摘要
介绍了同时定位与地图构建(Simultaneous Localization and Mapping,SLAM)技术以及推车式三维激光扫描系统原理。推车式三维激光扫描系统实现了SLAM技术与三维激光扫描技术的融合,利用它可以实现对建筑物进行连续性、批量式点云数据采集,同时可以实现实景影像获取,为逆向工程设计所需要的各种图纸及实景影像、三维模型的实现提供了解决方案。结合具体案例对数据采集及处理方法进行了阐述,分析了提高数据精度的方法,并与传统测量模式结果进行比对及精度分析,证明这种基于SLAM移动测量技术的数据采集方式,是逆向建筑模型获取的可靠手段。
In this paper,the"simultaneous localization and mapping"(SLAM)technology and the principle of wheeled 3D laser scanning system were introduced.The wheeled three-dimensional laser scanning system realizes the integration of SLAMtechnology and three-dimensional laser scanning technology.With this technology,the continuous and batch point cloud data of buildings are acquired,as well as real image are obtained.A solution for the realization of various drawings,real images and three-dimensional models required by reverse engineering design is provided.Combined with specific cases,this paper expounded the data acquisition and processing methods,analyzed the methods to improve the data accuracy,compared the accuracy with the results of traditional measurement mode.Itwas proved that this data acquisition method based on SLAM mobile measurement technology was a reliable means to obtain reverse building model.
作者
谢孔振
XIE Kongzhen(Beijing Institute of Surveying and Mapping, Beijing 100038, China;Beijing Key Laboratory of Urban Spatial Information Engineering, Beijing 100038, China)
出处
《北京测绘》
2021年第12期1597-1602,共6页
Beijing Surveying and Mapping
基金
国家重点研发计划(2016YFF0201300)。
关键词
同时定位与地图构建技术
逆向建模
三维数据采集
点云
Simultaneous Localization and Mapping(SLAM)technology
reverse modeling
three-dimensional(3D)data acquisition
laser point cloud
