公开(公告)号：US20120070077A1

公开(公告)日：2012-03-22

申请号：US13259383

申请日：2010-03-22

申请人： Martin Ossig ,  Ivan Bogicevic ,  Norbert Bücking

发明人： Martin Ossig ,  Ivan Bogicevic ,  Norbert Bücking

IPC分类号： G06K9/34 ,  H04N7/18

CPC分类号： G01C15/002 ,  G01S17/023 ,  G01S17/42 ,  G01S17/89

摘要： With a method for optically scanning and measuring an environment by means of a laser scanner, which has a center, and which, for making a scan, optically scans and measures its environment by means of light beams and evaluates it by means of a control and evaluation unit, wherein a color camera having a center takes colored images of the environment which must be linked with the scan, the control and evaluation unit of the laser scanner, to which the color camera is connected, links the scan and the colored images and corrects deviations of the center and/or the orientation of the color camera relative to the center and/or the orientation of the laser scanner by virtually moving the color camera iteratively for each colored image and by transforming at least part of the colored image for this new virtual position and/or orientation of the color camera, until the projection of the colored image and the projection of the scan onto a common reference surface comply with each other in the best possible way.

摘要翻译： 通过利用具有中心的激光扫描仪对环境进行光学扫描和测量的方法，并且用于进行扫描，通过光束光学扫描和测量其环境并通过控制来评估环境， 评估单元，其中具有中心的彩色照相机拍摄必须与扫描相关联的环境的彩色图像，连接彩色照相机的激光扫描仪的控制和评估单元连接扫描和彩色图像， 通过相对于每个彩色图像迭代地对彩色摄像机进行虚拟移动并且通过将至少部分彩色图像变换为这样来校正彩色摄像机相对于激光扫描仪的中心和/或取向的偏差和/或取向 彩色摄像机的新的虚拟位置和/或取向，直到彩色图像的投影和扫描的投影到共同的参考表面上是相互符合的 最好的方式。