional scene rebuilding, and provides a lifting motion-based panoramic three-dimensional color laser scanning system and a method thereof. The method comprises the following steps: (1) controlling over uniform lifting of an electronic control lifting table; (2) synchronous acquiringof data; and (3) fusion of acquired data. The lifting motion-based panoramic three-dimensional color laser scanning system and the method thereof have the following advantages: by means of a brand-newdata synchronous acquiring method, laser three-dimensional point clouds, omni-directional two-dimensional images, equipment pose information and lifting table position information are synchronously acquired in real time, and therefore the synchronous acquisition precision is high; the laser three-dimensional point cloud and the omni-directional two-dimensional image at each synchronous moment areutilized for data fusion, three-dimensional color point cloud data in a space scene is acquired in real time, and therefore the data fusion real-time performance is good; and reciprocating motion ofthe lifting table and a GPS combination inertial guiding module, fusion reconstruction of dense three-dimensional color point clouds in the wide-range space scene is achieved.

Description

technical field [0001] The invention relates to a panoramic three-dimensional color laser scanning system based on lifting motion and a method thereof, and belongs to the technical field of three-dimensional color point cloud data processing and three-dimensional scene reconstruction. Background technique [0002] In the process of digitizing the real world, the 3D point cloud data records the geometric properties and position information of the object surface, and the 2D image records the color information and texture information of the object surface. The deep fusion of the two will form an emerging digital Media, that is, 3D color point cloud data, 3D color point cloud data is a further development of 3D point cloud data, which can more accurately describe the real world. In order to obtain the 3D color point cloud data of the scene, it is necessary to build a 3D color laser scanning system, which is mainly composed of a laser scanner, a digital camera, and a computer. T...

AI Technical Summary

Problems solved by technology

The above three-dimensional laser color scanning device has the following problems: 1) It is necessary to first complete the three-dimensional laser scanning of the entire scene to obtain the three-dimensional point cloud of the entire scene, and then it can be fused with the two-dimensional image of the scene, and the three-dimensional image of the scene cannot be obtained in real time during the scanning process. Color point cloud, 3D color point cloud data acquisition is not real-time; 2) The 3D point cloud of the entire scene is only fused with one or several 2D images, with little image information and low fusion quality

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