顾及平面特征的车载激光扫描系统外参数标定法

doi:10.11947/j.AGCS.2018.20170495

测绘学报 ›› 2018, Vol. 47 ›› Issue (12): 1640-1649.doi: 10.11947/j.AGCS.2018.20170495

顾及平面特征的车载激光扫描系统外参数标定法

张海啸^1,2,3, 钟若飞^1,2,3, 孙海丽^1,2,3

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

收稿日期:2017-09-01 修回日期:2018-01-29 出版日期:2018-12-20 发布日期:2018-12-24
通讯作者: 钟若飞 E-mail:zrfsss@163.com
作者简介:张海啸(1991-),女,硕士生,研究方向为三维信息数据获取与应用。E-mail:tsunami_rock@163.com
基金资助:
国家自然科学基金（41371434）

External Parameter Calibration Method of Vehicle Laser Scanning System Based on Planar Features

ZHANG Haixiao^1,2,3, ZHONG Ruofei^1,2,3, SUN Haili^1,2,3

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

Received:2017-09-01 Revised:2018-01-29 Online:2018-12-20 Published:2018-12-24
Supported by:
The National Natural Science Foundation of China(No. 41371434)

摘要/Abstract

摘要： 激光扫描仪外参数的标定是获取高精度三维地理信息数据的前提和保障。传统标定方法大多需布设特定的检校场、人工采集检校点，求解过程计算量较大。基于此，本文提出通过采集不同车行方向的同一区域的点云数据，提取平面特征数据并进行平面特征数据的自动化配准，对多个不同角度的平面特征的共同检校，实现三维空间中不同车行方向采集的相同地物点云的重合，最终完成系统外参数的标定的方法。试验结果显示，该方法对车载激光扫描系统外参数的标定实现了自动化，减少人工参与且达到了较高的检校精度。

关键词: 车载激光扫描系统, 平面特征, 点云配准, 外参数标定, 自动化

Abstract: The calibration of the external parameters of the laser scanner is the precondition and guarantee for obtain high-precision 3D geographic data. Most of the traditional calibration methods require setting up a special calibration field, manual collection of checkpoints, or the amount of calculation in the process of solving is large. Based on this, an automatic calibration method is proposed in this paper, by collecting point cloud data in the same area with different vehicle directions, extracting planar features data and automating registration of these planar features data, through the co-calibration of planar features of different angles.The proposed method realizes the coincidence of point clouds collected by different vehicles in three-dimensional space and finally completes the calibration of the system external parameters. The results show that the method is automatic for the calibration of the external parameters of the vehicle laser scanning system, reduces the need for manual participation, and achieves high precision.

Key words: vehicle laser scanning system, plane feature, point cloud registration, calibration of external parameters, automation

中图分类号:

P234

张海啸, 钟若飞, 孙海丽. 顾及平面特征的车载激光扫描系统外参数标定法[J]. 测绘学报, 2018, 47(12): 1640-1649.

ZHANG Haixiao, ZHONG Ruofei, SUN Haili. External Parameter Calibration Method of Vehicle Laser Scanning System Based on Planar Features[J]. Acta Geodaetica et Cartographica Sinica, 2018, 47(12): 1640-1649.

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顾及平面特征的车载激光扫描系统外参数标定法

External Parameter Calibration Method of Vehicle Laser Scanning System Based on Planar Features

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