摘要
针对常见的利用靶球对激光断面扫描仪标定的静态、繁琐、低精度、不具实时性,该文设计了一种平面反射片标靶,组合利用里程计与惯性测量单元(IMU)提供的定位和姿态参数,移动扫描获得隧道点云数据,根据反射片的高反射率,通过点集聚类算法与形态学滤波处理,获得标靶中心在扫描仪基准坐标系下的坐标,从而间接实现断面扫描仪的标定。IMU经过倾角掉头实验,完成倾角补偿,得到轨道面下的点云。最后利用隧道环片的设计距离,在隧道壁上布设设计的标靶对里程计进行校准,克服了里程计长距离误差累积的弊端。标定的结果验证了方案的可行性,可快速高精度的实现扫描仪的现场动态标定与里程补偿等,提高点云质量。
For the common calibration method of laser profile scanner using sphere target was static, complicated,low precision,not real-time,this paper described the design of a planar reflector target,combined odometer and inertial measurement unit(IMU),which provids positioning and attitude parameters,through mobile scanning tunnel point cloud data,point clustering algorithm was put forward according to the high reflectance of reflector,and through morphological filtering,the center coordinates of the target based on the scanner reference coordinate system were obtained,and the calibration of profile scanner was realized indirectly.Through turning around experiment,IMU completed the inclination compensation,got the point cloud under the track surface.Finally,using the design distance of the tunnel ring,the reflector targets were set on the tunnel wall to calibrate the odometer,which overcame the disadvantage of the long distance error accumulation.The calibration results verified the feasibility of the scheme,and could quickly conduct the dynamic calibration of the scanner and odometer compensation in the field,improve the quality of point cloud.
作者
姚连璧
张邵华
王子轩
YAO Lianbi;ZHANG Shaohua;WANG Zixuan(College of Surveying and Geo-Informatics,Tongji University,Shanghai 200092,China;Shanghai Jing Hai Engineering Technology Co.,Ltd.,Shanghai 200137,China)
出处
《测绘科学》
CSCD
北大核心
2019年第8期75-81,共7页
Science of Surveying and Mapping
基金
“十三五”国家重点研发计划资助项目(2016YFB1200602-02)
国家自然科学基金项目(41771482)
关键词
隧道扫描
标定
反射片标靶
坐标转换
里程校准
tunnel scanning
calibration
reflector target
coordinate transformation
odometer correction
