非直视区域的普通平面镜辅助地面三维激光扫描方法

3D Laser Scanning Assisted by Ordinary Plane Mirror for Non-direct Viewing Area

地面三维激光扫描是获取对象表面几何信息的主要方法之一,扫描对象的完整性是三维激光扫描数据获取的基本要求。为解决实际扫描过程中,因作业空间受限等原因引起的扫描死角而导致点云缺失的问题,本文根据平面镜反射光线原理提出了针对非直视区域的普通平面镜辅助激光扫描数据的获取方法。分析了普通平面镜对激光光束传播路径与距离的影响机理,推导了激光扫描经普通平面镜反射像点对应的物点坐标解算方程;顾及激光扫描特性,设计了包含球标靶和普通平面镜的镜面反射系统,阐述了系统构建、系统检校与系统坐标系构建方法;并通过试验验证了本方法的可行性和精度。

Terrestrial 3D laser scanning is one of principal methods to get the geometric information of object surface,and the integrity of the scanned object is a basic requirement in data acquisition.In order to solve the missing point cloud problem due to the scanning dead angle caused by confined working space,this paper proposes a method using ordinary plane mirror to obtain laser scanning data for non-direct viewing area according to the plane mirror reflection principle,analyzes the influence mechanism of the ordinary plane mirror on the propagation path and distance of laser beam,deduces the coordinate equation of the object point corresponding to the image point reflected by ordinary plane mirror in laser scanning.Given the laser scanning characteristic,this paper introduces a mirror reflection system included target balls and ordinary plane mirror,and expounds the system construction,system calibration and constructing method of system coordinate system.The feasibility and precision of the method are verified by experiments.