复杂城市环境下车载激光扫描系统质量保证技术研究

项目名称： 复杂城市环境下车载激光扫描系统质量保证技术研究

项目编号： No.41501491

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 天文学、地球科学

项目作者： 王力

作者单位： 中国人民解放军战略支援部队信息工程大学

项目金额： 20万元

中文摘要： 车载激光扫描是“数字城市”、“智慧城市”建设中不可或缺的一项支撑技术，但由于高楼、树木、高架等的遮挡，测量结果的精度、密度以及覆盖度等指标无法满足任务的需求。本课题针对复杂城市环境下车载激光扫描系统的质量保证问题进行研究。首先，建立评价点云质量的指标体系，并给出各项指标的计算方法，为后续研究奠定理论基础；测前阶段，采用逐步逼近的思路进行安置参数的标定，采用直接法获取参数概略坐标，再通过相同区域不同测回数据间的差异精化单台设备的安置参数，最后采用不同设别获取的相同区域数据间的差异进行无控联合标定；测量阶段，建立测量参数与评价指标的关系模型，根据需求计算参数的取值，保证获得高质量的结果；测后阶段，采用不同形式的控制作为约束，分别构建仅需解算后点云数据的结果驱动质量改化方法和需要IMU、带时间标签的激光扫描原始数据的过程驱动质量改化方法。通过本课题的研究，最终使得点云的质量满足任务的需求。

中文关键词： 地面激光雷达；车载激光雷达；激光扫描仪检校；点云配准与拼接；三维重建

英文摘要： Mobile Laser Scanning(MoLaS) is an indispensable support technology in the construction of digital city and smart city, but the quality of MoLaS such as precision, density and coverage can’t meet the need of the task as a result of tall buildings, trees, elevated shade and so on. This project is devoted to Quality Assurance(QA) under complex urban environments of MoLaS. First of all, the establishment of index system and its calculation method for evaluate the quality of the point cloud aims at laying the theoretical foundation for the following study. The external calibration is carried out using an iterative process before survey. The approximation calibration parameters are obtained using the direct method, and then improved by the deviation between point clouds of the same area acquired by the same laser scanner in different observation set and at last improved by a joint calibration method using point clouds of the same area acquired by different same laser scanner. The impact model between measurement parameters and quality index is established to ensure a high quality results during the survey stage. Two ways to improve the quality of point clouds is put forward by using different forms of control as a constraint. one is named results driven quality improvement for only the point cloud is needed and the other named process driven quality improvement not only need the source point cloud with time stamp but also the IMU source data. With the above scheme, we eventually can make the quality of the point cloud to meet the requirements of task.

英文关键词： Terrestrial Laser Scan; Mobile Laser Scanning ;laser scanner calibration;registraiton;3D modeling