手持式激光扫描点云与其内置影像的融合方法试验研究  

Experimental Research on Fusion Method of Handheld Laser Scanning Point Cloud and Its Built-in Image

作　　者：郭燕 袁希平 甘淑[1,3] 李绕波 Guo Yan;Yuan Xiping;Gan Shu;Li Raobo(Faculty of Land Resource Engineering,Kunming University of Science and Technology,Kunming 650093,China;West Yunnan University of Applied Sciences,Dali 671006,China;Plateau Mountain Spatial Information Survey Technique Application Engineering Research Center at Yunnan Province’s Universities,Kunming 650093,China)

机构地区：[1]昆明理工大学国土资源工程学院,云南昆明650093 [2]滇西应用技术大学,云南大理671006 [3]云南省高校高原山地空间信息测绘技术应用工程研究中心,云南昆明650093

出　　处：《城市勘测》2021年第6期77-82,共6页Urban Geotechnical Investigation & Surveying

基　　金：国家自然科学基金项目(41861054)。

摘　　要：针对手持式激光扫描仪ZEB-HORIZON采集的真彩色激光点云纹理效果不佳的问题,本文对该扫描点云与其内置影像进行融合,使生成的真彩色激光点云不仅具有空间信息和强度信息,还具有光谱信息。首先将该仪器内置相机同步采集到的影像通过SfM技术生成密集影像点云,然后采用激光点云与影像点云3D-3D的配准方法对两类点云进行匹配,再基于K-D树搜索进行纹理映射,最终生成真彩色的激光点云。试验结果表明,相比于在该仪器配套软件GeoSLAM Hub中自动生成的真彩色点云,本文方法生成的点云的纹理更清晰、视觉效果更好。Aiming at the problem of poor texture of the true color laser point cloud collected by the handheld laser scanner ZEB-HORIZON,this paper fuses the scanned point cloud with its built-in image,so that the generated true color laser point cloud not only has spatial information and intensity information,also has spectral information.Firstly,the images synchronously collected by the built-in camera of the instrument are used to generate dense image point clouds by SfM technology,then the laser point clouds and image point clouds 3D-3D registration method are used to match the two kinds of point clouds,and then the texture mapping is carried out based on K-D tree search,and finally the true color excitation point clouds are generated.The Experimental results show that the point cloud generated by the method in this paper has clearer texture and better visual effect than the true color point cloud automatically generated in GeoSLAM Hub,which is the supporting software of the instrument.

关 键 词：手持式激光扫描 影像点云 真彩色激光点云 点云配准 纹理映射 

分 类 号：P225.2[天文地球—大地测量学与测量工程]