摘要
由于数据采集阶段位姿状态的变化,导致对目标的测绘结果往往存在较大误差。为此,提出基于机载无人机三维激光扫描技术的不动产测绘研究。选用型号为飞越X6的六旋翼无人机机架作为搭载装置,基于棱镜技术的Livox Mid40激光扫描仪作为采集装置,在全覆盖的轨迹下采集目标不动产点云数据,基于匀速运动假设和线性插值的方法进行不动产点云数据的对齐校正处理后,引入了ICP算法匹配不同位姿的不动产点云数据,将匹配后的点云数据按照坐标定位到对应的三维坐标系,构建完整的不动产模型,并使用最小二乘法对提取的边缘点进行直线拟合,完成测绘。在测试结果中,对应的误差始终在0.01m以内。
Due to the changes in pose status during the data collection stage,there are often significant errors in the mapping results of the target.Therefore,a research on real estate mapping based on airborne unmanned aerial vehicle 3D laser scanning technology is proposed.The six rotor unmanned aerial vehicle(UAV)model X6 was selected as the mounting device,and the Livox Mid40 laser scanner based on prism technology was used as the acquisition device to collect target real estate point cloud data under full coverage trajectory.After aligning and correcting the real estate point cloud data based on the assumption of uniform motion and linear interpolation,the ICP algorithm was introduced to match real estate point cloud data with different poses.The matched point cloud data was located in the corresponding three-dimensional coordinate system according to coordinates,and a complete real estate model was constructed.The extracted edge points were fitted with a straight line using the least squares method to complete the mapping.In the test results,the corresponding error is always within 0.01m.
作者
刘明义
Liu Mingyi(Changsha Real Estate Registration Center,Changsha,Hunan 410000,CHN)
出处
《模具制造》
2024年第9期164-167,共4页
Die & Mould Manufacture
关键词
不动产点云数据
线性插值
ICP算法
最小二乘法
直线拟合
real estate point cloud data
linear interpolation
ICP algorithm
least squares method
straight line fitting
