三维激光扫描装置设计与数据处理
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摘要
三维激光扫描仪克服了传统的单点测量方式,可以方便地对实物进行复制建立立体模型。笔者简单介绍了三维激光扫描仪构造及其实现的原理,利用自行购买的激光雷达、相机和电控平台等部件搭建三维激光扫描平台,利用串口通讯实现对激光雷达、相机和电控平台等硬件控制,进一步完成三维激光扫描点云生成及图像获取,并对生成的点云进行了精度校正,最后基于特征点拼接多幅扫描图像并成功地实现了扫描点云和图像的匹配融合,其中点云精度和图像融合效果较好。
Three-dimensional laser scanner overcomes the traditional measurement method using single point,and it can easily replicate objects and establish three-dimensional models. The authors introduce the structure of 3 D laser scanner and its principle of realization,and build a three-dimensional laser scanning platform using the selfpurchased laser radar,camera,electronic control platform and other components. The hardware control of laser radar,camera and electronic control platform is realized by serial communication,and the 3 D laser scanning point cloud generation and image acquisition are completed,and the accuracy of the generated point cloud is corrected.At last,multi scan images are spliced based on feature points,and the matching fusion of the scanning point cloud and image is successfully achieved,in which the precision of point cloud and the effect of image fusion are better.
Three-dimensional laser scanner overcomes the traditional measurement method using single point,and it can easily replicate objects and establish three-dimensional models. The authors introduce the structure of 3 D laser scanner and its principle of realization,and build a three-dimensional laser scanning platform using the selfpurchased laser radar,camera,electronic control platform and other components. The hardware control of laser radar,camera and electronic control platform is realized by serial communication,and the 3 D laser scanning point cloud generation and image acquisition are completed,and the accuracy of the generated point cloud is corrected.At last,multi scan images are spliced based on feature points,and the matching fusion of the scanning point cloud and image is successfully achieved,in which the precision of point cloud and the effect of image fusion are better.
引文
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[15]高欣圆.外置相机与地面三维激光扫描仪位置关系标定方法研究:硕士学位论文[D].郑州:中国人民解放军信息工程大学,2015.GAO Xin-yuan. Study on the position relations calibration of external camera and TLS:master's degree thesis[D]. Zhengzhou:PLA Information Engineering University,2015.
[16]化蕾,黄洪宇,陈崇成,等.基于激光点云数据的客家土楼三维建模[J].遥感技术与应用,2015,30(1):115-122.HUA Lei,HUANG Hong-yu,CHEN Chong-cheng,et al. Three-dimensional modeling of Hakka Earth buildings based on the laser scanned point cloud data[J].Remote Sensing Technology and Application,2015,30(1):115-122.
[17]李锋,曾德良,于湘涛.基于VB 6. 0的串口通讯程序设计[J].现代电子技术,2002,11(10):54-57.LI Feng,ZENG De-liang,YU Xiang-tao. Research of the image mosaic method based on Harris Corner derection[J]. Modern Electronic Technology,2002,11(10):54-57.
[2] Al-Kheder S,Al-Shawabkeh Y,Haala N. Developing a documentation system for desert palaces in Jordan using3D laser scanning and digital photogrammetry[J]. Journal of Archaeological Science,2009,36(2):537-546.
[3] Renard F,Voisin C,Marsan D,et al. High resolution3D laser scanner measurements of a strike-slip fault quantify its morphological anisotropy at all scales[J]. Geophysical Research Letters,2006,33(4):347-360.
[4]李滨.徕卡三维激光扫描系统在文物保护领域的应用[J].测绘通报,2008,19(6):72-73.LI Bin. Application of Leica 3D laser scanning system in cultural heritage protection field[J]. Bulletin of Surveying and Mapping,2008,19(6):72-73.
[5]谢雄耀,卢晓智,田海洋,等.基于地面三维激光扫描技术的隧道全断面变形测量方法[J].岩石力学与工程学报,2013,32(11):2214-2224.XIE Xiong-yao,LU Xiao-zhi,TIAN Hai-yang,et al. Deformation measurement of tunnel full face based on 3D laser scanning technology[J]. Chinese Journal of Rock Mechanics and Engineering,2013,32(11):2214-2224.
[6]柏雯娟.用三维激光扫描技术监测矿山开采沉陷[J].金属矿山,2017,28(1):132-135.BO Wen-juan. Subsidence monitoring method based on laser scanning technique[J]. Metal Mine,2017,28(1):132-135.
[7] Tuley J,Vandapel N,Hebert M. Analysis and removal of artifacts in 3-D LADAR data[C]//IEEE International Conference on Robotics and Automation. IEEE,2006:2203-2210.
[8] Muller M,Surmann H,Kai P,et al. The accuracy of 6D SLAM using the AIS 3D laser scanner[C]//IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems,2006:389-394.
[9]李明磊,高欣圆,李广云,等.地面三维激光扫描仪与外架数码相机间安置参数的高精度标定[J].光学精密工程,2016,24(9):2158-2166.LI Ming-lei,GAO Xin-yuan,LI Guang-yun,et al. Mining high accuracy calibration of installation parameters between 3D terrestrial laser scanner and external-installed digital camera[J]. Optics and Precision Engineering,2016,24(9):2158-2166.
[10]陈千颂,杨成伟,潘志文,等.激光飞行时间测距关键技术进展[J].激光与红外,2002,32(1):7-10.CHEN Qian-song,YANG Cheng-wei,PAN Zhi-wen,et al. A brief introduction on the development of laser time-of-flight distance measurement technology[J].Laser and Infrared,2002,32(1):7-10.
[11]邵珠法.高精度快速激光相位测距技术研究:硕士学位论文[D].成都:电子科技大学,2005.SHAO Zhu-fa. Research on high-precision fast laser phase measurement:master's degree thesis[D].Chengdu:University of Electronic Science and Technology of China,2005.
[12]马立广.地面三维激光扫描测量技术研究:硕士学位论文[D].武汉:武汉大学,2005.MA Li-guang. The research of terrestrial laser scanning technology:master's degree thesis[D]. Wuhan:Wuhan University,2005.
[13]贾莹.基于Harris角点检测算法的图像拼接技术研究:硕士学位论文[D].长春:吉林大学,2010.JIA Ying. Image mosaic technology based on Harris corner detection algorithm:master's degree thesis[D].Changchun:Jilin University,2010.
[14]阮功成.基于Harris角点的图像拼接算法:硕士学位论文[D].南京:东南大学,2011.RUAN Gong-cheng. Image mosaic algorithm based on Harris Corner:master's degree thesis[D]. Nanjing:Southeast University,2011.
[15]高欣圆.外置相机与地面三维激光扫描仪位置关系标定方法研究:硕士学位论文[D].郑州:中国人民解放军信息工程大学,2015.GAO Xin-yuan. Study on the position relations calibration of external camera and TLS:master's degree thesis[D]. Zhengzhou:PLA Information Engineering University,2015.
[16]化蕾,黄洪宇,陈崇成,等.基于激光点云数据的客家土楼三维建模[J].遥感技术与应用,2015,30(1):115-122.HUA Lei,HUANG Hong-yu,CHEN Chong-cheng,et al. Three-dimensional modeling of Hakka Earth buildings based on the laser scanned point cloud data[J].Remote Sensing Technology and Application,2015,30(1):115-122.
[17]李锋,曾德良,于湘涛.基于VB 6. 0的串口通讯程序设计[J].现代电子技术,2002,11(10):54-57.LI Feng,ZENG De-liang,YU Xiang-tao. Research of the image mosaic method based on Harris Corner derection[J]. Modern Electronic Technology,2002,11(10):54-57.