移动与定点扫描结合的室内点云数据获取方法

doi:10.3969/j.issn.0255-8297.2018.05.003

应用科学学报 ›› 2018, Vol. 36 ›› Issue (5): 756-764.doi: 10.3969/j.issn.0255-8297.2018.05.003

移动与定点扫描结合的室内点云数据获取方法

莫悠^1,2,3, 钟若飞^1,2,3, 张振鑫^1,2,3

1. 首都师范大学北京成像技术高精尖创新中心, 北京 100048;
2. 首都师范大学资源环境与旅游学院, 北京 100048;
3. 首都师范大学三维信息获取与应用教育部重点实验室, 北京 100048

收稿日期:2017-01-17 修回日期:2017-05-03 出版日期:2018-09-30 发布日期:2018-09-30
通信作者: 钟若飞,教授,研究方向:移动激光测量,E-mail:zrfsss@163.com E-mail:zrfsss@163.com
基金资助:
国家自然科学基金（No.41371434）资助

Acquisition of Indoor Laser Point Clouds Based on Mobile and Terrestrial Scanning

MO You^1,2,3, ZHONG Ruo-fei^1,2,3, ZHANG Zhen-xin^1,2,3

1. Beijing Advanced Innovation Center for Imaging Technology, Capital Normal University, Beijing 100048, China;
2. College of Resource Environment and Tourism, Capital Normal University, Beijing 100048, China;
3. Key Laboratory of 3D Information Acquisition and Application Ministry of Education, Capital Normal University, Beijing 100048, China

Received:2017-01-17 Revised:2017-05-03 Online:2018-09-30 Published:2018-09-30

摘要/Abstract

摘要： 针对室内移动测图系统在数据获取过程中出现的部分区域密度不足及缺失的问题，提出一种室内移动与地面定点激光扫描技术相结合的室内精细点云数据获取方法.首先以里程计与惯性导航结合的室内定位技术为基础，集成室内移动测图系统并快速获取室内三维数据；再结合地面定点激光扫描技术在点云数据密度获取上的优势，增补点云稀疏及缺失区域的数据，并进一步完成两种不同扫描方式点云数据的配准；最后通过三维建模和误差分析实验验证该方法有效可行.结果表明，室内移动测图系统能快速且高精度地获取室内三维数据；通过室内移动与地面定点两种扫描方式的结合，在一定程度上解决了数据密度不足及缺失的问题，从而提高了建筑物室内精细点云建模的可靠性与完整性.

关键词: 室内移动测图技术, 误差分析, 三维建模, 点云配准

Abstract: An indoor point clouds data acquisition and application method based on the integration of indoor mobile and terrestrial laser scanning technology is proposed, in order to solve problems in data acquisition of indoor mobile mapping systems, such as some important areas but with insufficient density or missing data. Firstly, the indoor mobile mapping systems was integrated for quickly obtaining the indoor three-dimensional (3D) laser point clouds, based on the indoor localization technology combined with odometer and inertial navigation. Then, the advantages of terrestrial laser scanning technology, which is superiority on the density of the point clouds, is taken for completing data registration between the indoor mobile and terrestrial laser scanning system. The effectiveness of the proposed method is experimentally verified by 3D modeling and error analysis. The experimental results show that the method could obtain the refined point clouds data quickly and solve the problems of less data density and missing data effectively, accordingly improving the reliability and integrity of model building of indoor refined point clouds.

Key words: indoor mobile mapping technology, error analysis, point clouds registration, three-dimensional (3D) modeling

中图分类号:

P237

莫悠, 钟若飞, 张振鑫. 移动与定点扫描结合的室内点云数据获取方法[J]. 应用科学学报, 2018, 36(5): 756-764.

MO You, ZHONG Ruo-fei, ZHANG Zhen-xin. Acquisition of Indoor Laser Point Clouds Based on Mobile and Terrestrial Scanning[J]. Journal of Applied Sciences, 2018, 36(5): 756-764.

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移动与定点扫描结合的室内点云数据获取方法

Acquisition of Indoor Laser Point Clouds Based on Mobile and Terrestrial Scanning

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