基于SLAM技术的手持移动扫描仪在土石方测量中的应用研究  

Application of Handheld Mobile Scanner Based on SLAM in Earthwork Measurement

作　　者：王智 吴超 王文娟 夏春初 孙晓丽 Wang Zhi;Wu Chao;Wang Wenjuan;Xia Chunchu;Sun Xiaoli(Qingdao Surveying & Mapping Institute,Qingdao 266032,China;West Coast Geomatics Center of Qingdao,Qingdao 266555,China;Qingdao Engineering Research Center of Geographical Information of Underground Space,Qingdao 266032,China;Qingdao Key Laboratory for Integration and Application of Marine-terrestrial Geographical Information,Qingdao 266032,China)

机构地区：[1]青岛市勘察测绘研究院,山东青岛266032 [2]青岛市西海岸基础地理信息中心有限公司,山东青岛266555 [3]青岛市地下空间地理信息工程研究中心,山东青岛266032 [4]青岛市海陆地理信息集成及应用重点实验室,山东青岛266032

出　　处：《城市勘测》2021年第4期104-107,共4页Urban Geotechnical Investigation & Surveying

摘　　要：传统土石方测量的手段主要是采用GNSS接收机、全站仪等设备进行逐个空间点三维坐标的采集,效率低,且无法完整地客观反映测区的连续地形变化,研究采用手持移动扫描仪进行土石方测量,其根据SLAM原理进行点云自动拼接,即在连续变换的三维空间场景中搜索相同的空间特征从而进行匹配,与其他类型扫描仪相比,具有测量效率高、作业灵活等优点。介绍了手持移动扫描仪进行土石方测量的作业流程及测量要点,探讨了基于特征点拟合提取的坐标转换方法,将三维点云经绝对定位以及预处理后,提取地面表面模型,构建地表Mesh网格,根据土石方工程需要建立参考平面,并基于Mesh网格和参考平面计算土石方量。The traditional method of earth-rock survey is to use GNSS receiver,total station and other equipment to collect three-dimensional coordinates one by one,which is inefficient and can not reflect the continuous topographic changes of the survey area objectively.To study the use of hand-held mobile scanners for earthwork measurements,and the automatic splicing of point cloud based on the principle of SLAM.It can match to each other based on searching for the same spatial features in a continuously transformed three-dimensional space scene.Compared with other types of scanners,it has the advantages of high measurement efficiency and flexible operation.This paper introduces the operation flow and measurement points of hand-held mobile scanner for earth-rock survey,discusses the coordinate conversion method based on feature point fitting extraction,extracts the surface model of three-dimensional point cloud after absolute positioning and pretreatment,constructs the surface Mesh grid,establishes the reference plane according to the earthwork engineering needs,and calculates the earthwork volume based on the Mesh grid and the reference plane.

关 键 词：SLAM 手持式扫描仪 土石方 Mesh网格 

分 类 号：P225.2[天文地球—大地测量学与测量工程] P258[天文地球—测绘科学与技术]