地下空间三维激光扫描等分辨率方法研究

Research on equal resolution method of underground spatial 3D laser scanning

针对传统三维激光等角扫描方法存在空间分辨率不均匀问题,提出一种三维激光扫描等空间分辨率方法。扫描仪采用轴向优先模式进行扫描,将每一周扫描轨迹分成N等分,每一分割点为关键点,根据m-1周关键点测量距离值和预设的相邻点间距值估算第m周中关键点的位置及相邻关键点之间的扫描时间,然后进行第m周扫描,再估算第m＋1周中关键点的位置以及相邻关键点之间的扫描时间,直至完成空间整体测量。建立了基本的数学模型,试验结果表明螺旋等距方法的点云数量比传统等角径向优先方法、等角轴向优先方法分别提高84.81%和74.77%,效率提高了20%,为地下空间三维激光扫描等分辨率测量提供解决方案。

Traditional 3D laser equiangular scanning method has the problem of non-uniform spatial resolution,an equal spatial resolution method of terrestrial 3 laser scanning is proposed.The scanner uses axial priority mode to conduct scanning.The scanning trajectory in each cycle is divided into N equal parts,and each division point is a key point.According to the measured distance value of the key points in the（m-1）thcycle and the preset distance value between two adjacent key points,the locations of the key points in the mth cycle and the scanning time between adjacent points are estimated; then,the mthcycle scanning is conducted.In the same way,the locations of the key points in the（m ＋ 1）thcycle and the scanning time between adjacent points are also obtained.Repeating these steps,the overall space measurement is completed.The basic mathematical model is established.The experiment result shows that the point cloud amount of the spiral equidistant method increases by 84.81% and 74.77%,respectively compared with those of the traditional equiangular radial priority method and equiangular axial priority method; the efficiency increases by 20%,which providing an efficient solution for the equal resolution measurement of underground spatial 3D laser scanning.