摘要
针对室内移动测图中GPS信号缺失,导致无法获取精确定位坐标与导航的问题,该文研发了一套室内背包式移动测量系统,该系统能够利用三维激光定位与测图的方法实现快速同步定位及地图创建和室内三维激光点云获取,可以应用在室内或地下的环境中进行数据采集,在不损失作业效率的前提下获取系统作业轨迹、高精度点云等多种数据结果。为了对系统的精度进行验证,使用该系统在实验室大楼走廊中进行实验获取室内三维激光点云,并将实验结果与采用常规测量手段得到的结果进行对比分析。实验表明,此系统的相对精度和绝对精度分别能够达到0.048和0.047m,在室内三维信息获取过程中相比较于传统作业方式显著提高了作业效率和数据质量,能够满足室内建模与测图要求。
In order to solve the problem of missing GPS signal in indoor mobile mapping,this leads to failure to obtain the precise position and navigation information.This paper develops a set of indoor backpacked mobile measurement system.This system of using 3Dlaser simultaneous localization and mapping to finish localization and mapping,and acquire indoor point cloud.It also can be used in data collection of the indoor or underground environment,and obtaining the working trajectory,high-precision point cloud and other data without losing operating efficiency.In order to test this system,the experiment is carried out in the science building,and indoor 3D point cloud is acquired in the laboratory and corridor.The experimental data are compared with the data obtained by conventional measurement methods.The results show that the method and equipment can significantly improve the operation efficiency and data quality compared with the traditional operation mode in the process of obtaining 3D indoor information,The verification can be confirmed the relative accuracy of the point data is 0.048m and the absolute precision is 0.047m,which meets the requirements of indoor modeling and mapping.
作者
宋凯
钟若飞
杜黎明
吴琼
郭姣
SONG Kai;ZHONG Ruofei;DU Liming;WU Qiong;GUO Jiao(College of Resources Environment and Tourism,Capital Normal University,Beijing 100048,China;Key Lab of 3DInformation Acquisition and Application,Capital Normal University,Beijing 100048,China)
出处
《测绘科学》
CSCD
北大核心
2019年第5期126-131,共6页
Science of Surveying and Mapping
基金
科技创新服务能力建设-基本科研业务费(科研类)项目(025185305000/191)
