多站点云光束法全局配准方法

doi:10.11947/j.AGCS.2024.20240075

测绘学报 ›› 2024, Vol. 53 ›› Issue (9): 1663-1670.doi: 10.11947/j.AGCS.2024.20240075

• 精密工程测量 •

多站点云光束法全局配准方法

毛庆洲¹(), 夏梦璇¹(), 李清泉², 朱璟¹, 樊廷立¹

^1.武汉大学遥感信息工程学院，湖北　武汉　430079
^2.深圳大学空间信息智能感知与服务深圳市重点实验室，广东　深圳　518060

收稿日期:2024-02-23 发布日期:2024-10-16
通讯作者: 夏梦璇 E-mail:qzhmao@whu.edu.cn;2019286190095@whu.edu.cn
作者简介:毛庆洲（1977—），男，博士，教授，研究方向为高精度激光测量、点云智能处理等。E-mail：qzhmao@whu.edu.cn
基金资助:
国家重点研发计划(2023YFC3009400)

Global registration method for multi-station point clouds based on the bundle adjustment method

Qingzhou MAO¹(), Mengxuan XIA¹(), Qingquan LI², Jing ZHU¹, Tingli FAN¹

^1.School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430079, China
^2.Shenzhen Key Laboratory of Spatial Smart Sensing and Services, College of Civil Engineering, Shenzhen University, Shenzhen 518060, China

Received:2024-02-23 Published:2024-10-16
Contact: Mengxuan XIA E-mail:qzhmao@whu.edu.cn;2019286190095@whu.edu.cn
About author:MAO Qingzhou (1977—), male, PhD, professor, majors in high-precision laser measurement, intelligent processing of point cloud, et al. E-mail: qzhmao@whu.edu.cn
Supported by:
The National Key Research and Development Program of China(2023YFC3009400)

摘要/Abstract

摘要：

面对大面积、高密度的制冰排管，平行度、翘曲度数据的提取存在检测精度低、数据覆盖不全面的问题。本文结合多棱镜靶球的三维激光采集方式，提出多站点云光束法全局配准方法，使用半径约束的随机抽样一致性球拟合法方法提取靶球中心，利用各测站点云原点绝对坐标、标靶中心相对坐标与标靶中心绝对坐标之间的坐标转换关系，采用光束法全局求解所有测站的位置与姿态参数，完成场馆点云的全局配准。试验采用国家速滑馆扫描数据进行验证。结果表明，点云匹配后内符合精度为2.6 mm，外符合精度为1.9 mm，相比于现有方法，本文方法取得了更高的采集精度。

关键词: 三维激光扫描, 棱镜靶球, 光束法定向, 制冰排管, 国家速滑馆

Abstract:

In the extraction of parallelism and warping data for large-scale, high-density ice-making pipes, issues such as low detection accuracy and incomplete data coverage are prevalent. This paper proposes a method based on bundle adjustment for regional networks, utilizing a 3D laser acquisition approach with multi-prism target spheres. The target sphere centers are extracted using a radius-constrained random sample consensus (RANSAC) sphere fitting method. By applying coordinate transformations between the absolute coordinates of the station point cloud origins, the relative coordinates of the target centers, and the absolute coordinates of the target centers, a global solution for the positions and orientations of all stations is achieved using bundle adjustment. The method was validated using scan data from the National Speed Skating Oval. The results show that after point cloud matching, the internal consistency accuracy is 2.6 mm, and the external consistency accuracy is 1.9 mm, demonstrating higher acquisition accuracy compared to existing methods.

Key words: 3D laser scanning, target sphere prism, beam legalization, ice making pipes, the National Speed Skating Oval

中图分类号:

P232

毛庆洲, 夏梦璇, 李清泉, 朱璟, 樊廷立. 多站点云光束法全局配准方法[J]. 测绘学报, 2024, 53(9): 1663-1670.

Qingzhou MAO, Mengxuan XIA, Qingquan LI, Jing ZHU, Tingli FAN. Global registration method for multi-station point clouds based on the bundle adjustment method[J]. Acta Geodaetica et Cartographica Sinica, 2024, 53(9): 1663-1670.

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指标	数值
扫描距离/m	0.6~150
扫描速度/(点/s)	最高976 000
测量误差/mm	±1
角精度/(″)	19

测站号	内符合精度		外符合精度
测站号	独立配准	光束法全局配准	独立配准	光束法全局配准
1	3.1	2.5	2.3	2.0
2	2.3	1.9	1.8	1.8
3	3.7	3.0	2.7	2.4
4	2.1	2.0	1.2	1.3
5	5.2	3.6	3.9	3.0
6	5.4	3.8	3.8	3.1
7	3.9	3.1	2.5	2.2
8	4.0	3.4	2.8	2.3
9	3.6	3.0	3.1	2.5
10	2.9	2.1	1.9	1.9
11	4.1	3.2	3.3	2.5
12	3.8	2.6	2.2	2.0
13	3.4	2.9	2.9	2.1
平均	3.7	2.9	2.6	2.2

多站点云光束法全局配准方法

Global registration method for multi-station point clouds based on the bundle adjustment method

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