激光扫描中平面拟合及坐标转换模型构建

Plane Fitting and Transformation in Laser Scanning

坐标转换是测绘领域经常遇到的问题,如局部坐标系和全局坐标系间的转换、多传感器融合时各传感器间坐标系的相互转换等等。采用平面代替传统坐标转换中的公共点,建立了基于平面的坐标转换模型。首先给出平面的标准定义;然后提出一种基于稳健的RANSAC算法的特征值的平面拟合方法用于从点云数据中提取公共平面;构建基于平面表示的坐标转换模型并推导转换参数的计算方法;最后,通过模拟数据与实测数据验证模型的正确性。

Coordinate transformation is often encountered in surveying and mapping,such as the conversion between local system and global system,conversion among sensors and so on.Common points used for coordinate transformation in traditional ways were replaced by a series of planes,and a coordinate transformation model was built based on planes.Here,a normal definition of plane was given,and a robust fitting method for plane was put forward.Plane-based coordinate transformation model was constructed and the calculation method of parameters was deduced.At last a group of simulated data was used to prove that this model is in a correct way.