移动激光雷达的瞬时三维构像方法

doi:10.11947/j.AGCS.2018.20180068

测绘学报 ›› 2018, Vol. 47 ›› Issue (6): 741-747.doi: 10.11947/j.AGCS.2018.20180068

• 基于机器视觉的数字摄影测量的新理论新方法 • 上一篇下一篇

移动激光雷达的瞬时三维构像方法

张爱武¹, 宫辉力¹, Jiaguo QI², 胡少兴³, 肖杨³

1. 首都师范大学三维空间信息获取与应用教育重点实验室, 北京 100048;
2. 密歇根州立大学全球变化和地球观测中心, 美国密歇根州东兰辛 48823;
3. 北京航空航天大学机械工程及自动化学院, 北京 100191

收稿日期:2018-03-20 修回日期:2018-04-10 出版日期:2018-06-20 发布日期:2018-06-21
作者简介:张爱武(1972-),女,博士,教授,研究方向空间信息获取、处理与应用。E-mail:zhang_aiwu@126.com
基金资助:
NASA’s Land Cover and Land Use Program Grant （NNX15AD51G）；国家自然科学基金（41571369）；北京市自然科学自然基金（4162034）；北京市长城学者计划（CIT&TCD20150323）

Instantaneous 3D Mapping Method Based on Mobile LiDAR

ZHANG Aiwu¹, GONG Huili¹, Jiaguo QI², HU Shaoxing³, XIAO Yang³

1. Ministry of Education Key Laboratory of 3D Information Acquisition and Application, Capital Normal University, Beijing 100048, China;
2. Center for Global Change and Earth Observations, Michigan State University, East Lansing MI 48823, USA;
3. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China

Received:2018-03-20 Revised:2018-04-10 Online:2018-06-20 Published:2018-06-21
Supported by:
The NASA's Land Cover and Land Use Program Grant (No.NNX15AD51G);The National Natural Science Foundation of China (No.41571369);The Beijing Natural Science Foundation (No.4162034);The Great Wall Scholars Program of Beijing (No.CIT&TCD20150323)

摘要/Abstract

摘要： 介绍了基于机器视觉的数字摄影测量智能化新方法：移动激光雷达瞬时三维构像方法。该方法作为移动激光雷达瞬时三维构像理论，解决了无GPS辅助的移动激光雷达自定位与瞬时构像问题，使移动激光雷达灵活应用在室内、室外等多种环境。首先，分析了瞬时构像方法与传统构像方法的不同，以及现有方法的可移植性；接着，给出了视准轴误差自定标方法、基于平整度的有效特征提取算法和快速优化平差算法，构建出移动激光雷达自定位与瞬时构像的核心技术框架；最后，通过3种不同环境构像试验验证本文方法的有效性和适应性。研究表明，该方法可应用在结构化环境与非结构化环境、室内与室外环境，可水平构像也可垂直构像，且无需后数据处理瞬时构像。

关键词: 瞬时三维构像, 自定位与同步构像, 快速平差

Abstract: An instantaneous three-dimensional mapping method was presented for mobile LiDAR.This method has been applied to indoor,outdoor and other environments.As the new intelligent method of digital photogrammetry based on machine vision,it solved the basic problem of self-localization and simultaneous mapping of mobile LiDAR without GPS and high precision IMU.As results,the differences between the method and the traditional method were analyzed;the self-calibration method of bore-sight angle errors were studied;Effective feature extraction algorithm by planeness and incremental mapping strategy were proposed;and an optimal adjustment algorithm was modeled.Finally,the method was testified by three different environmental mapping experiments.The results show that the method is applicable in many kinds of environments,no matter of structured or unstructured environments,indoor,outdoor or woodland,and horizontal mapping or vertical mapping.Requiring no data post-processing,the method can do instantaneous mapping.

Key words: instantaneous 3D mapping, self-localization and synchronous mapping, fast adjustment

中图分类号:

P237

张爱武, 宫辉力, Jiaguo QI, 胡少兴, 肖杨. 移动激光雷达的瞬时三维构像方法[J]. 测绘学报, 2018, 47(6): 741-747.

ZHANG Aiwu, GONG Huili, Jiaguo QI, HU Shaoxing, XIAO Yang. Instantaneous 3D Mapping Method Based on Mobile LiDAR[J]. Acta Geodaetica et Cartographica Sinica, 2018, 47(6): 741-747.

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移动激光雷达的瞬时三维构像方法

Instantaneous 3D Mapping Method Based on Mobile LiDAR

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