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视准轴角度误差直接影响移动激光成像系统(MMS)的点云精度,尤其是在多路线、多角度下扫描同一区域时,不理想的视准轴误差估计会造成重叠区域无法无缝拼合。针对上述问题,提出了一种基于平面特征的地面移动激光成像系统的视准轴误差自标定方法,给出移动激光成像系统的点云生成模型,依据三维场景中的平面特征,建立Gauss-Helmert平差模型,依据最小二乘法,推导出计算视准轴误差的法方程。实验结果表明,提出的方法不需要特殊的定标场,只需在数据采集过程中以不同方位扫描同一平面特征就可以计算出视准轴误差,且计算结果可靠有效。
Collimation axis angle error directly affects the accuracy of point cloud of mobile laser imaging system (MMS). Especially when scanning the same area in multi-line and multi-angle, the estimation of the line of sight error is not ideal and the overlapping area can not be seamlessly combined. In order to solve the above problems, a method of self-calibration of collimation axis error of surface moving laser imaging system based on planar features is proposed. The point cloud generation model of moving laser imaging system is given. According to the plane features in 3D scene, Gauss-Helmert Adjustment model, according to the least square method, derive the normal axis of error method of calculating the equation. Experimental results show that the proposed method does not require a special calibration field. The error of collimation axis can be calculated simply by scanning the same plane features in different azimuths during data acquisition, and the calculation results are reliable and effective.