Point cloud position data processing device, point cloud position data processing system, point cloud position data processing method, and program therefor

• US 9,659,378 B2
• Filed: 08/25/2015
• Issued: 05/23/2017
• Est. Priority Date: 08/26/2014
• Status: Active Grant

• Current Assignee: Kabushiki Kaisha Topcon
• Original Assignee: Kabushiki Kaisha Topcon
• Inventors: Ito, Tadayuki, Sasaki, You, Ogawa, Kazuhiro
• Primary Examiner(s): Nguyen, Vu
• Application Number:
  US14/834,657
• Publication Number:
  US 20160063717A1
• Time in Patent Office: 637 Days
• Field of Search: None
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/58 Velocity or trajectory determination systems; Sense-of-movement determination systems
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 7/4808 Evaluating distance, position or velocity data
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating
• CPC Class Codes: G01S 7/4972 Alignment of sensor
• CPC Class Codes: G06T 17/10 Constructive solid geometry [CSG] using solid primitives, e.g. cylinders, cubes
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2210/56 Particle system, point based geometry or rendering
• CPC Class Codes: G06T 2215/16 Using real world measurements to influence rendering
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light

Abstract

A technique for performing calibration of a laser scanner efficiently is provided. Point cloud position data of a building 131 is obtained by a laser scanner 141 in which exterior orientation parameters are already known. On the other hand, the building 131 is scanned by a laser scanner 115 while a vehicle 100 travels, and point cloud position data of the building 131 measured by the laser scanner 115 is obtained based on a trajectory the vehicle 100 has traveled. Then, exterior orientation parameters of the laser scanner 115 are calculated based on a correspondence relationship between these two point cloud position data.

Claims

1. A point cloud position data processing device comprising:

a data receiving circuit having a structure that receives reference point cloud position data, which is point cloud position data of a measured object, and that receives comparative laser scan data, which is obtained by scanning the measured object with laser light while a vehicle travels, the laser light emitted from a laser scanner that is fixed on the vehicle and that is to be calibrated;

a comparative point cloud position data calculating circuit having a structure that calculates comparative point cloud position data in a coordinate system of the reference point cloud position data from the comparative laser scan data based on a trajectory the laser scanner has traveled; and

an exterior orientation parameter calculating circuit having a structure that calculates exterior orientation parameters of the laser scanner based on a correspondence relationship between the reference point cloud position data and the comparative point cloud position data,

wherein the reference point cloud position data is measured by a fixed laser scanner that is fixed on a ground and is described in an absolute coordinate system,

the comparative point cloud position data is converted into data in the absolute coordinate system by setting an estimated margin of error of the exterior orientation parameters of the laser scanner, and

a convergence condition for a margin of error in matching the reference point cloud position data and the comparative point cloud position data in the absolute coordinate system is searched, whereby the exterior orientation parameters of the laser scanner are calculated.

2. The point cloud position data processing device according to claim 1, wherein the comparative point cloud position data includes a scan point P₁ that is obtained at a position O₁ and a scan point P₂ that is obtained at a position O₂, and the point cloud position data processing device is configured to perform processing for describing the scan points P₁ and P₂ in the absolute coordinate system based on the trajectory of the laser scanner.

3. A point cloud position data processing method comprising:

receiving reference point cloud position data, which is point cloud position data of a measured object, and receiving comparative laser scan data, which is obtained by scanning the measured object with laser light while a vehicle travels, the laser light emitted from a laser scanner that is fixed on the vehicle and that is to be calibrated;

calculating comparative point cloud position data in a coordinate system of the reference point cloud position data from the comparative laser scan data based on a trajectory the laser scanner has traveled; and

calculating exterior orientation parameters of the laser scanner based on a correspondence relationship between the reference point cloud position data and the comparative point cloud position data, including searching a convergence condition for a margin of error in matching the reference point cloud position data and the comparative point cloud position data in an absolute coordinate system, whereby the exterior orientation parameters of the laser scanner are calculated;

wherein the reference point cloud position data is measured by a fixed laser scanner that is fixed on a ground and is described in the absolute coordinate system, and

the comparative point cloud position data is converted into data in the absolute coordinate system by setting an estimated margin of error of the exterior orientation parameters of the laser scanner.

4. A non-transitory computer readable storage medium storing program instructions which when executed by a computer, cause the computer to:

receive reference point cloud position data, which is point cloud position data of a measured object, and receive comparative laser scan data, which is obtained by scanning the measured object with laser light while a vehicle travels, the laser light emitted from a laser scanner that is fixed on the vehicle and that is to be calibrated;

calculate comparative point cloud position data in a coordinate system of the reference point cloud position data from the comparative laser scan data based on a trajectory the laser scanner has traveled; and

calculate exterior orientation parameters of the laser scanner based on a correspondence relationship between the reference point cloud position data and the comparative point cloud position data, including searching a convergence condition for a margin of error in matching the reference point cloud position data and the comparative point cloud position data in an absolute coordinate system, whereby the exterior orientation parameters of the laser scanner are calculated;

wherein the reference point cloud position data is measured by a fixed laser scanner that is fixed on a ground and is described in the absolute coordinate system,

the comparative point cloud position data is converted into data in the absolute coordinate system by setting an estimated margin of error of the exterior orientation parameters of the laser scanner.