High-precision three-dimensional point cloud acquisition method, system, device and storage medium

Abstract

A High-precision three-dimensional point cloud acquisition method is disclosed, the present application begins with the characteristics of objects present in the indoor environment, Based on this, themotion trajectory of the mobile 3D laser scanner can be recovered by determining the position transformation of the same object in the point cloud every two frames, and the motion correction and re-stitching operations can be carried out on the basis of the motion trajectory, so that the precision of the final 3D point cloud can be improved. At that same time, the application also disclosse a high-precision three-dimensional point cloud acquisition system, a device and a computer-readable storage medium, which have the above beneficial effects. 本申请公开了一种高精度三维点云获取方法，本申请以室内环境中存在的对象特征为入手点，并据此确定每两帧点云中的同名对象在所在两帧点云间发生的位置变换来恢复移动式三维激光扫描仪的运动轨迹，在先后以该运动轨迹为基础执行运动纠正和重拼接操作，以使最终得到的三维点云的精度更高。本申请还同时公开了一种高精度三维点云获取系统、装置及计算机可读存储介质，具有上述有益效果。