CN104656097A - Calibration device based on rotary type two-dimensional laser three-dimensional reconstruction system - Google Patents

Abstract

The invention provides a calibration device based on a rotary type two-dimensional laser three-dimensional reconstruction system. The calibration device comprises a data acquisition module, an acquisition assistant module, a data transmission module and a data analysis and processing module, wherein the data acquisition module comprises a two-dimensional laser radar and a calibration module, and the calibration module consists of three mutually vertical non-transparent square planes; the acquisition assistant module comprises a support frame and a rotating cradle head arranged on the support frame, the two-dimensional laser radar is arranged on the rotating cradle head, and the rotating cradle head is controlled by the data analysis and processing module. The calibration device can effectively carry out once data acquisition, and the complex degree of calibration is reduced; moreover, a two-dimensional laser coordinate system is quickly and accurately fused with a word coordinate system, and the calibrated result is applied to large-scale scene three-dimensional reconstruction.

Description

Based on caliberating device and the method for rotary two-dimensional laser three-dimensional reconfiguration system

Technical field

The present invention relates to computer vision field, specifically a kind of caliberating device based on rotary two-dimensional laser three-dimensional reconfiguration system and method.

Background technology

Three-dimensionalreconstruction utilizes sensor technology to obtain the three-dimensional structure information of large scene, and in smart city, all there is very important application in the field such as traffic programme, 3D modeling and simulation.At some ad-hoc locations as in the scene such as below tunnel, culvert, bridge, below drive, high building, due to effectively gps signal can not be received, therefore the conventional three-dimensional survey instrument such as traditional GPS receiver, IMU unit, laser range finder all can not effectively use, now utilize laser to carry out three-dimensionalreconstruction to these positions, can effectively obtain information in scene.

The primary step of three-dimensionalreconstruction carries out staking-out work, and whether calibration process is easy, quick, and whether calibration result is accurately directly connected to the carrying out of follow-up three-dimensional reconstruction work and carrying out of correlative study.At present, the method usually adopted in calibration process has following two kinds: based on the calibration algorithm of plane template and the calibration algorithm based on minimal solution (MinimalSolution) of introducing Nonlinear Constraints.Calibration algorithm based on plane template need obtain 5 secondary data to demarcation plane template, but calibration process very complicated; The calibration algorithm based on minimal solution introducing Nonlinear Constraints still needs 3 secondary data to obtain, but this algorithm computation process more complicated, algorithmic derivation process is loaded down with trivial details, and there is the problem of separating more.In data capture method, multi-thread radar can be used to extract three-dimensional feature, but multi-thread radar cost is higher, is unsuitable for applying.

Summary of the invention

The technical problem to be solved in the present invention is: provide a kind of caliberating device based on rotary two-dimensional laser three-dimensional reconfiguration system and method, simplify three-dimensionalreconstruction step, reduce three-dimensionalreconstruction cost.

The present invention for solving the problems of the technologies described above taked technical scheme is: a kind of caliberating device based on rotary two-dimensional laser three-dimensional reconfiguration system, is characterized in that: it comprises data acquisition module, gathers supplementary module, data transmission module and Data Analysis Services module; Wherein

Data acquisition module comprises two-dimensional laser radar and demarcating module, and wherein demarcating module is made up of three orthogonal nontransparent square-shaped planar;

Gather supplementary module to comprise bracing frame and be arranged on the rotary head on bracing frame, described two-dimensional laser radar is arranged on rotary head, and rotary head is controlled by Data Analysis Services module.

By such scheme, data transmission module comprises network transmission module and large bit rate data transport module, the data that two-dimensional laser radar gathers successively by network transmission module and large bit rate data transport module, then by Serial Port Transmission to described Data Analysis Services module; The transfer rate of described large bit rate data transport module is 500kbps.

The scaling method utilizing the above-mentioned caliberating device based on rotary two-dimensional laser three-dimensional reconfiguration system to realize, is characterized in that: it comprises the following steps:

S1, in the rotary course of rotary head, obtain large scene range information by two-dimensional laser radar;

S2, two-dimensional laser radar and large scene demarcate modeling:

Use demarcating module, two-dimensional laser radar and large scene are demarcated the perspective-three-point problem being converted into visual field, two-dimensional laser coordinate system and world coordinate system are unified;

S3, rotary two-dimensional laser demarcate modeling:

Add the rotary variable of rotary head, determine that two-dimensional laser coordinate system is relative to the relation between The Cloud Terrace coordinate system;

S4, large scene three-dimensionalreconstruction data fusion:

In conjunction with S2 and S3, surveyed data are merged, carry out large scene three-dimensionalreconstruction.

As stated above, laser coordinate system [X is defined _l, Y _l, Z _l] ^t, with laser to calibrating block direction for x-axis, take direction of scanning as y-axis, x-axis and y-axis form scanning plane, are z-axis perpendicular to scanning plane; World coordinate system [X _w, Y _w, Z _w] ^t, set up world coordinate system with calibrating block three plane intersection lines, coordinate system meets right-hand rule;

Described S2 is specially:

Under laser coordinate system, the two-dimensional laser using two-dimensional laser radar to send is found range to demarcating module, laser is scanned three orthogonal nontransparent square-shaped planar simultaneously, obtains three straight lines respectively, try to achieve the coordinate of intersection point under laser coordinate system of three straight lines;

The coordinate of intersection point under world coordinate system of three straight lines is solved according to surveyed range information;

By the coordinate of intersection point respectively under laser coordinate system and world coordinate system of three straight lines, set up the relational matrix equation of laser coordinate system and world coordinate system:

$\left[\begin{array}{c}{X}_L\\ Y_L\\ Z_L\end{array}\right]=R_L\left[\begin{array}{c}{X}_W\\ Y_W\\ Z_W\end{array}\right]+T_L---\left(1\right),$

Wherein, R _lfor laser rotary matrix, T _lfor laser translation matrix, and R _lbe 3 × 3 matrixes, T _lbe 3 × 1 matrixes;

R is solved according to formula (1) _land T _l.

As stated above, described S3 is specially:

Definition The Cloud Terrace coordinate system, with The Cloud Terrace Plane of rotation be x, y-axis, take turning axle as z-axis;

First The Cloud Terrace rotating model is set up:

$R_P=\left[\begin{array}{ccc}\cos \mathrm{\θ}& -\sin \mathrm{\θ}& 0\\ \sin \mathrm{\θ}& \cos \mathrm{\θ}& 0\\ 0& 0& 1\end{array}\right]$

R _pfor The Cloud Terrace rotation matrix, θ is the anglec of rotation;

Secondly two-dimensional laser rotating model is set up according to The Cloud Terrace rotating model:

$R_L=R_{\mathrm{PL}}^T\·R_P\·R_{\mathrm{PL}},T_L=R_{\mathrm{PL}}^T\·R_P\·R_{\mathrm{PL}}-R_{\mathrm{PL}}^T\·T_{\mathrm{PL}};$

Wherein R _pLfor laser is to the rotation matrix of The Cloud Terrace, T _pLfor laser is to the translation matrix of The Cloud Terrace;

According to the R that S2 solves _land T _l, calculate R _pLwith T _pL, draw the matrix relationship between laser coordinate system and The Cloud Terrace coordinate system;

As stated above, described S4 is specially: by the laser scanning data of The Cloud Terrace rotating acquisition to different rotary angle, utilize R _pLwith T _pL, convert the laser scanning data under different rotary angle to data under laser coordinate system, recycling R _land T _lbe the data under world coordinate system by the data transformations under laser coordinate system, thus carry out large scene three-dimensionalreconstruction.

Beneficial effect of the present invention is:

1, have devised a kind of special demarcating module: the present invention devises a kind of mutually perpendicular three plane reference objects, only needs 1 secondary data collection, problem of calibrating can be converted into the P3P problem of visual field classics.The external parameters calibration algorithm based on minimal solution of the introducing Nonlinear Constraints that the calibration algorithm based on plane template having Zhang to propose in tradition calibration algorithm and Vasconcelos propose.The algorithm that Zhang proposes need gather 5 secondary data, and calibration process is complicated; The algorithm that Vasconcelos proposes needs 3 secondary data collections to complete calibration process, but computation process is comparatively complicated, and algorithmic derivation process is loaded down with trivial details.Utilize three vertical plane demarcating modules and scaling method to demarcate, only need 1 secondary data collection, problem of calibrating can be converted into the P3P problem of computer vision field classics.And demarcating module is easily manufactured, because this simplify calibration process.

2, improve three-dimensionalreconstruction precision: classic method uses two-dimensional laser when carrying out three-dimensionalreconstruction, laser center and The Cloud Terrace rotation center can be given tacit consent on same center line, thus bring larger reconstructed error.For above-mentioned situation, the present invention rotates two-dimensional laser and rotary head and has carried out modeling, has taken into full account the error that laser center line skew The Cloud Terrace center line brings, and has been corrected, thus improve three-dimensionalreconstruction precision.

3, computation process is simplified: in traditional calibration algorithm, usually use algebraic operation, therefore large the and process more complicated of calculated amount.In the present invention, use minimal solution algorithm, and use matrix operation to instead of algebraic operation, the special nature of abundant application matrix, algorithmic procedure is greatly simplified, and the result of algorithm is accurate.

Accompanying drawing explanation

Fig. 1 is two dimensional laser scanning coordinate diagram.

Fig. 2 is one-piece construction schematic diagram of the present invention.

Fig. 3 is two dimensional laser scanning calibrating block scatter diagram, wherein, (a) and (b) two width subgraph represent scanning result under two different angles that laser rotates at The Cloud Terrace respectively.

Fig. 4 is two-dimensional laser nominal data fitted figure, wherein, (a) and (b) two width subgraph represent scanning result under two different angles that laser rotates at The Cloud Terrace respectively.

Fig. 5 is Data acquisition and transmit cellular construction schematic diagram.

In figure: 1. bracing frame; 2. rotary head; 3. two-dimensional laser radar; 4. network transmission module; 5. large bit rate data transport module; 6.PC machine; 7. demarcating module.

Embodiment

Below in conjunction with instantiation and accompanying drawing, the invention will be further described.

As shown in Figure 2 and Figure 5, the invention provides a kind of caliberating device based on rotary two-dimensional laser three-dimensional reconfiguration system, comprise data acquisition module, gather supplementary module, data transmission module and Data Analysis Services module; Wherein data acquisition module comprises two-dimensional laser radar 3 and demarcating module 7, and wherein demarcating module 7 is made up of three orthogonal nontransparent square-shaped planar; Gather the rotary head 2 that supplementary module comprises bracing frame 1 and is arranged on bracing frame 1, described two-dimensional laser radar 3 is arranged on rotary head 2, and rotary head 2 is controlled by Data Analysis Services module.

Preferably, described data transmission module comprises network transmission module 4 and large bit rate data transport module 5, the data that two-dimensional laser radar 3 gathers successively by network transmission module 4 and large bit rate data transport module 5, then by Serial Port Transmission to described Data Analysis Services module; The transfer rate of described large bit rate data transport module is more than 500kbps.

In the present embodiment, select single line two-dimensional laser radar, can carry out range observation to object in large scene, maximum measurement range reaches 80m, takes measurement of an angle and reaches 180 °, and precision is 0.25 °, and frequency is 75Hz; Demarcating module is made up of three square-shaped planar, and square length of side 30cm is orthogonal, has opaque, indeformable characteristic.

Because the frequency of two-dimensional laser radar reaches 75Hz, every frame can scan 720 points, therefore has the data transmission module that bit rate reaches 500000b/s and can send data in computing machine.

In the present embodiment, Data Analysis Services module is PC 6, by connecting display, keyboard and mouse, realizes man-machine interaction.Can to the The Cloud Terrace anglec of rotation, rotational speed by Data Analysis Services module, and two-dimensional laser radargrammetry angle, precision accurately control.Meanwhile, it is unified the large scene three-dimensionalreconstruction data collected can be carried out coordinate system, merge survey data, reach the effect of three-dimensionalreconstruction.

In the present embodiment, gather supplementary module and be made up of rotary head and tripod.Rotary head is loaded with two-dimensional laser radar, rigid structure, and load-carrying is 7kg, is connected with PC by data line, and realizes angle by the order that PC sends and angular velocity accurately rotates, and precision reaches 0.1 °, and angular velocity can reach 0 °/s-120 °/s; Tripod is fixed equipment, and carrying rotary head and two-dimensional laser radar, load-carrying is 10kg.

The scaling method utilizing the above-mentioned caliberating device based on rotary two-dimensional laser three-dimensional reconfiguration system to realize, comprises the following steps:

S1, in the rotary course of rotary head, obtain large scene range information by two-dimensional laser radar.

First tripod is positioned over smooth place, rotary head 2 level is fixed on above tripod, be vertically fixed on rotary head by two-dimensional laser radar, make itself and rotary head relative displacement not occur, now two-dimensional laser radar can longitudinal scanning straight line; Secondly, calibrating block is positioned over two-dimensional laser radar offside, make laser can scan three planes of calibrating block simultaneously, scanning effect as shown in Figure 3, article three, straight line represents that three planes of calibrating block are arrived in laser scanning respectively, by the data storing collected, demarcate in modeling at two-dimensional laser radar and large scene and use; Finally, scan under two-dimensional laser radar is placed on large scene state, and slow rotary platform, analyzing spot corresponding under storing the corresponding anglec of rotation, uses in the modeling of large scene three-dimensionalreconstruction data fusion.

S2, two-dimensional laser radar and large scene demarcate modeling: use demarcating module, two-dimensional laser radar and large scene are demarcated the perspective-three-point problem being converted into visual field, unify two-dimensional laser coordinate system and world coordinate system.

Definition laser coordinate system [X _l, Y _l, Z _l] ^t: with laser to calibrating block direction for x-axis, take direction of scanning as y-axis, x-axis and y-axis form scanning plane, are z-axis perpendicular to scanning plane.Definition world coordinate system [X _w, Y _w, Z _w] ^t: set up world coordinate system with calibrating block three plane intersection lines, coordinate system meets right-hand rule.In the present embodiment, take LASER Light Source as the true origin of laser coordinate system, using calibrating block three plane point of intersection as the true origin of world coordinate system.

Under laser coordinate system, the two-dimensional laser using two-dimensional laser radar to send is found range to demarcating module, laser is scanned three orthogonal nontransparent square-shaped planar X Y Z simultaneously, obtains three straight line L respectively ₁, L ₂, L ₃, try to achieve the coordinate P of intersection point under laser coordinate system of three straight lines ₁(x ₁, y ₁, 0), P ₂(x ₂, y ₂, 0), P ₃(x ₃, y ₃, 0);

The coordinate Q of intersection point under world coordinate system of three straight lines is solved according to surveyed range information ₁(λ ₁, 0,0), Q ₂(0, λ ₂, 0), Q ₃(0,0 ,-λ ₃);

By the coordinate of intersection point respectively under laser coordinate system and world coordinate system of three straight lines, set up the relational matrix equation of laser coordinate system and world coordinate system:

$\left[\begin{array}{c}{X}_L\\ Y_L\\ Z_L\end{array}\right]=R_L\left[\begin{array}{c}{X}_W\\ Y_W\\ Z_W\end{array}\right]+T_L---\left(1\right),$

Namely $\left[\begin{array}{ccc}{x}_1& x_2& x_3\\ y_1& y_2& y_3\\ 0& 0& 0\end{array}\right]=R_L\left[\begin{array}{ccc}{\mathrm{\λ}}_1& 0& 0\\ 0& {\mathrm{\λ}}_2& 0\\ 0& 0& {-\mathrm{\λ}}_3\end{array}\right]+T_L$

Wherein, R _lfor laser rotary matrix, T _lfor laser translation matrix, and R _lbe 3 × 3 matrixes, T _lbe 3 × 1 matrixes;

R is solved according to formula (1) _land T _l.

S3, rotary two-dimensional laser demarcate modeling: the rotary variable adding rotary head, determine that two-dimensional laser coordinate system is relative to the relation between The Cloud Terrace coordinate system.

Definition The Cloud Terrace coordinate system, with The Cloud Terrace Plane of rotation be x, y-axis, be z-axis with turning axle, using the intersection point of z-axis and Plane of rotation as the true origin of The Cloud Terrace coordinate system in the present embodiment;

First The Cloud Terrace rotating model is set up:

$R_P=\left[\begin{array}{ccc}\cos \mathrm{\θ}& -\sin \mathrm{\θ}& 0\\ \sin \mathrm{\θ}& \cos \mathrm{\θ}& 0\\ 0& 0& 1\end{array}\right]---\left(2\right)$

R _pfor The Cloud Terrace rotation matrix, θ is the anglec of rotation;

Secondly two-dimensional laser rotating model is set up according to The Cloud Terrace rotating model:

$R_L=R_{\mathrm{PL}}^T\·R_P\·R_{\mathrm{PL}},T_L=R_{\mathrm{PL}}^T\·R_P\·R_{\mathrm{PL}}-R_{\mathrm{PL}}^T\·T_{\mathrm{PL}};$

Wherein R _pLfor laser is to the rotation matrix of The Cloud Terrace, T _pLfor laser is to the translation matrix of The Cloud Terrace;

According to the R that S2 solves _land T _l, calculate R _pLwith T _pL, draw the matrix relationship between laser coordinate system and The Cloud Terrace coordinate system.

S4, large scene three-dimensionalreconstruction data fusion: in conjunction with S2 and S3, surveyed data are merged, carry out large scene three-dimensionalreconstruction.

Be specially: by the laser scanning data of The Cloud Terrace rotating acquisition to different rotary angle, utilize R _pLwith T _pL, convert the laser scanning data under different rotary angle to data under laser coordinate system, recycling R _land T _lbe the data under world coordinate system by the data transformations under laser coordinate system, thus carry out large scene three-dimensionalreconstruction, Fig. 4 is two-dimensional laser nominal data fitted figure.

Demarcate in modeling process at two-dimensional laser radar and large scene, comprise the following steps:

(1) polar coordinate system is converted into rectangular coordinate system

Laser image data is with laser scanning center for limit, and the high order end scanned is pole axis, the polar coordinate system data being footpath, pole with actual measurement distance, and Ji Jing unit is cm.According to following formula the data obtained is converted into the data under rectangular coordinate system:

$\left\{\begin{array}{c}x=\mathrm{\ρ}\cos \mathrm{\α}\\ y=\mathrm{\ρ}\sin \mathrm{\α}\end{array}\right.---\left(3\right),$

In formula, α is laser scanning angle, and ρ is target actual range, is the known quantity recorded, and x, y are respectively transverse and longitudinal coordinate in laser coordinate system.

(2) laser coordinate system and world coordinate system are demarcated

For realizing large scene three-dimensionalreconstruction, need demarcate laser coordinate system and world coordinate system.First laser coordinate system [X is introduced _l, Y _l, Z _l] ^tand large scene world coordinate system [X _w, Y _w, Z _w] ^t, use two-dimensional laser to scan three vertical planes, obtain three laser straight line L on three faces respectively ₁, L ₂, L ₃, try to achieve three straight-line intersections coordinate P under laser coordinate system ₁(x ₁, y ₁, 0), P ₂(x ₂, y ₂, 0), P ₃(x ₃, y ₃, 0), thus problem of calibrating is converted into P3P problem, Fig. 1 is P3P schematic diagram, wherein P _ifor laser is to the analyzing spot of calibrating block.

$\left\{\begin{array}{c}{\mathrm{\λ}}_1^2+{\mathrm{\λ}}_2^2=d_1^2\\ {\mathrm{\λ}}_1^2+{\mathrm{\λ}}_3^2=d_2^2\\ {\mathrm{\λ}}_2^2+{\mathrm{\λ}}_3^2=d_3^2\end{array}\right.---\left(4\right)$

Wherein, λ _i(i=1,2,3) refer to P _idistance between O point, O point is the true origin of world coordinate system, d ₁, d ₂, d ₃for laser is to the analyzing spot of calibrating block distance between any two.

P _icorresponding to the coordinate Q under world coordinate system ₁(λ ₁, 0,0), Q ₂(0, λ ₂, 0), Q ₃(0,0 ,-λ ₃), set up the relational matrix equation between two-dimensional laser coordinate system and world coordinate system:

$\left[\begin{array}{c}{X}_L\\ Y_L\\ Z_L\end{array}\right]=R_L\left[\begin{array}{c}{X}_W\\ Y_W\\ Z_W\end{array}\right]+T_L---\left(1\right)$

Thus problem becomes and solves transition problem.The steps include:

(1) P is made ₁point is initial point, then X axis amount

(2) according to X-direction rotating vector, Y-axis amount is solved

(3) by above-mentioned two formulas, Z-axis direction amount is solved

Therefore, [P can be solved ₁p ₂p ₃] rotation matrix be: in like manner, [Q ₁q ₂q ₃] rotation matrix transfer R to ₂, therefore, the rotation matrix of world coordinate system and laser coordinate system and translation matrix are:

$R_L=R_1^{-1}{R}_2---\left(5\right)$

T _L＝P _i-R _LQ _i(6)

Wherein, (5) are laser rotary Matrix Solving mode, and (6) are laser translation Matrix Solving mode.

When rotary two-dimensional laser demarcates modeling, comprise the following steps:

First data fusion model is set up

$\left[\begin{array}{c}{X}_{L2}\\ Y_{L2}\\ Z_{L2}\end{array}\right]=R_L\left[\begin{array}{c}{X}_{L1}\\ Y_{L1}\\ Z_{L1}\end{array}\right]+T_L---\left(7\right)$

Wherein: [X _liy _liz _li] ^tbe the position coordinates that The Cloud Terrace rotates before and after θ angle, θ is rotation angle.

Secondly, in conjunction with The Cloud Terrace self rotating model:

$R_P=\left[\begin{array}{ccc}\cos \mathrm{\θ}& -\sin \mathrm{\θ}& 0\\ \sin \mathrm{\θ}& \cos \mathrm{\θ}& 0\\ 0& 0& 1\end{array}\right]---\left(2\right)$

In formula, R _pfor The Cloud Terrace rotation matrix, θ is the anglec of rotation.According to The Cloud Terrace rotating model, can obtain:

$\left[\begin{array}{c}{X}_{P2}\\ Y_{P2}\\ Z_{P2}\end{array}\right]=R_P\left[\begin{array}{c}{X}_{P1}\\ Y_{P1}\\ Z_{P1}\end{array}\right]---\left(8\right)$

Wherein: [X _p2y _p2z _p2] ^tthe position coordinates after The Cloud Terrace rotates θ angle, [X _p1y _p1z _p1] ^tit is the position coordinates before The Cloud Terrace rotates θ angle.

Again, The Cloud Terrace and two-dimensional laser coordinate system modeling analysis are obtained:

$\left[\begin{array}{c}{X}_{\mathrm{Pi}}\\ Y_{\mathrm{Pi}}\\ Z_{\mathrm{Pi}}\end{array}\right]=R_{\mathrm{PL}}\left[\begin{array}{c}{X}_{\mathrm{Li}}\\ Y_{\mathrm{Li}}\\ Z_{\mathrm{Li}}\end{array}\right]+T_{\mathrm{PL}}$ Wherein i=1,2

Association type (7), (2), (8), can obtain:

$\left[\begin{array}{c}{X}_{L1}\\ Y_{L1}\\ Z_{L1}\end{array}\right]=R_{\mathrm{PL}}^T{R}_P{R}_{\mathrm{PL}}\left[\begin{array}{c}{X}_{L2}\\ Y_{L2}\\ Z_{L2}\end{array}\right]+R_{\mathrm{PL}}^T{R}_P{R}_{\mathrm{PL}}-R_{\mathrm{PL}}^T{T}_{\mathrm{PL}}---\left(9\right)$

Therefore, and R _p~ R _l.Respectively Eigenvalues Decomposition is carried out to above two matrixes, can obtain

R _P＝V _P ^TD _PV _P(10)

R _L＝V _W ^TD _WV _W(11)

Wherein V _p, V _wbe respectively R _p, R _wproper vector, D _p, D _wbe respectively R _p, R _weigenwert.

Obtained by formula (10) and formula (11):

$R_L=R_{\mathrm{PL}}^T{V}_P{D}_P{V}_P^T{R}_{\mathrm{PL}}=V_W{D}_W{V}_W^T---\left(12\right)$

R can be tried to achieve according to above formula _pL. be the corner matrix of laser coordinate system relative to The Cloud Terrace coordinate system, under different θ, obtain the corner matrix about θ, thus laser coordinate system is corresponding with The Cloud Terrace coordinate system.

By the demarcation modeling of above two-dimensional laser and large scene, the laser coordinate system coordinate transformation under given rotational angle theta can be become the coordinate under world coordinate system.Under different corner, demarcation modeling is carried out to rotary two-dimensional laser, namely can contact laser coordinate system and The Cloud Terrace coordinate system, the two-dimensional coordinate about θ in large scene under different corner can be obtained, form a some cloud.Again these clouds are fed back in the demarcation modeling of two-dimensional laser and large scene, thus under obtaining different corner, the transformational relation of two-dimensional laser coordinate system and world coordinate system, reaches the effect using rotary two-dimensional laser to carry out three-dimensionalreconstruction.

Therefore, the present invention can effectively carry out a data acquisition, reduces and demarcates numerous and diverse degree, and merged mutually with world coordinate system by two-dimensional laser coordinate system fast and accurately, and calibration result is applied in large scene three-dimensionalreconstruction.

Above embodiment is only for illustration of design philosophy of the present invention and feature, and its object is to enable those skilled in the art understand content of the present invention and implement according to this, protection scope of the present invention is not limited to above-described embodiment.So all equivalent variations of doing according to disclosed principle, mentality of designing or modification, all within protection scope of the present invention.

Claims (6)

1. based on a caliberating device for rotary two-dimensional laser three-dimensional reconfiguration system, it is characterized in that: it comprises data acquisition module, gathers supplementary module, data transmission module and Data Analysis Services module; Wherein

Data acquisition module comprises two-dimensional laser radar and demarcating module, and wherein demarcating module is made up of three orthogonal nontransparent square-shaped planar;

Gather supplementary module to comprise bracing frame and be arranged on the rotary head on bracing frame, described two-dimensional laser radar is arranged on rotary head, and rotary head is controlled by Data Analysis Services module.

2. the caliberating device based on rotary two-dimensional laser three-dimensional reconfiguration system according to claim 1, it is characterized in that: described data transmission module comprises network transmission module and large bit rate data transport module, the data that two-dimensional laser radar gathers successively by network transmission module and large bit rate data transport module, then by Serial Port Transmission to described Data Analysis Services module; The transfer rate of described large bit rate data transport module is at more than 500kbps.

3. the scaling method utilizing the caliberating device based on rotary two-dimensional laser three-dimensional reconfiguration system described in claim 1 to realize, is characterized in that: it comprises the following steps:

S1, in the rotary course of rotary head, obtain large scene range information by two-dimensional laser radar;

S2, two-dimensional laser radar and large scene demarcate modeling:

Use demarcating module, two-dimensional laser radar and large scene are demarcated the perspective-three-point problem being converted into visual field, two-dimensional laser coordinate system and world coordinate system are unified;

S3, rotary two-dimensional laser demarcate modeling:

Add the rotary variable of rotary head, determine that two-dimensional laser coordinate system is relative to the relation between The Cloud Terrace coordinate system;

S4, large scene three-dimensionalreconstruction data fusion:

In conjunction with S2 and S3, surveyed data are merged, carry out large scene three-dimensionalreconstruction.

4. scaling method according to claim 3, is characterized in that: definition laser coordinate system [X _l, Y _l, Z _l] ^t, with laser to calibrating block direction for x-axis, take direction of scanning as y-axis, x-axis and y-axis form scanning plane, are z-axis perpendicular to scanning plane; Definition world coordinate system [X _w, Y _w, Z _w] ^t, set up world coordinate system with calibrating block three plane intersection lines, coordinate system meets right-hand rule;

Described S2 is specially:

Under laser coordinate system, the two-dimensional laser using two-dimensional laser radar to send is found range to demarcating module, laser is scanned three orthogonal nontransparent square-shaped planar simultaneously, obtains three straight lines respectively, try to achieve the coordinate of intersection point under laser coordinate system of three straight lines;

The coordinate of intersection point under world coordinate system of three straight lines is solved according to surveyed range information;

By the coordinate of intersection point respectively under laser coordinate system and world coordinate system of three straight lines, set up the relational matrix equation of laser coordinate system and world coordinate system:

Wherein, R _lfor laser rotary matrix, T _lfor laser translation matrix, and R _lbe 3 × 3 matrixes, T _lbe 3 × 1 matrixes;

R is solved according to formula (1) _land T _l.

5. scaling method according to claim 4, is characterized in that: described S3 is specially:

Definition The Cloud Terrace coordinate system, with The Cloud Terrace Plane of rotation be x, y-axis, take turning axle as z-axis;

First The Cloud Terrace rotating model is set up:

R _pfor The Cloud Terrace rotation matrix, θ is the anglec of rotation;

Secondly two-dimensional laser rotating model is set up according to The Cloud Terrace rotating model:

Wherein R _pLfor laser is to the rotation matrix of The Cloud Terrace, T _pLfor laser is to the translation matrix of The Cloud Terrace;

According to the R that S2 solves _land T _l, calculate R _pLwith T _pL, draw the matrix relationship between laser coordinate system and The Cloud Terrace coordinate system.

6. scaling method according to claim 5, is characterized in that: described S4 is specially: by the laser scanning data of The Cloud Terrace rotating acquisition to different rotary angle, utilize R _pLwith T _pL, convert the laser scanning data under different rotary angle to data under laser coordinate system, recycling R _land T _lbe the data under world coordinate system by the data transformations under laser coordinate system, thus carry out large scene three-dimensionalreconstruction.