基于多传感器融合的车载三维测量系统时空配准

在车载三维测量系统中,为了快速、实时、完整地获取数字城市中所需要的三维空间信息,集成了全球定位系统(GPS)、激光扫描仪(LS)等多种传感器,其中,数据的处理应用了多传感器数据融合原理。各传感器间的空间配准和时间配准是多传感器数据信息有效融合的关键。通过解算各传感器坐标系间关系和利用激光扫描仪的时间记录功能、GPS时间打标功能解决了空间配准和时间配准问题,成功地应用于"近景目标三维测量技术",取得了预期的效果,并给出了实验结果。

Space and time registration of vehicle-borne 3D measurement system based on muti-sensor fusion

In the vehicle-borne 3D measurement system,in order to acquire 3D space information needed by digital city quickly,in real-time and completely,global positioning system(GPS),laser scanner(LS) and multiple sensors so on are integrated.The Multi-sensor fusion theory is applied in these sensors'data processing.Space registration and time registration are keys to fuse multi-sensor's data information effectively.Problems of multi-sensor's space registration and time registration are solved via computing the coordinate relationship among these sensors and using LS's time record and GPS's time marker.Presently it is successfully applied to close range target 3D measurement technology.The expected purposes are achieved and the experimental results are demonstrated.