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地面激光扫描技术可以快速地应用到建筑空间数据获取中,但是由于入射角度和可见性的原因,地面激光扫描无法获取建筑屋顶的点云数据。通过采用旋翼型无人机拍摄建筑屋顶的序列影像,实现与地面激光点云的配准融合。本文提出了一种序列影像和地面激光点云的配准方法。首先通过对局部区域的无人机影像畸变校正得到畸变参数用于消除像点误差,然后进行影像的相对定向和空间插值,建立影像的密集点云。通过特征角点的粗配准,获得两种点云模型的初始姿态,进一步根据屋檐特征线实现点云的精配准。最终通过精度分析证明了方法的可行性和稳健性。
Ground laser scanning technology can be quickly applied to building spatial data acquisition, but because of angle of incidence and visibility, ground laser scanning can not obtain point cloud data of the roof of a building. Through the use of rotary-type UAV filming the roof of the sequence of images, and the ground laser point cloud registration fusion. In this paper, a registration method of sequence image and ground laser point cloud is proposed. Firstly, the distorted parameters are obtained by correcting the distortion of the UAV image in the local area to eliminate the image point error. Then the relative orientation and spatial interpolation of the image are used to establish the dense point cloud of the image. Through the coarse registration of feature corners, the initial attitude of the two point cloud models is obtained, and then the fine registration of point clouds is further implemented according to the characteristic lines of the eaves. Finally, the accuracy analysis proves the feasibility and robustness of the method.