CN107796304A - A kind of rail track of three-dimensional laser panorama is adjusted and paints method - Google Patents
A kind of rail track of three-dimensional laser panorama is adjusted and paints method Download PDFInfo
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- CN107796304A CN107796304A CN201710802182.8A CN201710802182A CN107796304A CN 107796304 A CN107796304 A CN 107796304A CN 201710802182 A CN201710802182 A CN 201710802182A CN 107796304 A CN107796304 A CN 107796304A
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
A kind of rail track of three-dimensional laser panorama is adjusted and paints method, and to realize Existing Railway Line circuit and facility investigation and mapping, technical support is provided in the transformation of Existing Railway Line road technique, assets investigation and information-based operation management for 3 D laser scanning mobile mapping.Comprise the following steps：1) railway three-dimensional laser motion scan, three-dimensional laser motion scan system operation track and posture are obtained；Geographic Reference processing is carried out, obtains rail track and facility three-dimensional laser point cloud data, each accurate position of panorama website and posture, data supporting is provided for structure three-dimensional laser panoramic view data model；2), laser point cloud and full-view image fusion, build three-dimensional laser panoramic view data model；3), full-view image storage optimization, according to full-view image Sphere Measurement Model feature, full-view image sphere storage optimization framework is built；4), circuit and facility identification on full-view image；5), circuit and facility Geodetic Coordinate Calculation.
Description
Technical field
The invention belongs to Existing Railway Line prospecting technique field, obtained especially for by 3 D laser scanning traverse measurement
Three-dimensional laser panorama carry out rail track adjust paint, realize Existing Railway Line exploration in circuit and its facility status investigation.
Background technology
In order to tackle railway railway speed increase and lifting transport power demand, to both it is wired undergo technological transformation or increase newly two wires be work as
The emphasis of preceding railway construction.Both wired needs that undergo technological transformation are established on the basis of being fully understood by present railway how
It is fast, efficient, safe tune is carried out to Existing Railway Line to paint exploration, for the transformation of both cable technologys planning, design, construction with
And operation is particularly significant.Traditional both wired tune paint exploration with manually carry it is various tune paint, search equipment, upper track adjust be depicted as leading,
It is big to operation interference, and security is low, both wired tune painted the inefficient of exploration.The technical merit for the personnel of reaching the standard grade is limited by simultaneously
And sense of responsibility, annotation result have mistakes and omissions, cost height is verified, affects the accuracy of Existing Railway Line technological transformation.
Three-dimensional laser motion scan can be with quick obtaining rail high density, high accuracy three-dimensional point cloud coordinate data and continuous
360 degree of full-view image data, for Existing Railway Line adjust paint exploration provide a kind of high efficiency, safe and accurate measurement means.
But it is coordinate points one by one that the three-dimensional point cloud that obtains of 3 D laser scanning movement, which lacks, lacks visual circuit and facility directly perceived
Circuit and type of facility can be clearly seen in the information such as classification, attribute, 360 degree of full-view images, but can not provide coordinate and several
What dimension information, how the three-dimensional laser point cloud data of combined high precision and 360 degree of full-view image data of high-resolution visual
Carry out Existing Railway Line and adjust to paint exploration, be both cable technology transform, operation management urgent problem to be solved and difficult point.
The content of the invention
The rail track tune that the technical problems to be solved by the invention are to provide a kind of three-dimensional laser panorama paints method, will
Three-dimensional laser point cloud data with coordinate and 360 degree of full-view image data with attribute are combined, and give full play to two kinds of data
Feature and advantage, realize Existing Railway Line circuit and facility investigation and mapping, be 3 D laser scanning mobile mapping in railway both
There are Line technology transformation, assets investigation and information-based operation management to provide technical support.
It is as follows that the present invention solves the technical scheme that above-mentioned technical problem is taken；
A kind of rail track of three-dimensional laser panorama of the present invention is adjusted and paints method, comprises the following steps：
1), railway three-dimensional laser motion scan, rail track is obtained using three-dimensional laser motion scan system and facility is high
360 degree of full-view image data of three-dimensional laser point cloud data and high-resolution of density, by differential GPS/IMU fusion treatments, are obtained
Three-dimensional laser motion scan system operation track and posture；Respectively by track attitude data and laser scanning data, full-view image
Data carry out Geographic Reference processing, obtain rail track and facility three-dimensional laser point cloud data, each panorama website are accurate
Position and posture, data supporting is provided for structure three-dimensional laser panoramic view data model；
2), laser point cloud and full-view image fusion, according to the position of each panorama website and posture, according to full-view image
Measurement model, the mapping relations established between three-dimensional laser point cloud and full-view image pixel coordinate, build three-dimensional laser panorama number
According to model；
3), full-view image storage optimization, according to full-view image Sphere Measurement Model feature, the sphere visualization of structure full-view image
Browse framework；
4), circuit and facility identification on full-view image, using full-view image Visualization Browse System as platform, is handed over by visual observation
Mutually sentence the mode painted, obtain the classification of circuit and facility, attribute information and in full-view image sphere texture coordinate；
5), circuit and facility Geodetic Coordinate Calculation, according to three-dimensional laser panorama model, the circuit and facility sphere that tune is painted
Texture coordinate is converted into geodetic coordinates, completes circuit and the geometry of facility and comprehensive tune of attribute information is painted and surveyed.
Beneficial effects of the present invention are embodied in following aspects：
The general flow of three-dimensional laser panoramic view data model and its structure is proposed, to be surveyed using 3 D laser scanning movement
Amount system be used for Existing Railway Line adjust paint, survey, asset management and operation information provide it is a kind of directly perceived, easy, effective
Method；
Recover measurable using the high definition panorama image data of the three-dimensional laser point cloud with coordinate and abundant texture, can position
3D hologram visualization Railway Site, make full use of the direct high-acruracy survey advantage of three-dimensional laser point cloud and 360 degree of panorama shadows
As true, visualization advantage, both wired explorations are improved with adjusting accuracy, the integrality painted；
Expanded 3 D laser scanning motion scan and carried out railway line survey method, at the same suitable for airborne, vehicle-mounted and
Backpack 3 D laser scanning railway reconnaissance, it is also suitable for railway GIS, railroad assets management, railway emergency scheduling and commander etc.；
Using the present invention can efficiently, accurately carry out Existing Railway Line investigation, obtain existing trajectory, affiliated facility and across
Line facilities information, improve Existing Railway Line and adjust the degree of accuracy painted and security, reduce labor intensity, improve both wired tune
Paint exploration efficiency, and it is simple, intuitive, easy to implement.
Brief description of the drawings
Fig. 1 is the flow chart that a kind of rail track of three-dimensional laser panorama of the present invention adjusts method of painting.
Fig. 2 be a kind of rail track of three-dimensional laser panorama of the present invention adjust paint in method full-view image three-dimensional sphere model and
The corresponding relation schematic diagram of two-dimensional model.
Embodiment
Below with reference to drawings and examples, the present invention is further illustrated.
Reference picture 1, a kind of rail track of three-dimensional laser panorama of the present invention, which is adjusted, paints method, comprises the following steps：
1), railway three-dimensional laser motion scan, rail track is obtained using three-dimensional laser motion scan system and facility is high
360 degree of full-view image data of three-dimensional laser point cloud data and high-resolution of density, by differential GPS/IMU fusion treatments, are obtained
Three-dimensional laser motion scan system operation track and posture；Respectively by track attitude data and laser scanning data, full-view image
Data carry out Geographic Reference processing, obtain rail track and facility three-dimensional laser point cloud data, each panorama website are accurate
Position and posture, data supporting is provided for structure three-dimensional laser panoramic view data model.
The characteristic index that railway three-dimensional laser motion scan process uses has：The rover station GPS sampling intervals set not low
In 1Hz；The base station GPS sampling intervals, which are set, is not less than 5Hz.
2), laser point cloud and full-view image fusion, according to the position of each panorama website and posture, according to full-view image
Measurement model, the mapping relations established between three-dimensional laser point cloud and full-view image pixel coordinate, build three-dimensional laser panorama number
According to model.The step is carried out in the following order：
2.1st, system calibrating is carried out to panorama camera and GPS/IMU, it is inclined relative to GPS/IMU coordinate obtains panorama camera
MoveAnd posture changing matrix
2.2nd, transformation model between full-view image spherical coordinate and geodetic coordinates is established, such as formula (1)：
In formula, ri mFor geodetic coordinates corresponding to any point (u, v) in spherical panoramic image,For full-view image pair
The carrier track coordinate of the GPS/IMU outputs at moment is answered,The load that GPS/IMU to correspond to the moment for full-view image is exported
Body posture, rpOptical fiber direction for target relative to panorama camera, d are the line number of full-view image, and λ is imaging scale chi；
2.3rd, each point in full-view image is traveled through, its coordinate in earth coordinates is calculated according to formula (1), is realized complete
Scape image is registering with three-dimensional laser point cloud；
2.4th, repeat step 2.2-2.3, the mapping relations established between three-dimensional laser point cloud and panorama spherical coordinate, such as formula
(2)：Three-dimensional laser panoramic view data is built with this.
Three-dimensional laser panoramic view data is built with this.
3), full-view image storage optimization, according to full-view image Sphere Measurement Model feature, the sphere visualization of structure full-view image
Browse framework.The step is carried out in the following order：
3.1st, according to Mercator projection, the transformational relation established between three-dimensional sphere, sphere texture and two-dimensional panoramic plane,
Such as formula (3), formula (4)：
In formula, x, y, z are three-dimensional sphere coordinate, and u, v are sphere texture coordinate, and row, col are panoramic plane coordinate；
3.2nd, 360 degree of full-view images are subjected to mesh generation；
3.3rd, each grid image blocks is converted into sphere texture image according to Mercator projection.
3.4th, according to OpenGL ES texture mapping mechanism, each piece of full-view image is rendered including on three-dimensional sphere；
3.5th, pan operation is carried out on three-dimensional panorama sphere.
In example, mesh generation being carried out to full-view image, considering the efficiency that display browses, full-view image grid division is big
It is small to take 128 × 128 and 256 × 256 two kinds of sizes.Display to spherical panoramic image directly samples OpenGL ES texture wash with watercolours
Dyeing method.
4), circuit and facility identification on full-view image, using full-view image Visualization Browse System as platform, is handed over by visual observation
Mutually sentence the mode painted, obtain the classification of circuit and facility, attribute information and in full-view image sphere texture coordinate.The step 4
Carry out in the following order：
4.1st, according to the map or mileage Query Location is to a certain frame full-view image；
4.2nd, different visual angles are changed on full-view image, zoom in and out, roam browse, frame stepping etc. before and after panorama；
4.3rd, when panorama browses, operator is adjusted according to rail track and paints technical requirements and specification, visual identification circuit and
Facility, its classification of typing and attribute information；
4.4th, the panorama sphere texture coordinate of autolog line and facility；
4.5th, all circuits and facility are extracted in repeat step 4.1~4.4, identification, and completion circuit full-view image, which is sentenced, to be painted.
5), circuit and facility Geodetic Coordinate Calculation, according to three-dimensional laser panorama model, the circuit and facility sphere that tune is painted
Texture coordinate is converted into geodetic coordinates, completes circuit and the geometry of facility and comprehensive tune of attribute information is painted and surveyed.The step
Carry out in the following order：
5.1st, traversal sentences the circuit and facility painted, and obtains its sphere texture coordinate；
5.2nd, its two-dimentional panoramic plane coordinate is calculated according to formula (1), formula (2) according to sphere texture coordinate；
5.3rd, according to two-dimensional panoramic plane coordinates, according to panorama relation registering with three-dimensional point cloud, such as formula (1), it is right to calculate its
The geodetic coordinates answered；
5.4th, neighborhood of the geodetic coordinates in three-dimensional laser point cloud, its geodetic coordinates of compensating computation are inquired about according to formula (2)；
5.5th, repeat step 5.1~5.4, the geodetic coordinates of whole circuits and facility is calculated.
In described step 5, circuit and facility Geodetic Coordinate Calculation, the step will be adjusted according to three-dimensional laser panorama model
The circuit painted and facility sphere texture Coordinate Conversion are into geodetic coordinates.Geodetic coordinates is inquired about in three-dimensional laser point cloud according to formula (2)
In neighborhood, its geodetic coordinates of compensating computation.In example, three-dimensional laser point cloud neighborhood is 3 times of point cloud resolution ratio according to radius
Radius takes the mode for seeking barycenter to calculate the center-of-mass coordinate of institute a little in its neighborhood, in this, as its correspondence to take laser point cloud
Geodetic coordinates, improve circuit and facility coordinate precision.
Some principles of the present invention described above that simply explains through diagrams, are not intended to the present invention being confined to shown and institute
In the embodiment stated, therefore every corresponding modification for being possible to be utilized, belong to the apllied patent model of the present invention
Enclose.
Claims (6)
1. a kind of rail track of three-dimensional laser panorama is adjusted and paints method, comprise the following steps：
1), railway three-dimensional laser motion scan, rail track and facility high density are obtained using three-dimensional laser motion scan system
360 degree of full-view image data of three-dimensional laser point cloud data and high-resolution, by differential GPS/IMU fusion treatments, obtain three-dimensional
Laser motion scan system operation track and posture；Respectively by track attitude data and laser scanning data, full-view image data
Geographic Reference processing is carried out, obtains rail track and facility three-dimensional laser point cloud data, each accurate position of panorama website
And posture, provide data supporting for structure three-dimensional laser panoramic view data model；
2), laser point cloud and full-view image fusion, according to the position of each panorama website and posture, are measured according to full-view image
Model, the mapping relations established between three-dimensional laser point cloud and full-view image pixel coordinate, build three-dimensional laser panoramic view data mould
Type；
3), full-view image storage optimization, according to full-view image Sphere Measurement Model feature, full-view image sphere storage optimization is built
Framework；
4), circuit and facility identification on full-view image, using full-view image Visualization Browse System as platform, interaction by visual observation is sentenced
The mode painted, obtain the classification of circuit and facility, attribute information and in full-view image sphere texture coordinate；
5), circuit and facility Geodetic Coordinate Calculation, according to three-dimensional laser panorama model, the circuit and facility sphere texture that tune is painted
Coordinate Conversion completes circuit and the geometry of facility and comprehensive tune of attribute information is painted and surveyed into geodetic coordinates.
2. a kind of rail track of three-dimensional laser panorama as claimed in claim 1, which is adjusted, paints method, it is characterized in that：Described step 1)
In, the characteristic index that railway three-dimensional laser motion scan process uses has：The rover station GPS sampling intervals, which are set, is not less than 1Hz；
The base station GPS sampling intervals, which are set, is not less than 5Hz.
3. a kind of rail track of three-dimensional laser panorama as claimed in claim 1, which is adjusted, paints method, it is characterized in that：The step 2) is pressed
Order below is carried out：
2.1st, system calibrating is carried out to panorama camera and GPS/IMU, obtains coordinate offset of the panorama camera relative to GPS/IMU
And posture changing matrix
2.2nd, transformation model between full-view image spherical coordinate and geodetic coordinates is established, such as formula (1)：
In formula, ri mFor geodetic coordinates corresponding to any point (u, v) in spherical panoramic image,The moment is corresponded to for full-view image
GPS/IMU output carrier track coordinate,The attitude of carrier that GPS/IMU to correspond to the moment for full-view image is exported,
rpOptical fiber direction for target relative to panorama camera, d are the line number of full-view image, and λ is imaging scale chi；
2.3rd, each point in full-view image is traveled through, its coordinate in earth coordinates is calculated according to formula (1), realizes panorama shadow
As registering with three-dimensional laser point cloud；
2.4th, repeat step 2.2-2.3, the mapping relations established between three-dimensional laser point cloud and panorama spherical coordinate, such as formula (2)：
Three-dimensional laser panoramic view data is built with this.
Three-dimensional laser panoramic view data is built with this.
4. a kind of rail track of three-dimensional laser panorama as claimed in claim 1, which is adjusted, paints method, it is characterised in that：The step 3)
Carry out in the following order：
3.1st, according to Mercator projection, the transformational relation established between three-dimensional sphere, sphere texture and two-dimensional panoramic plane, such as formula
(3), formula (4)：
In formula, x, y, z are three-dimensional sphere coordinate, and u, v are sphere texture coordinate, and row, col are panoramic plane coordinate；
3.2nd, 360 degree of full-view images are subjected to mesh generation；
3.3rd, each grid image blocks is converted into sphere texture image according to Mercator projection；
3.4th, according to OpenGL ES texture mapping mechanism, each piece of full-view image is rendered including on three-dimensional sphere；
3.5th, pan operation is carried out on three-dimensional panorama sphere.
5. a kind of rail track of three-dimensional laser panorama as claimed in claim 1, which is adjusted, paints method, it is characterised in that：The step 4)
Carry out in the following order：
4.1st, according to the map or mileage Query Location is to a certain frame full-view image；
4.2nd, different visual angles are changed on full-view image, zoom in and out, roam browse, frame stepping before and after panorama；
4.3rd, when panorama browses, operator is adjusted according to rail track and paints technical requirements and specification, visual identification circuit and facility,
Its classification of typing and attribute information；
4.4th, the panorama sphere texture coordinate of autolog line and facility；
4.5th, all circuits and facility are extracted in repeat step 4.1~4.4, identification, and completion circuit full-view image, which is sentenced, to be painted.
6. a kind of rail track of three-dimensional laser panorama as claimed in claim 1, which is adjusted, paints method, it is characterized in that：The step 5)
Carry out in the following order：
5.1st, traversal sentences the circuit and facility painted, and obtains its sphere texture coordinate；
5.2nd, its two-dimentional panoramic plane coordinate is calculated according to formula (1), formula (2) according to sphere texture coordinate；
5.3rd, according to two-dimensional panoramic plane coordinates, according to panorama relation registering with three-dimensional point cloud, such as formula (1), calculate corresponding to it
Geodetic coordinates；
5.4th, neighborhood of the geodetic coordinates in three-dimensional laser point cloud, its geodetic coordinates of compensating computation are inquired about according to formula (2)；
5.5th, repeat step 5.1~5.4, whole circuits and facility are calculated.
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| CN112762945A (en) * | 2021-01-14 | 2021-05-07 | 佳都新太科技股份有限公司 | Information synchronization method, system and device of high-precision map full-element acquisition equipment |
| CN114312877A (en) * | 2022-01-26 | 2022-04-12 | 株洲时代电子技术有限公司 | Railway comprehensive inspection system |
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