CN208968475U - A kind of novel target for point cloud registering - Google Patents
A kind of novel target for point cloud registering Download PDFInfo
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- CN208968475U CN208968475U CN201821945318.7U CN201821945318U CN208968475U CN 208968475 U CN208968475 U CN 208968475U CN 201821945318 U CN201821945318 U CN 201821945318U CN 208968475 U CN208968475 U CN 208968475U
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- 238000000605 extraction Methods 0.000 abstract description 7
- 230000002159 abnormal effect Effects 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 8
- 239000011159 matrix material Substances 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 3
- 230000003190 augmentative effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000002596 correlated effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Abstract
The utility model discloses a kind of novel targets for point cloud registering, the novel target includes at least three pieces reflectors for intersecting at fixed intersection point, the reflector is fixedly connected in bracket, the two sides of the bracket are connected to two ends that bracket holds seat by rack shaft rotary type, the bracket holds seat and is connected by connecting column with pedestal, and the intersection point of the central axes (ll ') of the central axes (vv ') and the rack shaft of the connecting column is overlapped with the fixed intersection point；Then the extraction algorithm removes the excessive abnormal point of deviation, the plane equation of plane acquires the fixed intersection point where last simultaneous reflector by carrying out plane fitting to point cloud data.The utility model has the advantages that: target laying is flexibly simple, suitable for the observation of any direction, can be placed in the planes such as ground；Can provide biggish scanning range, when target with a distance from laser scanner farther out when loss of significance it is less, be conducive to improve the entire registration accuracy for surveying area.
Description
Technical field
The utility model relates to Measurement Technology of 3 D Laser Scanning fields, and in particular to a kind of for the novel of point cloud registering
Target.
Background technique
Because of the reasons such as the engineering scale of construction is big, coverage of survey area is wide, area's entirety point cloud data is surveyed to obtain, Target Center work need to be extracted
It is characterized a little, to realize the point cloud registering of more survey stations.
Being applied to common target in Practical Project at present has ball-type target and two kinds of papery target, wherein ball-type target from
Scanner farther out when, it is possible to provide in ball-type target fitting available point quantity reduce, so as to cause obtain ball-type Target Center sit
The decline of target accuracy, and with the increase with a distance from scanner, loss of significance is more serious；And papery target from scanner compared with
When remote, point Yun Midu, reflected intensity can be weak, obtain the decline of Target Center coordinate precision, and with a distance from scanner
Increase, loss of significance is more serious.The extraction error of Target Center increases, and it is larger to will cause two neighboring stations stitching errors,
It is bigger so as to cause entire scanning point cloud registering accumulated error.Good registration accuracy in order to obtain, urgent need design a kind of novel
Target realizes the acquisition Target Center coordinate of high-precision, high accuracy.
Summary of the invention
The purpose of this utility model is a kind of for point cloud registering according to providing in place of above-mentioned the deficiencies in the prior art
Novel target, which includes the reflector for three pieces of intersection fixations being fixedly connected on annular stent, and three pieces anti-
The fixation intersection point of tabula rasa is overlapped with the center of circle of annular stent, and the two sides of annular stent are connected by rack shaft rotary type
Two ends of seat are held in bracket, so that the spatial position for fixing intersection point in annular stent rotary course is constant；The extraction is calculated
Then method removes the excessive abnormal point of deviation, three pieces of reflectors places of last simultaneous by carrying out plane fitting to point cloud data
The plane equation of plane acquires the fixed intersection point, to complete point cloud registering using the fixation intersection point.
The utility model aim realization is completed by following technical scheme:
A kind of novel target for point cloud registering, it is characterised in that the novel target includes at least three pieces and intersects at admittedly
Determine the reflector of intersection point, the reflector is fixedly connected in bracket, and the two sides of the bracket pass through rack shaft rotary type
It is connected to two ends that bracket holds seat, the bracket holds seat and is connected by connecting column with pedestal, the central axes of the connecting column () and the rack shaft central axes () intersection point be overlapped with the fixed intersection point.
The connecting column is a vertical shaft, and the bracket, which holds seat, to do 360 degree rotation around the central axes of the connecting column.
The quantity of the reflector is three pieces, and fixed intersection point is intersected between the reflector.
It is a kind of to be related to the extraction algorithm of any novel target for point cloud registering, it is characterised in that the extraction
Algorithm the following steps are included:
Step 1. is scanned the scanning area for being placed with the novel target in multiple websites using laser scanner,
Then plane fitting is carried out to obtained scanning element, if scanning element coordinate is, consider that its error amount obtains coordinate side
Journey:, in formula:、、Respectively scanning element coordinate is in x-axis, y
Error amount on axis, z-axis, a, b, c are undetermined parameter, and above formula is arranged:, in which:,,,,,,
Then the Least Square solution of undetermined parameter is sought:, in formula:For augmented matrixMinimal eigenvalue, ATFor the transposition of matrix A, I is unit matrix；
Step 2. calculates the initial value of above-mentioned undetermined parameter a, b, c using Least Square method, then calculates each scanning
Point arrives the distance of fit PlaneAnd its standard deviation, whenWhen, this point is determined for abnormal point and is deleted, instead
Then retain, recalculate parameter a, b, c using least square method again using the point remained；
The plane equation of plane is respectively as follows: where step 3. sets three reflectors；；, the undetermined of three plane equations is obtained according to step (1), (2)
Parameter；；, simultaneous above three plane equation can find out three
The fixation intersection point of the reflector.
Distance of each scanning element to fit PlaneCalculation formula are as follows:；Standard deviation's
Calculation formula are as follows:, wherein, n is positive integer.
The scanning area for being placed with the novel target is scanned in multiple websites using the laser scanner
Specific method is the following steps are included: be arranged multiple websites in scanning area, and by multiple novel marks for being used for point cloud registering
Target is placed in scanning area；Successively scanning area is scanned in multiple websites using the laser scanner, described
Laser scanner, which changes, rotates the novel target when station is scanned, it is ensured that the fixation intersection point of the novel target is located at described sharp
In the scan vision of photoscanner.
The utility model has the advantages that: (1) target lay flexibly simple, suitable for the observation of any direction, can be placed in
In the planes such as ground；(2) can provide biggish scanning range, when target with a distance from laser scanner farther out when loss of significance compared with
It is few, be conducive to improve the entire registration accuracy for surveying area.
Detailed description of the invention
Fig. 1 is the front view in the utility model embodiment 1 for the novel target of point cloud registering；
Fig. 2 is the top view in the utility model embodiment 1 for the novel target of point cloud registering；
Fig. 3 is the schematic diagram of three pieces of reflectors intersection in the utility model embodiment 1；
Fig. 4 is the front view in the utility model embodiment 2 for the novel target of point cloud registering；
Fig. 5 is the top view in the utility model embodiment 2 for the novel target of point cloud registering.
Specific embodiment
The feature of the utility model and other correlated characteristics are made further specifically by embodiment below in conjunction with attached drawing
It is bright, in order to the understanding of technical staff of the same trade:
Such as Fig. 1-5, label 1-6 is respectively as follows: reflector 1, annular stent 2, rack shaft 3, bracket and holds seat 4, even in figure
Connect column 5, pedestal 6.
Embodiment 1: as shown in Figure 1-3, the present embodiment is more particularly to a kind of novel target for point cloud registering and its mentions
Algorithm is taken, which makes annulus by will at least three pieces of 1 rotary types of reflector be set on annular stent 2
The fixation intersection point spatial position of reflector 1 is constant in 2 rotary course of shape bracket；This is used for the extraction of the novel target of point cloud registering
Then algorithm removes the excessive abnormal point of deviation, three pieces of reflectors of last simultaneous, 1 institute by carrying out plane fitting to point cloud data
The fixed intersection point is acquired in the plane equation of plane.
As shown in Figure 1-3, the novel target for point cloud registering includes at least three pieces fixed reflectors 1 of intersection, it is reflective
Reflectorized material is coated on the reflective surface of plate 1, it is ensured that identify clear and accurate when measurement, scanning accuracy is improved, in the present embodiment
Three pieces of reflectors 1 of specific selection, and it is orthogonal between three and be formed with fixed intersection point；Three pieces of reflectors 1 are used as one
Fixed entirety is fixedly connected in annular stent 2, and the center of circle of the fixation intersection point of three pieces of reflectors 1 and annular stent 2
It is overlapped；The two sides of annular stent 2 then pass through 3 rotary type of rack shaft and are connected to two ends that bracket holds seat 4, this implementation
Bracket holds seat 4 in concave shape in example, naturally it is also possible to be that tortuous bow shape or other permissible annular stents 2 do 360 degree rotation
Shape and construction；Bracket holds seat 4 and is also connect by connecting column 5 with pedestal 6, and connecting column 5 can be a vertical shaft, i.e. bracket is held
Seat 4 is connected by the vertical shaft rotary type with pedestal 6, so that bracket holds seat 4 and can do 360 around the central axes of vertical shaft
Degree rotation；Wherein connecting column 5 central axes () and rack shaft 3 central axes () intersection point and above-mentioned fixed intersection point weight
It closes, so that annular stent 2 is doing 360 degree rotation around rack shaft 3 and bracket holds seat 4 and does around the central axes of connecting column 5
The spatial position that intersection point is fixed during 360 degree rotation remains to remain unchanged；It is provided with screw hole on the lower end surface of pedestal 6,
It can facilitate and pedestal 6 is fixed on tripod.
As shown in Figure 1-3, in the present embodiment for point cloud registering novel target extraction algorithm the following steps are included:
(1) scanning area for being placed with the novel target is scanned in multiple websites using laser scanner, is had
The scanning process of body includes: to delimit multiple websites in scanning area, then by multiple above-mentioned novel targets for being used for point cloud registering
It is placed in scanning area；Successively scanning area is scanned at multiple site locations using laser scanner, to obtain
The point cloud data for taking scanning area should rotate above-mentioned novel target during laser scanner carries out and changes station scanning in time,
Ensure that the fixation intersection point of above-mentioned novel target is located in the scan vision of laser scanner；
(2) plane fitting is carried out to the scanning element point cloud data that scanning obtains: sets spatial plane equation are as follows:, and the scanning element coordinate that scanning obtains in a certain plane is set as, it is contemplated that point cloud data existsOn all there is a certain error value, then spatial plane equation is changed to:,
In formula:、、Respectively error amount of the scanning element coordinate in x-axis, y-axis, z-axis, a, b, c are undetermined parameter, by above formula
Further it is organized into form below:, in which:,,,,,, then seek the Least Square of undetermined parameter in above formula
Solution:, in formula:For augmented matrixMinimal eigenvalue, ATFor turning for matrix A
It sets, I is unit matrix；；
(3) removal of abnormal point: calculating the initial value of above-mentioned parameter a, b, c using Least Square method, then calculates every
Distance of a scanning element to fit Plane, calculation formula are as follows:, then calculate its standard deviation, meter
Calculate formula are as follows:, wherein, n is positive integer, whenWhen, determine
This point is abnormal point and to be deleted, on the contrary then retain, and then utilizes least square method again again using the point remained
Calculating parameter a, b, c；
(4) seek the fixation intersection point of three intersecting planes: the plane equation of plane is respectively as follows: where setting three reflectors
；
；
,
The undetermined parameter of three plane equations is obtained according to step (1), (2)；；, simultaneous above three equation can find out the fixation intersection point of three reflectors.
The beneficial effect of the present embodiment is: (1) target is laid flexibly simple, suitable for the observation of any direction, can be placed
In the planes such as ground；(2) can provide biggish scanning range, when target with a distance from laser scanner farther out when loss of significance compared with
It is few, be conducive to improve the entire registration accuracy for surveying area.
Embodiment 2: the difference is that three pieces of the novel target for point cloud registering in the present embodiment and embodiment 1
The angle of intersection of reflector 1 is different, specifically, in the present embodiment one of reflector 1 and horizontal plane at 0 ~ 30 degree of angle, and
Then at 90 degree of angles are greater than between other two pieces of reflectors 1, also ensure that the fixation intersection point of reflector 1 is still strictly located at annulus
It on shape bracket 2, and is overlapped with the intersection point of the central axes of connecting column 5 and the central axes of rack shaft 3, guarantees fixed intersection point when rotation
Spatial position is constant.
The beneficial effect of the present embodiment is: can increase the effective area for the novel target that laser scanner is swept to, into one
Step improves the entire registration accuracy for surveying area.
Claims (3)
1. a kind of novel target for point cloud registering, it is characterised in that the novel target includes at least three pieces and intersects at fixation
The reflector of intersection point, the reflector are fixedly connected in bracket, and the two sides of the bracket are connected by rack shaft rotary type
Two ends that bracket holds seat are connected to, the bracket holds seat and is connected by connecting column with pedestal, the central axes of the connecting column
The intersection point of the central axes (ll ') of (vv ') and the rack shaft is overlapped with the fixed intersection point.
2. a kind of novel target for point cloud registering according to claim 1, it is characterised in that the connecting column is one
Vertical shaft, the bracket, which holds seat, to do 360 degree rotation around the central axes of the connecting column.
3. a kind of novel target for point cloud registering according to claim 1, it is characterised in that the number of the reflector
Amount is three pieces, and fixed intersection point is intersected between the reflector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821945318.7U CN208968475U (en) | 2018-11-24 | 2018-11-24 | A kind of novel target for point cloud registering |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821945318.7U CN208968475U (en) | 2018-11-24 | 2018-11-24 | A kind of novel target for point cloud registering |
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| Publication Number | Publication Date |
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| CN208968475U true CN208968475U (en) | 2019-06-11 |
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| CN201821945318.7U Active CN208968475U (en) | 2018-11-24 | 2018-11-24 | A kind of novel target for point cloud registering |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109323656A (en) * | 2018-11-24 | 2019-02-12 | 上海勘察设计研究院(集团)有限公司 | A kind of novel target and its extraction algorithm for point cloud registering |
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2018
- 2018-11-24 CN CN201821945318.7U patent/CN208968475U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109323656A (en) * | 2018-11-24 | 2019-02-12 | 上海勘察设计研究院(集团)有限公司 | A kind of novel target and its extraction algorithm for point cloud registering |
| CN109323656B (en) * | 2018-11-24 | 2024-06-21 | 上海勘察设计研究院(集团)股份有限公司 | Novel target for point cloud registration and extraction algorithm thereof |
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Address after: No.38 Shuifeng Road, Yangpu District, Shanghai 200092 Patentee after: Shanghai Survey, Design and Research Institute (Group) Co.,Ltd. Address before: No.38 Shuifeng Road, Yangpu District, Shanghai 200092 Patentee before: SGIDI ENGINEERING CONSULTING (Group) Co.,Ltd. |
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