基于车载测量系统的激光扫描仪检校研究与应用
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摘要
目前,在快速发展的当今社会,车载激光数据测量已成为我国基础测绘手段之一,在地理空间数据的获取与更新中发挥着重要作用。而传统的数据获取方式已经远远不能满足现在社会发展的需要,特别在近景的数据获取中,这种不足就更尤为突出。
随着激光测量的应运而生与激光扫描仪的迅速发展,快速摄影线阵相机技术的出现和应用,Pos系统的精密度的提高,近景数据获取测量己进入到数字测量阶段,然而现有的激光扫描仪、线阵相机、Pos等一些高科技术,也会存在这样那样的缺点,如激光扫描仪测距的不准确、内方位元素无法直接量取,线性相机对目标物体的颜色无法准确的获取,Pos定姿的误差等,这就使得激光扫描无法直接在近景测量中使用,因此,要想将三维激光扫描系统作为近景数据获取系统,以上的诸多技术难题必须得以解决。
针对以上问题,本文主要研究内容如下:
1.首先介绍了激光扫描测量的原理及激光扫描坐标系的定义,为研究激光测量技术打下基础;
2.激光测量误差主要来源之一是目标物距激光扫描仪的远近及目标物灰度的不同而引起的测量误差,为此,设置了实验对其进行检校并得到其检校参数,对于另外一些激光测量误差来源如激光电流、激光转速的不同对其产生的误差来源也进行了检校并得到了其检校参数。
3.对车载三维激光扫描的另外的一个重要传感器惯导联合激光一起做了检校,并得到其检校参数,在各种检校完毕后进行了实地应用测试,并给出结论分析车载激光扫描测量技术的可靠性与投入市场的可行性。
In the rapid development of today's society, the traditional way of data acquisition has been far away to meet the needs of social development. It is more prominent particularly in the close-range data acquisition.
Laser scanner comes into being with the rapid development of fast line scan camera photographic technologies, applications and development, Pos system, the improvement of precision, the traditional way of close-range data acquisition has been challenged, but now the laser scanner, linear array camera , Pos also have drawbacks, laser scanner measurement is not accurate position and the volume element can not be directly obtained, the linear camera on the target object's color can not obtain accurate, Pos attitude determination error, which makes laser scanner can not be directly in the close-range the use of measurement; Therefore, the three-dimensional laser scanning system as a close-range data acquisition system, more than a lot of technical problems must be resolved.
To solve the above problems, this paper mainly studies content as follows:
1.First introduced the measurement principle of laser scanner and laser scanner coordinate system . And lay the foundation for study laser measurement techniques.
2.The main Laser measurement error caused by the target object's distance from the laser scanner and the different gray , so set up an experimental calibrate it and get the calibration parameters, for other laser measurement error sources such as laser current, laser speed generated and so is it and carry out calibration and give its calibration parameters.
3. Another sensor of on-board laser scanning is IMU, set a joint calibration using laser and IMU and a variety of calibration is carried out after field application testing, and gives the conclusions on laser scanning analysis of vehicle measurement reliability and feasibility of the market.
随着激光测量的应运而生与激光扫描仪的迅速发展,快速摄影线阵相机技术的出现和应用,Pos系统的精密度的提高,近景数据获取测量己进入到数字测量阶段,然而现有的激光扫描仪、线阵相机、Pos等一些高科技术,也会存在这样那样的缺点,如激光扫描仪测距的不准确、内方位元素无法直接量取,线性相机对目标物体的颜色无法准确的获取,Pos定姿的误差等,这就使得激光扫描无法直接在近景测量中使用,因此,要想将三维激光扫描系统作为近景数据获取系统,以上的诸多技术难题必须得以解决。
针对以上问题,本文主要研究内容如下:
1.首先介绍了激光扫描测量的原理及激光扫描坐标系的定义,为研究激光测量技术打下基础;
2.激光测量误差主要来源之一是目标物距激光扫描仪的远近及目标物灰度的不同而引起的测量误差,为此,设置了实验对其进行检校并得到其检校参数,对于另外一些激光测量误差来源如激光电流、激光转速的不同对其产生的误差来源也进行了检校并得到了其检校参数。
3.对车载三维激光扫描的另外的一个重要传感器惯导联合激光一起做了检校,并得到其检校参数,在各种检校完毕后进行了实地应用测试,并给出结论分析车载激光扫描测量技术的可靠性与投入市场的可行性。
In the rapid development of today's society, the traditional way of data acquisition has been far away to meet the needs of social development. It is more prominent particularly in the close-range data acquisition.
Laser scanner comes into being with the rapid development of fast line scan camera photographic technologies, applications and development, Pos system, the improvement of precision, the traditional way of close-range data acquisition has been challenged, but now the laser scanner, linear array camera , Pos also have drawbacks, laser scanner measurement is not accurate position and the volume element can not be directly obtained, the linear camera on the target object's color can not obtain accurate, Pos attitude determination error, which makes laser scanner can not be directly in the close-range the use of measurement; Therefore, the three-dimensional laser scanning system as a close-range data acquisition system, more than a lot of technical problems must be resolved.
To solve the above problems, this paper mainly studies content as follows:
1.First introduced the measurement principle of laser scanner and laser scanner coordinate system . And lay the foundation for study laser measurement techniques.
2.The main Laser measurement error caused by the target object's distance from the laser scanner and the different gray , so set up an experimental calibrate it and get the calibration parameters, for other laser measurement error sources such as laser current, laser speed generated and so is it and carry out calibration and give its calibration parameters.
3. Another sensor of on-board laser scanning is IMU, set a joint calibration using laser and IMU and a variety of calibration is carried out after field application testing, and gives the conclusions on laser scanning analysis of vehicle measurement reliability and feasibility of the market.
引文
[1] A. Bruce and G. Gordon. "Better motion prediction for people-tracking". In Proceedings of ICRA 2004, 2004.
[2] B. Kluge, C. K?hler and E. Prassler, "Fast and robust tracking of multiple moving objects with a laser range finder," in Proc. IEEE Int. Conf. on Robotics and Automation, pp.1683-1688, Seoul, 2001.
[3] Dr. Rongxing Li, Mobile Mapping-An emerging Technology For Spatial data Acquisition. http://shoreline.eng.ohio-state.edu/ron/teaching/787/paper1.pdf
[4] Ehen,Y.,Medioni,G.: Object Modeling by Registration of Multiple Range Images, Image and Vision Computing,Vol.10,No.3,Apr.pp.145-155,1992.
[5] El-Hakim,S.F.,Brenner,C.,Roth,G.: A Multiple-sensor Approach to Creating Accurate Virtual Environments ,JSPRS Journal of Photogrammetry & Remote Sensing,Vol.53,pp.379-391,1998.
[6] Fredrick Sandberg. "Vision based gesture recognition for human-robot interaction" .Master’s thesis, Stockholm University, CAS, 1999.
[7] Gruen,A.: TOBAGO-a semi-automated approach for the generation of 3-D building models, ISPRS, Journal of Photogrammetry and Remote Sensing, Vol.53 , issue.2, pp.108-118, 1998.
[8] H. Zhao and R. Shibasaki:“A novel system for tracking pedestrians using multiple single-row laser range scanners,”IEEE Transactions on Systems ,Man, and Cybernetics-part A, Vol. 35, No.2, pp. 283–291 (2005).
[9] Mallat S. A theory of multi resolution signal decomposition: The wavelet transform [J]. IEEE Trans. on Pattern Anal. and Machine Intel., 1989, 11(7): 674?693.
[10] Rioul O and Vetterli M. Wavelets and signal processing [J].IEEE Signal Processing Magazine, 1991, 8(4): 14?38.
[11] Vidakovic B L and Ozoya C B. On time-dependent waveletdenoising [J]. IEEE Trans. On Signal Proc., 1998, 46(9): 2549?2551.
[12]蔡润彬、潘国荣,关于OpenGL在激光扫描数据处理中的应用研究,2006年第9期
[13]段福洲.近地轻型数码航空摄影测量系统研究: [博士学位论文].北京:首都师范大学,2007
[14]狄彩云等.基于线阵ccd相机的移动车载测图系统的道路数据自动获取研究.[硕士位论文],2007年6月
[15]冯文灏.近景摄影测量[M].武汉:武汉大学出版社, 2002
[16]胡寅.三维激光扫描仪与逆向工程关键技术研究[博士学位论文].武汉:华中科技大学. 2005.
[17]刘经南,张小红.影响机载激光扫描测高精度的系统误差分析[J].武汉大学学报·信息科学版, 2002, 27 (2):111-116
[18]刘经南,叶世榕. GPS非差相位精密单点定位技术探讨[J].武汉大学学报·信息科学版, 2002, 27 (3): 234-239
[19]李清泉,李必军,陈静.激光雷达测量技术及其应用研究.《武汉测绘科技大学学报》2000,25(5):387-391.
[20]李清泉,杨必胜,史文中等著.三维空间数据的实时获取、建模与可视化.武汉:武汉大学出版社. 2003.
[21]林君建,苍桂华.摄影测量学[M].北京:国防工业出版社, 2006.2.
[22]卢秀山,李清泉,冯文,李成明,陈鹰,李贻斌,韩晓东,靳奉样,车载式城市信息采集与三维建模系统.武汉大学学报(工学版》,2003,36(3):76.800
[23]马云峰,周百令,等.MINS/GPS组合导航系统数据同步与融合方法研究[J].中国惯性技术学报,2004,12,(3).
[24]宋万忠,苏显渝.激光三维扫描仪距离像的平滑和建模.光电子·激光.2001.
[25]陶海燕,刘二莉,杨钦,陈其明.激光线扫描原理及数据处理简介.《机械设计与制造工程》2002,31(3),54.58.
[26]徐逢亮,李树楷.基于激光测距的航空扫描影响中建筑物的自动提取.《遥感学报》1999,3(3):171-174.
[27]王贵宾.车载激光三维信息采集与数据处理: [硕士学位论文].北京:首都师范大学,2007
[28]王健,靳奉祥,李迪贵.激光扫描数据的可视化技术.北京测绘.2006年第3期
[29]吴险峰.三维激光彩色扫描仪关键技术研究:[博士学位论文].武汉:华中科技大学. 2004.
[30]邢英杰,张艳峰,陆海涛,刘晓冰.基于激光扫描辅助立体摄影的无规则物体的三维重建.计算机应用研究.2004.
[31]徐逢亮,李树楷.基于激光测距的航空扫描影响中建筑物的自动提取.《遥感学报》1999,3(3):171-174.
[32]张爱武,孙卫东,李风亭.基于激光扫描数据的室外场景表面重建方法[J].系统仿真学报,2005年2月
[33]朱根松,周天瑞等.激光扫描点云数据的快速读取新方法.计算机系统应用. 2007年第1期.
[34]张建霞.超轻型飞机数码航空摄影测量初步研究: [硕士学位论文].西安:西安科技大学,2006
[35]张瑞菊、王晏民、李德仁,快速处理大数据量三维激光扫描数据的技术研究,测绘科学,2006年9月,第31卷第5期
[36]张小红,刘经南, Rene Forsberg.基于精密单点定位技术的航空测量应用实践[J].武汉大学学报·信息科学版, 2006, 31 (1): 19-22
[37]张小红.机载激光雷达测量技术理论与方法[M].武汉大学学术丛书,2007年9月
[38]张学昌.基于点云数据的复杂型面数据化检测关键技术研究及其系统开发[博士学位论文].上海:上海交通大学. 2006.
[39]赵少波.机载激光测距仪控制与数据处理系统.《电子技术》.1995,(12).2-50
[40]赵远,蔡喜平等.成像激光雷达技术概述.激光与红外.第30卷,第6期,2000-12.
[41]张远智,胡广洋.用激光扫描获取城市空间精细三维数据.北京:清华大学土木工程系.徕卡公司北京办事处.
[42]赵艳平,高明等.基于PolyWorks的逆向工程数据处理.计算机应用技术. 2005年第10期,总第32卷. 2005.
[43]张祖勋.航空数码相机及有关问题[J].测绘工程,2004,13(4):1-5.
[2] B. Kluge, C. K?hler and E. Prassler, "Fast and robust tracking of multiple moving objects with a laser range finder," in Proc. IEEE Int. Conf. on Robotics and Automation, pp.1683-1688, Seoul, 2001.
[3] Dr. Rongxing Li, Mobile Mapping-An emerging Technology For Spatial data Acquisition. http://shoreline.eng.ohio-state.edu/ron/teaching/787/paper1.pdf
[4] Ehen,Y.,Medioni,G.: Object Modeling by Registration of Multiple Range Images, Image and Vision Computing,Vol.10,No.3,Apr.pp.145-155,1992.
[5] El-Hakim,S.F.,Brenner,C.,Roth,G.: A Multiple-sensor Approach to Creating Accurate Virtual Environments ,JSPRS Journal of Photogrammetry & Remote Sensing,Vol.53,pp.379-391,1998.
[6] Fredrick Sandberg. "Vision based gesture recognition for human-robot interaction" .Master’s thesis, Stockholm University, CAS, 1999.
[7] Gruen,A.: TOBAGO-a semi-automated approach for the generation of 3-D building models, ISPRS, Journal of Photogrammetry and Remote Sensing, Vol.53 , issue.2, pp.108-118, 1998.
[8] H. Zhao and R. Shibasaki:“A novel system for tracking pedestrians using multiple single-row laser range scanners,”IEEE Transactions on Systems ,Man, and Cybernetics-part A, Vol. 35, No.2, pp. 283–291 (2005).
[9] Mallat S. A theory of multi resolution signal decomposition: The wavelet transform [J]. IEEE Trans. on Pattern Anal. and Machine Intel., 1989, 11(7): 674?693.
[10] Rioul O and Vetterli M. Wavelets and signal processing [J].IEEE Signal Processing Magazine, 1991, 8(4): 14?38.
[11] Vidakovic B L and Ozoya C B. On time-dependent waveletdenoising [J]. IEEE Trans. On Signal Proc., 1998, 46(9): 2549?2551.
[12]蔡润彬、潘国荣,关于OpenGL在激光扫描数据处理中的应用研究,2006年第9期
[13]段福洲.近地轻型数码航空摄影测量系统研究: [博士学位论文].北京:首都师范大学,2007
[14]狄彩云等.基于线阵ccd相机的移动车载测图系统的道路数据自动获取研究.[硕士位论文],2007年6月
[15]冯文灏.近景摄影测量[M].武汉:武汉大学出版社, 2002
[16]胡寅.三维激光扫描仪与逆向工程关键技术研究[博士学位论文].武汉:华中科技大学. 2005.
[17]刘经南,张小红.影响机载激光扫描测高精度的系统误差分析[J].武汉大学学报·信息科学版, 2002, 27 (2):111-116
[18]刘经南,叶世榕. GPS非差相位精密单点定位技术探讨[J].武汉大学学报·信息科学版, 2002, 27 (3): 234-239
[19]李清泉,李必军,陈静.激光雷达测量技术及其应用研究.《武汉测绘科技大学学报》2000,25(5):387-391.
[20]李清泉,杨必胜,史文中等著.三维空间数据的实时获取、建模与可视化.武汉:武汉大学出版社. 2003.
[21]林君建,苍桂华.摄影测量学[M].北京:国防工业出版社, 2006.2.
[22]卢秀山,李清泉,冯文,李成明,陈鹰,李贻斌,韩晓东,靳奉样,车载式城市信息采集与三维建模系统.武汉大学学报(工学版》,2003,36(3):76.800
[23]马云峰,周百令,等.MINS/GPS组合导航系统数据同步与融合方法研究[J].中国惯性技术学报,2004,12,(3).
[24]宋万忠,苏显渝.激光三维扫描仪距离像的平滑和建模.光电子·激光.2001.
[25]陶海燕,刘二莉,杨钦,陈其明.激光线扫描原理及数据处理简介.《机械设计与制造工程》2002,31(3),54.58.
[26]徐逢亮,李树楷.基于激光测距的航空扫描影响中建筑物的自动提取.《遥感学报》1999,3(3):171-174.
[27]王贵宾.车载激光三维信息采集与数据处理: [硕士学位论文].北京:首都师范大学,2007
[28]王健,靳奉祥,李迪贵.激光扫描数据的可视化技术.北京测绘.2006年第3期
[29]吴险峰.三维激光彩色扫描仪关键技术研究:[博士学位论文].武汉:华中科技大学. 2004.
[30]邢英杰,张艳峰,陆海涛,刘晓冰.基于激光扫描辅助立体摄影的无规则物体的三维重建.计算机应用研究.2004.
[31]徐逢亮,李树楷.基于激光测距的航空扫描影响中建筑物的自动提取.《遥感学报》1999,3(3):171-174.
[32]张爱武,孙卫东,李风亭.基于激光扫描数据的室外场景表面重建方法[J].系统仿真学报,2005年2月
[33]朱根松,周天瑞等.激光扫描点云数据的快速读取新方法.计算机系统应用. 2007年第1期.
[34]张建霞.超轻型飞机数码航空摄影测量初步研究: [硕士学位论文].西安:西安科技大学,2006
[35]张瑞菊、王晏民、李德仁,快速处理大数据量三维激光扫描数据的技术研究,测绘科学,2006年9月,第31卷第5期
[36]张小红,刘经南, Rene Forsberg.基于精密单点定位技术的航空测量应用实践[J].武汉大学学报·信息科学版, 2006, 31 (1): 19-22
[37]张小红.机载激光雷达测量技术理论与方法[M].武汉大学学术丛书,2007年9月
[38]张学昌.基于点云数据的复杂型面数据化检测关键技术研究及其系统开发[博士学位论文].上海:上海交通大学. 2006.
[39]赵少波.机载激光测距仪控制与数据处理系统.《电子技术》.1995,(12).2-50
[40]赵远,蔡喜平等.成像激光雷达技术概述.激光与红外.第30卷,第6期,2000-12.
[41]张远智,胡广洋.用激光扫描获取城市空间精细三维数据.北京:清华大学土木工程系.徕卡公司北京办事处.
[42]赵艳平,高明等.基于PolyWorks的逆向工程数据处理.计算机应用技术. 2005年第10期,总第32卷. 2005.
[43]张祖勋.航空数码相机及有关问题[J].测绘工程,2004,13(4):1-5.