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平面标靶在中长距离三维激光扫描仪的检校、数据采集、单点测量等环节中发挥着重要作用,而平面标靶的高精度、自动化识别是在其使用中面临的一个关键问题。在分析扫描数据特点的基础上,提出一种基于回光强度的平面标靶自动识别方法。具体的步骤为:改正回光强度以消除距离的影响;基于回光强度进行阈值分割以得到平面标靶点云;提出一种基于扫描线的聚类算法,将平面标靶点云聚集在一起;采用形状检测技术排除非标靶对象;采用回光强度加权法计算平面标靶中心的三维坐标。通过对Riegl公司的三维激光扫描仪LMS Z620获取的实测数据进行实验,结果表明:此方法能完成标靶的快速、全自动识别,点位精度优于2 mm,能够满足测量任务的需要。
Plane targets play an important role in calibration, data acquisition and single-point measurement of medium and long distance 3D laser scanners. The high precision and automatic recognition of planar targets are a key issue in their use. On the basis of analyzing the characteristics of the scanning data, a method of automatic recognition of planar target based on the light intensity is proposed. The specific steps are as follows: correcting the light intensity to eliminate the effect of distance; performing threshold segmentation based on the light intensity to obtain a planar target point cloud; and based on the scanning line, a clustering algorithm is proposed to gather plane target cloud points together The non-target object was eliminated by the shape detection technique. The three-dimensional coordinates of the center of the plane target were calculated by using the light intensity weighted method. The experimental data obtained from Riegl 3D Laser Scanner LMS Z620 shows that this method can accomplish the fast and automatic recognition of the target with the accuracy of better than 2 mm, which can meet the needs of the measurement tasks.