利用混合规则几何面的MMS激光扫描仪检校方法

Calibration method of MMS laser scanner using hybrid regular geometric surfaces

提出了一种利用混合规则几何面进行车载移动测量系统(MMS)激光扫描仪外参数检校的方法。该方法利用现实环境中普遍存在的平面和圆柱面地物,结合平面和柱面可公式化的几何特征对激光点进行严密的数学方程式约束,通过非线性优化的方法精确求解激光扫描仪相对于MMS定位测姿POS系统的相对位置和姿态参数。实验结果表明:相对于只采用平面地物约束进行检校的方法,采用混合规则几何面联合约束检校的方法结果精度更高,距离残差中误差达到了0.006 m;同一车载平台、两套不同激光扫描仪系统检校后,点云叠合效果较好。该检校方法具有精度高、简便、快速、实用等优点,具有较强的工程应用价值。

A simple and practical method for MMS laser scanner calibration with hybrid regular geometric surfaces was proposed. The method utilized the plane and cylindrical objects which were ubiquitous in the real environment, and combined the geometric characteristics of the plane and cylindrical surface to constrain the laser point in a rigorous mathematical equation, and non-linear least square solution to determine the relative position and attitude parameters of the scanner relative to the MMS positioning and attitude measuring device POS accurately. The method did not need to establish a special calibration site. The experimental results show that the hybrid regular geometric surface combined constraint calibration method is more accurate than the method using only plane objects, reaching 0.006 m.After the same vehicle platform and two different laser scanner systems are calibrated, the point cloud superposition effect is better. The method is accurate, simple, fast, inexpensive, efficient and practical.The measured accuracy meets the requirements of large-scale production.