基于地面型三维激光扫描系统的场景重建及相关应用
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摘要
三维激光扫描技术是近年来发展起来的一项高新技术,它通过高速激光测量的方法,快速、大量、精确地获取物体的三维信息,在众多领域发挥着越来越重要的作用。随着科学技术的创新,推动了各个领域工作新方法的开展。传统的地质调查方法在某种程度而言费时、费力同时存在调查人员的人身安全问题,并且有时难以获得令人满意的结果。将三维激光扫描技术应用到工程地质领域中,作为传统的地质调查方法的有益补充,具有重要的理论与现实意义。
(1)本文系统总结了基于三维激光扫描系统的场景重建的国内外研究现状,并对激光扫描仪的硬件设备进行了详细的分类;介绍了三维激光扫描技术的基本原理及误差分析,简要探讨了三维激光扫描技术与传统测量方法的区别。
(2)针对本论文中所大量应用的RIEGL三维激光扫描仪及后处理软件RISCAN_PRO1.4.1和Polyworks9.0进行了详细的介绍,包括了三维数据的获取、处理、解译、获取信息等整个过程。
(3)为将三维激光扫描技术应用到工程地质领域,针对其在工程地质应用中的一些相关问题进行了分析,包括坐标转换、地质信息的识别与解译、结构面参数的计算方法等。
(4)结合拟建铁路边坡危岩体勘查实例,通过边坡三维模型上获取的危岩体的相关参数,评价了危岩体的稳定性。由此探讨了三维激光扫描技术在工程地质应用中的方法及优势。
研究结果表明,三维激光扫描技术获取空间数据的快速性、高效性、高精度和高分辨率特性是传统测量、调查方法不可比拟的,在工程地质领域有着广泛的应用前景。
3D laser scanning technology developed a high-tech in recent years. 3D laser scanning technology obtains information of 3D objects through high-speed laser measurement methods rapidly, substantially and accurately.3D laser scanning technology is playing an increasingly important role in various fields. The scientific and technological innovation promotes the work of the various fields the development of new methods. To some extent, the traditional methods of geological survey very difficult to have satisfactory results. Geological survey of the traditional method is time-consuming, laborious and investigate the issue of personal safety.3D laser scanning will be applied to the technical superiority in the field of engineering geology, as traditional geological survey method a useful complement, 3D laser scanning has great theoretical and practical significance.
(1)This paper summarizes the 3D laser scanning system based on the research scene reconstruction of research status at home and abroad, and the laser scanner hardware in detail classification; this paper introduces the 3D laser scanning technology of the basic principles and error analysis; this paper briefly explore the 3D laser scanning technology and the difference between the traditional measurement methods.
(2)This paper describes a detailed RIEGL 3D laser scanner, post-processing software RISCAN_PRO1.4.1 and Polyworks9.0, including this paper, 3D data acquisition, processing, interpretation, and access to information and so on.
(3)For the 3D laser scanning technology to the field of engineering geology, the paper analyzes a number of issues related to applications in engineering geology, such as coordinate transformation, the identification of geological information and interpretation, the structure of the calculation of surface parameters and so on.
(4)This paper takes the proposed railway slope to survey of rock body for example, and through access to the dangerous rock mass slope of the relevant parameters in the 3D model to evaluate the stability of the rock body. Therefore, this paper discusses the 3D laser scanning technology and advantages of applications in engineering geology.
The results show that the 3D laser scanning technique to obtain the spatial data quickly and efficiently, high-precision and high-resolution. This technology is much better than the traditional measurement method. Therefore, this technology has broad application prospects in the field of engineering geology.
(1)本文系统总结了基于三维激光扫描系统的场景重建的国内外研究现状,并对激光扫描仪的硬件设备进行了详细的分类;介绍了三维激光扫描技术的基本原理及误差分析,简要探讨了三维激光扫描技术与传统测量方法的区别。
(2)针对本论文中所大量应用的RIEGL三维激光扫描仪及后处理软件RISCAN_PRO1.4.1和Polyworks9.0进行了详细的介绍,包括了三维数据的获取、处理、解译、获取信息等整个过程。
(3)为将三维激光扫描技术应用到工程地质领域,针对其在工程地质应用中的一些相关问题进行了分析,包括坐标转换、地质信息的识别与解译、结构面参数的计算方法等。
(4)结合拟建铁路边坡危岩体勘查实例,通过边坡三维模型上获取的危岩体的相关参数,评价了危岩体的稳定性。由此探讨了三维激光扫描技术在工程地质应用中的方法及优势。
研究结果表明,三维激光扫描技术获取空间数据的快速性、高效性、高精度和高分辨率特性是传统测量、调查方法不可比拟的,在工程地质领域有着广泛的应用前景。
3D laser scanning technology developed a high-tech in recent years. 3D laser scanning technology obtains information of 3D objects through high-speed laser measurement methods rapidly, substantially and accurately.3D laser scanning technology is playing an increasingly important role in various fields. The scientific and technological innovation promotes the work of the various fields the development of new methods. To some extent, the traditional methods of geological survey very difficult to have satisfactory results. Geological survey of the traditional method is time-consuming, laborious and investigate the issue of personal safety.3D laser scanning will be applied to the technical superiority in the field of engineering geology, as traditional geological survey method a useful complement, 3D laser scanning has great theoretical and practical significance.
(1)This paper summarizes the 3D laser scanning system based on the research scene reconstruction of research status at home and abroad, and the laser scanner hardware in detail classification; this paper introduces the 3D laser scanning technology of the basic principles and error analysis; this paper briefly explore the 3D laser scanning technology and the difference between the traditional measurement methods.
(2)This paper describes a detailed RIEGL 3D laser scanner, post-processing software RISCAN_PRO1.4.1 and Polyworks9.0, including this paper, 3D data acquisition, processing, interpretation, and access to information and so on.
(3)For the 3D laser scanning technology to the field of engineering geology, the paper analyzes a number of issues related to applications in engineering geology, such as coordinate transformation, the identification of geological information and interpretation, the structure of the calculation of surface parameters and so on.
(4)This paper takes the proposed railway slope to survey of rock body for example, and through access to the dangerous rock mass slope of the relevant parameters in the 3D model to evaluate the stability of the rock body. Therefore, this paper discusses the 3D laser scanning technology and advantages of applications in engineering geology.
The results show that the 3D laser scanning technique to obtain the spatial data quickly and efficiently, high-precision and high-resolution. This technology is much better than the traditional measurement method. Therefore, this technology has broad application prospects in the field of engineering geology.
引文
[1]丁华.激光三维扫描、重建技术在逆向工程中的使用[D],山东大学,2004.
[2]于海龙,韦中亚,高振纪.基于表面模型的三维数据重建方法的研究与实现[J].地理学与国土研究,2002,18(2):38-40.
[3]毛方儒,王磊.三维激光扫描测量技术[J].宇航计测技术:2005,25(2):1-6.
[4]马立广.地面三维激光扫描测量技术研究[D].武汉:武汉大学,2005.
[5]李德华,胡汉平,金刚.从平面到立体-三维扫描技术[J].计算机世界,1999,7(751),3-5.
[6]刘江涛.三维激光扫描技术在考古勘探中的应用[D].首都师范大学,2007.
[7]刘宏,董秀军,向喜琼等.用三维激光成像技术调查高陡边坡岩体结构[J].中国地质灾害与防治学报:2006,17(4):38-41.
[8]权毓舒.三维点云数据的预处理[D].西北工业大学,2005.
[9]何文峰.大型场景三维重建中的深度图像配准[D],北京大学智能科学系,2004.
[10]何秉顺,丁留谦,孙平.三维激光扫描系统在岩体结构面识别中的应用[J].中国水利水电科学研究院学报,2007,5(1):43-49.
[11]张国辉.基于三维激光扫描仪的地形变化监测[J].仪器仪表学报,2006,27(6):96-97.
[12]李必军,方志祥,任娟.从激光扫描数据中进行建筑物特征提取研究[J].武汉大学学报,2003,28(1),65-70.
[13]李秋,秦永智,李宏英.激光三维扫描技术在矿区地表沉陷监测中的应用研究[J].煤炭工程,2006(4):97-99.
[14]陈洪凯,王蓉,唐虹梅.危岩研究现状及趋势综述[J].重庆交通学院学报,2003.
[15]周源.基于三维激光扫描的近景摄影测量系统的研究[D].郑州:中国人民解放军信息工程大学,2004.
[16]周源.基于三维激光扫描的近景摄影测量系统的研究[D].郑州:解放军信息工程大学,2004.4.
[17]林先茂.实测三维点云数据的后期处理技术[D]浙江大学,2006.
[18]范海英,杨伦,邢志辉等.Lycra三维激光扫描系统的工程应用研究[J].矿山测量:2004,(3):16-18.
[19]郑德华,沈云中.三维激光扫描仪及其测量误差影响因素分析[D]刘春测绘工程2005,6.
[20]赵允辉.危岩崩塌地质灾害调查评价与防治[J].中国地质灾害与防治学报,2004.
[21]《数学手册》编写组.数学手册[M].北京:人民教育出版社,1979.338-339.
[22]渝利线重点边坡危岩体勘察报告(初步报告)[R].铁道第二勘察设计院,成都理工大学地质灾害防治与地质环境保护国家重点实验室,2009.
[23]惠增宏.激光三维扫描、重建技术及其在工程中的应用[D].西安:西北工业大学,2002.
[24]程正逢,梁巧云.航空三维激光扫描与成像技术在送电线路工程中的用[J].岩土工程勘测:2004,155(1):31-35.
[25]董秀军,黄润秋.三维激光扫描技术在高陡边坡地质调查中的应用[J].岩石力学与工程学报:增刊(2),2006,179:3629-3635.
[26]董秀军.三维激光扫描技术及其工程应用研究[D].成都:成都理工大学,2007.
[27]翟瑞芳,张剑清.基于激光扫描仪的点云模型的自动拼接[J].地理空间信息:2004,2(6):37-39.
[28]潘建刚.基于激光扫描数据的三维重建关键技术研究[D].北京:首都师范大学,2005.
[29]Boehler,W.,A.Marbs,2002.3D Scanning Instruments,CIPA,Heritage ocumentation-International Workshop on Seanning for Cultural Heritage Recording-Corfu,Greeee.
[30]E.Chen,and L.Williams.View interpolation for image synthesis.In SIGGRAPH'93(1993),pp:279-288.
[31]Goodman.R.E.Applications of Rock Mechanics to Rock Slope Engineering[M].Introduction to Roe Meehanics(seeond editions).NewYork:john wiley 1989:293-340.
[32]Huijing Zhao,Institute of Industrial Science,Univ.of Tokyo;Ryosuke Shibasaki,Center for Spatial Information Science,Univ.of Tokyo;Reconstructing Urban 3D Model using ehicle-borne Laser Range Scanners.
[33]Heung-Yeung Shum and Sing-Bing Kang.A Review of Image-based Rendering Techniques,IEEE/SPIE Visual Communications and Image Processing(VCIP)2000,pp:2-13,Perth,June 2000.
[34]Iguel Angel M,Sappa G,Basanez L.Efficient Approximation of Range Images Through Data-Dependent Adaptive Zriangulations[C].Proceedings of IEEE Int.Conf.on Computer Vision and Pattern Recognition,San Juan,Puerto Rico,1997,628-633.
[35]I.Stamos and P.K.Allen.Geometry and Texture Recovery of Scenes of Large Scale.Computer Vision and Image Understanding(CVIU),vol.88,no.2,Nov.2002,pp:94-118.
[36]K. Pulli. Multiview registration for large data sets. In Proeeedings of the International Conferenee on 3D Digital Imaging and Modeling (3DIM' 99), PP. 160-168.
[37]L. McMillan and G. Bishop. Plenoptic Modeling: An image-basedrendering system. In SIGGRAPH' 95,1995.
[38]P. E. Debevec, C. J. Taylor, and J. Malik. Modeling and rendering architecture from photographs: A hybrid geometry- and image-based approach. In SIGGRAPH' 96 (August 1996), pp: 11-20.
[39]P. J. Besl and N. D. MeKay. A method for registration of 3 shapes. IEEE Transaetions on Pattern Analysis and Machine Intelligenee, vol.14, no.2, PP.239-256, February 1992.
[40]P. K. Allen, I. Stamos, et al. 3D modeling of historic sites using range and image data. In Proceedings of IEEE Conference on Robotics and Automation, 2003 (ICRA'03), vol. 1, pp: 145-150.
[41]Reed M, Allen P K, Stamos I. Automated model acquisition from range images with view planning[C]. Proceedings of IEEE Conf. Computer Vision and Pattern Recognition Conference, 1997,16-20: 72-77.
[42]Sagawa R, Nishino K, Ikeuchi K. Robust and adaptive integration of multiple range images with photometric attributes[C].Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition 2001,172—179.
[43]Sequeira V,Ng K C,Butterfield S,Goncalves J G M,Hogg D C.Three dimensional textured models of indoor scenes from composite range and video images[C]. Proceedings of SPIE, 3D Image Capture and Applications, 1998, 3313.
[44]S.F. El-Hakim, C.Brenner, and C.Roth. A multi-sensor approach to creating accurate environments, JSPRS Journal of Photogrammetry&emote Sensing, 1998, pp: 379-391.
[45]S.F. El-Hakim, P. Boulanger, F. Blais, and J. A. Beraldin. A system for indoor 3D mapping and virtual environments. SPIE Proc., Videometrics V(1997), vol.3174, pp:21-35.
[46]Stamos I, Allen P K. 3-D model construction using range and image data[C]. Proceedings of IEEE Conf. Computer Vision and Pattern Recognition, 2000, (I): 531—536.
[47]Veenman C J, Beinders M J T, Backer E. Resolving motion correspondence for densely moving points[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2001, 23 (1): 54-72.
[48]Y.Chen and G.Medioni.object modeling by registration of multiple range images. Image and vision Computing, vol.10, no. 3, pp145、155,April 1992.
[49]Y.Yu, A. Ferencz, and J.Malik. Extracting Objects from Range and Radiance Images. Transactions on Visualization and Computer Graphics, Vol.7,No. 4, pp: 351-364,2001.
[2]于海龙,韦中亚,高振纪.基于表面模型的三维数据重建方法的研究与实现[J].地理学与国土研究,2002,18(2):38-40.
[3]毛方儒,王磊.三维激光扫描测量技术[J].宇航计测技术:2005,25(2):1-6.
[4]马立广.地面三维激光扫描测量技术研究[D].武汉:武汉大学,2005.
[5]李德华,胡汉平,金刚.从平面到立体-三维扫描技术[J].计算机世界,1999,7(751),3-5.
[6]刘江涛.三维激光扫描技术在考古勘探中的应用[D].首都师范大学,2007.
[7]刘宏,董秀军,向喜琼等.用三维激光成像技术调查高陡边坡岩体结构[J].中国地质灾害与防治学报:2006,17(4):38-41.
[8]权毓舒.三维点云数据的预处理[D].西北工业大学,2005.
[9]何文峰.大型场景三维重建中的深度图像配准[D],北京大学智能科学系,2004.
[10]何秉顺,丁留谦,孙平.三维激光扫描系统在岩体结构面识别中的应用[J].中国水利水电科学研究院学报,2007,5(1):43-49.
[11]张国辉.基于三维激光扫描仪的地形变化监测[J].仪器仪表学报,2006,27(6):96-97.
[12]李必军,方志祥,任娟.从激光扫描数据中进行建筑物特征提取研究[J].武汉大学学报,2003,28(1),65-70.
[13]李秋,秦永智,李宏英.激光三维扫描技术在矿区地表沉陷监测中的应用研究[J].煤炭工程,2006(4):97-99.
[14]陈洪凯,王蓉,唐虹梅.危岩研究现状及趋势综述[J].重庆交通学院学报,2003.
[15]周源.基于三维激光扫描的近景摄影测量系统的研究[D].郑州:中国人民解放军信息工程大学,2004.
[16]周源.基于三维激光扫描的近景摄影测量系统的研究[D].郑州:解放军信息工程大学,2004.4.
[17]林先茂.实测三维点云数据的后期处理技术[D]浙江大学,2006.
[18]范海英,杨伦,邢志辉等.Lycra三维激光扫描系统的工程应用研究[J].矿山测量:2004,(3):16-18.
[19]郑德华,沈云中.三维激光扫描仪及其测量误差影响因素分析[D]刘春测绘工程2005,6.
[20]赵允辉.危岩崩塌地质灾害调查评价与防治[J].中国地质灾害与防治学报,2004.
[21]《数学手册》编写组.数学手册[M].北京:人民教育出版社,1979.338-339.
[22]渝利线重点边坡危岩体勘察报告(初步报告)[R].铁道第二勘察设计院,成都理工大学地质灾害防治与地质环境保护国家重点实验室,2009.
[23]惠增宏.激光三维扫描、重建技术及其在工程中的应用[D].西安:西北工业大学,2002.
[24]程正逢,梁巧云.航空三维激光扫描与成像技术在送电线路工程中的用[J].岩土工程勘测:2004,155(1):31-35.
[25]董秀军,黄润秋.三维激光扫描技术在高陡边坡地质调查中的应用[J].岩石力学与工程学报:增刊(2),2006,179:3629-3635.
[26]董秀军.三维激光扫描技术及其工程应用研究[D].成都:成都理工大学,2007.
[27]翟瑞芳,张剑清.基于激光扫描仪的点云模型的自动拼接[J].地理空间信息:2004,2(6):37-39.
[28]潘建刚.基于激光扫描数据的三维重建关键技术研究[D].北京:首都师范大学,2005.
[29]Boehler,W.,A.Marbs,2002.3D Scanning Instruments,CIPA,Heritage ocumentation-International Workshop on Seanning for Cultural Heritage Recording-Corfu,Greeee.
[30]E.Chen,and L.Williams.View interpolation for image synthesis.In SIGGRAPH'93(1993),pp:279-288.
[31]Goodman.R.E.Applications of Rock Mechanics to Rock Slope Engineering[M].Introduction to Roe Meehanics(seeond editions).NewYork:john wiley 1989:293-340.
[32]Huijing Zhao,Institute of Industrial Science,Univ.of Tokyo;Ryosuke Shibasaki,Center for Spatial Information Science,Univ.of Tokyo;Reconstructing Urban 3D Model using ehicle-borne Laser Range Scanners.
[33]Heung-Yeung Shum and Sing-Bing Kang.A Review of Image-based Rendering Techniques,IEEE/SPIE Visual Communications and Image Processing(VCIP)2000,pp:2-13,Perth,June 2000.
[34]Iguel Angel M,Sappa G,Basanez L.Efficient Approximation of Range Images Through Data-Dependent Adaptive Zriangulations[C].Proceedings of IEEE Int.Conf.on Computer Vision and Pattern Recognition,San Juan,Puerto Rico,1997,628-633.
[35]I.Stamos and P.K.Allen.Geometry and Texture Recovery of Scenes of Large Scale.Computer Vision and Image Understanding(CVIU),vol.88,no.2,Nov.2002,pp:94-118.
[36]K. Pulli. Multiview registration for large data sets. In Proeeedings of the International Conferenee on 3D Digital Imaging and Modeling (3DIM' 99), PP. 160-168.
[37]L. McMillan and G. Bishop. Plenoptic Modeling: An image-basedrendering system. In SIGGRAPH' 95,1995.
[38]P. E. Debevec, C. J. Taylor, and J. Malik. Modeling and rendering architecture from photographs: A hybrid geometry- and image-based approach. In SIGGRAPH' 96 (August 1996), pp: 11-20.
[39]P. J. Besl and N. D. MeKay. A method for registration of 3 shapes. IEEE Transaetions on Pattern Analysis and Machine Intelligenee, vol.14, no.2, PP.239-256, February 1992.
[40]P. K. Allen, I. Stamos, et al. 3D modeling of historic sites using range and image data. In Proceedings of IEEE Conference on Robotics and Automation, 2003 (ICRA'03), vol. 1, pp: 145-150.
[41]Reed M, Allen P K, Stamos I. Automated model acquisition from range images with view planning[C]. Proceedings of IEEE Conf. Computer Vision and Pattern Recognition Conference, 1997,16-20: 72-77.
[42]Sagawa R, Nishino K, Ikeuchi K. Robust and adaptive integration of multiple range images with photometric attributes[C].Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition 2001,172—179.
[43]Sequeira V,Ng K C,Butterfield S,Goncalves J G M,Hogg D C.Three dimensional textured models of indoor scenes from composite range and video images[C]. Proceedings of SPIE, 3D Image Capture and Applications, 1998, 3313.
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