本文選題：三維激光點(diǎn)云 + 全局拼接�。� 參考：《中國地質(zhì)大學(xué)（北京）》2013年碩士論文

【摘要】：近年來，隨著三維激光掃描技術(shù)的飛速發(fā)展，其在逆向工程、計(jì)算機(jī)視覺、模式識別、變形監(jiān)測、曲面檢測和攝影測量學(xué)等領(lǐng)域有著越來越廣闊的發(fā)展和應(yīng)用前景。點(diǎn)云拼接是影響和制約三維激光技術(shù)發(fā)展與應(yīng)用的一個重要方面，也是最近幾年眾多學(xué)者和技術(shù)人員仍在研究的重點(diǎn)和難點(diǎn)問題。點(diǎn)云拼接作為三維激光掃描技術(shù)應(yīng)用中前期數(shù)據(jù)處理的一項(xiàng)重要內(nèi)容，在其應(yīng)用領(lǐng)域有著非常關(guān)鍵的作用，拼接精度的高低直接或間接決定其應(yīng)用價值，因此，研究高精度、高可靠性的三維激光點(diǎn)云拼接方法有著重要的意義。 本文提出的融合反射值影像和卡爾曼濾波的三維激光點(diǎn)云全局拼接方法是一種高精度、高可靠性的全局動態(tài)拼接方法。該方法以地基三維激光掃描系統(tǒng)所采集的上海某段地鐵隧道點(diǎn)云為數(shù)據(jù)源，研究內(nèi)容主要包括以下幾個方面：基于三維激光點(diǎn)云的反射值影像生成，基于反射值影像的特征點(diǎn)提取與識別，基于反射值影像的三維點(diǎn)云拼接，引入控制條件的全局拼接方法，基于卡爾曼濾波和控制條件的三維點(diǎn)云全局拼接。其中，結(jié)合地鐵隧道的狹長結(jié)構(gòu)特點(diǎn)，采用區(qū)段式拼接對傳統(tǒng)的相鄰站拼接進(jìn)行改進(jìn)，使區(qū)段內(nèi)各個測站共用所有的拼接控制點(diǎn)，避免相鄰測站之間的誤差積累；對于控制信息的引入，考慮到隧道數(shù)據(jù)結(jié)構(gòu)特點(diǎn)，文中提取隧道中軸線作為拼接控制條件；在隧道中軸線的提取過程中對于斷面點(diǎn)的截取，采用改進(jìn)的BAYSAC算法結(jié)合二次參數(shù)曲面擬合方法進(jìn)行局部曲面擬合，并提出了基于模型參數(shù)迭代統(tǒng)計(jì)的先驗(yàn)概率估計(jì)方法。 對于文中所提的方法，通過RIEGLVZ系列三維激光掃描儀采集的地鐵隧道數(shù)據(jù)進(jìn)行了驗(yàn)證，包括反射值影像生成與特征點(diǎn)提取實(shí)驗(yàn)、閉合式全局拼接試驗(yàn)、隧道中軸線提取試驗(yàn)以及基于卡爾曼濾波的點(diǎn)云全局拼接實(shí)驗(yàn)。其中，采用區(qū)段控制式的拼接方法消除和減弱拼接過程中的誤差積累，分別以模擬實(shí)驗(yàn)數(shù)據(jù)和實(shí)際隧道數(shù)據(jù)進(jìn)行了驗(yàn)證；對于隧道中軸線的提取，采用動態(tài)的提取方法并引入加權(quán)總體最小二乘算法保證提取的中軸線全局一致，保證反饋的卡爾曼濾波信息的精確性。實(shí)驗(yàn)結(jié)果表明，本文所提出的方法能夠快速、穩(wěn)定的實(shí)現(xiàn)大量點(diǎn)云數(shù)據(jù)的全局拼接，其結(jié)果能達(dá)到工程應(yīng)用的精度要求；此外，，三維激光掃描技術(shù)在數(shù)據(jù)的獲取和人力要求等方面較傳統(tǒng)的數(shù)據(jù)采集方式都具有明顯的優(yōu)勢。
[Abstract]:In recent years, with the rapid development of 3D laser scanning technology, it has more and more extensive development and application prospects in the fields of reverse engineering, computer vision, pattern recognition, deformation monitoring, surface detection and photogrammetry. The point cloud splicing is an important aspect of influencing and restricting the development and application of three-dimensional excitation technology, and is also the latest The point cloud splicing, as an important part of the data processing of the three dimensional laser scanning technology, has a very important role in the application field, and the accuracy of the stitching is directly or indirectly determined its application value. Therefore, high accuracy and high reliability are studied. The method of 3D laser point cloud splicing is of great significance.
The global mosaic method of fusion reflecting value image and Calman filter is a high precision and high reliability global dynamic stitching method. This method is based on the point cloud of a subway tunnel in a section of Shanghai, which is collected by the three-dimensional laser scanning system of the foundation. The research content mainly includes the following aspects: base The reflection value image of the three-dimensional laser point cloud is generated, the feature points are extracted and identified based on the reflection value image, the global stitching method based on the control conditions is introduced based on the 3D point cloud splicing of the reflected value image, and the 3D point cloud based on the Calman filter and the control conditions is integrated. The segmental splicing improves the splicing of the traditional adjacent stations, so that all the stations in the section share all the splicing control points to avoid the accumulation of errors between adjacent stations; for the introduction of the control information, the tunnel axis is extracted from the tunnel data structure, and the extraction process of the central axis of the tunnel is extracted. For the interception of the cross section points, the improved BAYSAC algorithm combined with the two parameter surface fitting method is used to fit the local surface, and a priori probability estimation method based on the iterative statistics of the model parameters is proposed.
For the proposed method, the subway tunnel data collected by RIEGLVZ series 3D laser scanner are verified, including the reflection value image generation and feature point extraction experiment, the closed global stitching experiment, the tunnel axis extraction experiment and the point cloud global stitching experiment based on the Calman filter. The error accumulation in the splicing process is eliminated and weakened, and the experimental data and actual tunnel data are verified respectively. For the extraction of the axis of the tunnel, the dynamic extraction method is used and the weighted overall least square algorithm is introduced to ensure the global consistency of the extracted central axis, and the Calman filtering letter of the feedback is guaranteed. The experimental results show that the proposed method can quickly and steadily achieve a large number of point cloud data, and the results can achieve the precision requirements of the engineering application. In addition, the 3D laser scanning technology has obvious advantages over the traditional data acquisition methods in data acquisition and human requirements.

【學(xué)位授予單位】：中國地質(zhì)大學(xué)（北京）
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2013
【分類號】：P225.2

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