基于最小二乘原理的移动测量传感器集成检校技术研究
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摘要
移动激光雷达测量系统由多个传感器集合而成,各传感器采集数据相对独立,集成安装后获取点云精度质量通常难以控制。针对这一问题,提出了一种基于最小二乘平差原理的特征点检校方法,结合空间配准算法构建推导平差模型,求解误差参数。通过多源传感器数据融合配准,对加入误差改正数后的成果点云质量比较分析。实验结果表明,这种检校方法能够达到提升点云模型精度的目的。
Mobile Li DAR measurement system usually consists of multiple sensors,the data obtained are integration of independent sensors. As the quality of installation of sensors is usually difficult to control,the accuracy of the cloud points obtained is lower. In order to solve this problem,this paper presents a calibration method based on the principle of least squares adjustment, combining with the spatial registration algorithm. By data fusion from multiple sensors,the quality of the point clouds is anlalized.The experimental results show that our calibration method can achieve the goal of accuracy assessment of the point clouds.
Mobile Li DAR measurement system usually consists of multiple sensors,the data obtained are integration of independent sensors. As the quality of installation of sensors is usually difficult to control,the accuracy of the cloud points obtained is lower. In order to solve this problem,this paper presents a calibration method based on the principle of least squares adjustment, combining with the spatial registration algorithm. By data fusion from multiple sensors,the quality of the point clouds is anlalized.The experimental results show that our calibration method can achieve the goal of accuracy assessment of the point clouds.
引文
[1]李德仁.移动测量技术及其应用[J].地理空间信息,2006,4(4):1~5.Li Deren.Mobile mapping technology and its applications[J].Geospatial Information,2006,4(4):1~5.(in Chinese)
[2]李德仁,陈小明,郭丙轩等.车载GPS道路信息采集和更新系统研究[J].武汉测绘科技大学学报,2000,25(2):95~99.Li Deren,Chen Xiaoming,Guo Bingxuan et al.Study on car_borne GPS road information collecting and update system[J].Geomatics and Information Science of Wuhan University,2000,25(2):95~99.(in Chinese)
[3]陈允芳,叶泽田,谢彩香等.IMU/DGPS辅助车载CCD及激光扫描仪三维数据采集与建模[J].测绘科学,2006,31(5):91~92.Chen Yunfang,Ye Zetian,Xie Caixiang et al.3D data collection and modeling by vehicle-borne CCD and laser scanner aided by IMU and GPS[J].Science of Surveying and Mapping,2006,31(5):91~92.(in Chinese)
[4]Bharat Lohani,and Rajneesh Singh."Effect of data density,scan angle,and flying height on the accuracy of building extraction using Li DAR data."Geocarto International 23.2(2008):81~94.
[5]韩友美,王留召,钟若飞等.基于激光扫描仪的线阵相机动态高精度标定[J].测绘学报,2010,39(6):631~635.Han Youmei,Wang Liuzhao,Zhong Ruofei et al.The calibration of the line scan camera based on laser scanner[J].Acta Geodaetica et Cartographica Sinica,2010,39(6):631~635.(in Chinese)
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[8]于英,张永生,薛武等.车载序列影像地理空间注册技术[J].测绘科学技术学报,2013,30(6):606~609.Yu Ying,Zhang Yongsheng,Xue Wu et al.Vehicle-based image sequence georegistration[J].Journal of Geomatics Science and Technology,2013,30(6):606~609.(in Chinese)
[9]Choi,Kyuhong."Improvements in GPS precision:10 Hz to One Day."Dissertations&Theses-Gradworks,2007.
[10]Dr.Mohamed Abdel-tawwab Abdel-salam."Precise point positioning using Un-Differenced code and carrier phase observations."Http://www.geomatics.ucalgary.ca/links/Grad Theses[OL].2005.
[11]谢文寒,张祖勋.基于多像灭点的相机定标[J].测绘学报,2004,33(4):335~340.Xie Wenhan,Zhang Zuxun.Camera calibration based on vanishing points of multi-image[J].Acta Geodaetica et Cartographica Sinica,2004,33(4):335~340.(in Chinese)
[12]李德仁,郭晟等.基于3S集成技术的LD2000系列移动道路测量系统及其应用[J].测绘学报,2008,37(3):272~276.Li Deren,Guo Sheng et al.3S(RS,GPS,GIS)integration technology based LD2000 series mobile mapping system and its applications[J].Acta Geodaetica et Cartographica Sinica,2008,37(3):272~276.(in Chinese)
[13]李清泉,李必军,陈静等.激光雷达测量技术及其应用研究[J].武汉测绘科技大学学报,2000,25(5):387~392.Li Qingquan,Li Bijun,Chen Jing et al.Research on laser range scanning and its application[J].Geomatics and Information Science of Wuhan University,2000,25(5):387~392.(in Chinese)
[14]李鑫.车载移动测量系统误差分析与检校方法研究[D].郑州:解放军信息工程大学,2012.
[15]魏冠楠,石若明,郭明等.基于车载移动测量系统的空间数据采集与预处理[J].建筑工程技术与设计,2015,(32):1624~1624.Wei Guannan,Shi Ruoming,Guo ming et al.Study of collecting and processing spatial data based on MMS[J].Architectural Engineering Technology and Besign,2015,(32):1624~1624.(in Chinese)
[16]Ressl,Camillo,H.Kager,and G.Mandlburger."Quality checking of als projects using statistics of strip differences."Mccarthy,2008.
[17]Gollakota,Manorama."GPS receiver improvements for low signal-to-noise ratio applications."Dissertations&ThesesGradworks,2007.
[2]李德仁,陈小明,郭丙轩等.车载GPS道路信息采集和更新系统研究[J].武汉测绘科技大学学报,2000,25(2):95~99.Li Deren,Chen Xiaoming,Guo Bingxuan et al.Study on car_borne GPS road information collecting and update system[J].Geomatics and Information Science of Wuhan University,2000,25(2):95~99.(in Chinese)
[3]陈允芳,叶泽田,谢彩香等.IMU/DGPS辅助车载CCD及激光扫描仪三维数据采集与建模[J].测绘科学,2006,31(5):91~92.Chen Yunfang,Ye Zetian,Xie Caixiang et al.3D data collection and modeling by vehicle-borne CCD and laser scanner aided by IMU and GPS[J].Science of Surveying and Mapping,2006,31(5):91~92.(in Chinese)
[4]Bharat Lohani,and Rajneesh Singh."Effect of data density,scan angle,and flying height on the accuracy of building extraction using Li DAR data."Geocarto International 23.2(2008):81~94.
[5]韩友美,王留召,钟若飞等.基于激光扫描仪的线阵相机动态高精度标定[J].测绘学报,2010,39(6):631~635.Han Youmei,Wang Liuzhao,Zhong Ruofei et al.The calibration of the line scan camera based on laser scanner[J].Acta Geodaetica et Cartographica Sinica,2010,39(6):631~635.(in Chinese)
[6]郭波,屈孝志,黄先锋等.车载移动立体测量系统检校及精度分析[J].激光与红外,2011,41(11):1205~1210.Guo Bo,Qu Xiaozhi,Huang Xianfeng et al.Calibration and accuracy analysis of vehicle-borne mobile 3D measurement system[J].Laser&Infrared,2011,41(11):1205~1210.(in Chinese)
[7]戴彬,钟若飞,胡竞等.基于车载激光扫描数据的城市地物三维重建研究[J].首都师范大学学报(自然科学版),2011,32(3):89~96.Dai Bin,Zhong Ruofei,Hu Jing et al.Research on 3D reconstruction of urban features from data based on vehicle-borne laser scanning[J].Journal of Capital Normal University(Natural Sciences Edition),2011,32(3):89~96.(in Chinese)
[8]于英,张永生,薛武等.车载序列影像地理空间注册技术[J].测绘科学技术学报,2013,30(6):606~609.Yu Ying,Zhang Yongsheng,Xue Wu et al.Vehicle-based image sequence georegistration[J].Journal of Geomatics Science and Technology,2013,30(6):606~609.(in Chinese)
[9]Choi,Kyuhong."Improvements in GPS precision:10 Hz to One Day."Dissertations&Theses-Gradworks,2007.
[10]Dr.Mohamed Abdel-tawwab Abdel-salam."Precise point positioning using Un-Differenced code and carrier phase observations."Http://www.geomatics.ucalgary.ca/links/Grad Theses[OL].2005.
[11]谢文寒,张祖勋.基于多像灭点的相机定标[J].测绘学报,2004,33(4):335~340.Xie Wenhan,Zhang Zuxun.Camera calibration based on vanishing points of multi-image[J].Acta Geodaetica et Cartographica Sinica,2004,33(4):335~340.(in Chinese)
[12]李德仁,郭晟等.基于3S集成技术的LD2000系列移动道路测量系统及其应用[J].测绘学报,2008,37(3):272~276.Li Deren,Guo Sheng et al.3S(RS,GPS,GIS)integration technology based LD2000 series mobile mapping system and its applications[J].Acta Geodaetica et Cartographica Sinica,2008,37(3):272~276.(in Chinese)
[13]李清泉,李必军,陈静等.激光雷达测量技术及其应用研究[J].武汉测绘科技大学学报,2000,25(5):387~392.Li Qingquan,Li Bijun,Chen Jing et al.Research on laser range scanning and its application[J].Geomatics and Information Science of Wuhan University,2000,25(5):387~392.(in Chinese)
[14]李鑫.车载移动测量系统误差分析与检校方法研究[D].郑州:解放军信息工程大学,2012.
[15]魏冠楠,石若明,郭明等.基于车载移动测量系统的空间数据采集与预处理[J].建筑工程技术与设计,2015,(32):1624~1624.Wei Guannan,Shi Ruoming,Guo ming et al.Study of collecting and processing spatial data based on MMS[J].Architectural Engineering Technology and Besign,2015,(32):1624~1624.(in Chinese)
[16]Ressl,Camillo,H.Kager,and G.Mandlburger."Quality checking of als projects using statistics of strip differences."Mccarthy,2008.
[17]Gollakota,Manorama."GPS receiver improvements for low signal-to-noise ratio applications."Dissertations&ThesesGradworks,2007.