Author Affiliations
1School of Surveying and Mapping, Wuhan University, Wuhan, Hubei 430079, China2Disaster Monitoring and Prevention Research Center of Wuhan University, Wuhan, Hubei 430079, China3Key Laboratory for Digital Land and Resources of Jiangxi Province, East China University of Technology, Nanchang, Jiangxi 330013, Chinashow less
Fig. 1. Measurement principle of laser tracker
Fig. 2. Laser tracker measurement system. (a) Laser tracker; (b) T-Probe handheld probe; (c) reflector and pedestal
Fig. 3. Schematic diagram of calibration process
Fig. 4. Schematic of registration
Fig. 5. Measurement system. (a)Instrument and object; (b) local magnification of scanner
Fig. 6. Visualization of point cloud before registration of industrial device
Fig. 7. Registration results from different perspectives. (a)--(d) Coarse registration results; (e) local magnification of coarse registration result; (f)--(i) accurate registration results; (j) local magnification of precise registration result
Fig. 8. Visualization of point cloud before registration of statue
Fig. 9. Registration results of statue from different perspectives. (a) Frontal perspective; (b) 90° viewing; (c) 270°viewing; (d) 180° viewing
Fig. 10. Registration results of unmanned experimental vehicle under different perspectives. (a) Above; (b)(c) 0° and 90°; (d)(e) 180° and 270°
| Statue overlap area /mm | Coarse registration /RMS | Industrial device overlap area /mm | Coarse registration /RMS |
|---|
| S12 | 0.66 | I12 | 0.56 | | S23 | 0.51 | I23 | 0.67 | | S34 | 0.48 | I34 | 0.65 | | S41 | 0.71 | I41 | 0.68 |
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Table 1. Coarse registration error of neighboring station point cloud
| Statue overlap area /mm | ICP /RMS | Industrial device overlap area /mm | ICP /RMS |
|---|
| S12 | 0.18 | I12 | 0.12 | | S23 | 0.19 | I23 | 0.13 | | S34 | 0.12 | I34 | 0.04 | | S41 | 0.14 | I41 | 0.07 |
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Table 2. Precise registration error of neighboring station point cloud
| Serialnumber | True value | Measurement | dX | dY | dZ | Deviation |
|---|
| X | Y | Z | X | Y | Z |
|---|
| A | 3.854045 | 2.043060 | -0.731043 | 3.852141 | 2.042778 | -0.730052 | 0.001904 | 0.000282 | -0.000991 | 0.002165 | | B | 3.837528 | 2.139680 | -0.702917 | 3.835734 | 2.140062 | -0.702309 | 0.001794 | -0.000382 | -0.000608 | 0.001932 | | C | 3.911482 | 2.349449 | -0.702390 | 3.910909 | 2.348018 | -0.701854 | 0.000573 | 0.001431 | -0.000536 | 0.001632 | | D | 3.941915 | 2.477005 | -0.701041 | 3.940384 | 2.476593 | -0.700919 | 0.001531 | 0.000412 | -0.000122 | 0.001590 | | E | 3.946203 | 2.613563 | -0.700132 | 3.946061 | 2.611508 | -0.700132 | 0.000142 | 0.002055 | 0.000000 | 0.002060 | | F | 3.983856 | 2.725562 | -0.698709 | 3.982665 | 2.723969 | -0.698069 | 0.001191 | 0.001593 | -0.000640 | 0.002089 | | G | 3.884202 | 2.880149 | -0.726915 | 3.882811 | 2.879381 | -0.726698 | 0.001391 | 0.000768 | -0.000217 | 0.001603 | | H | 3.755817 | 2.770859 | -0.699560 | 3.754152 | 2.769162 | -0.699967 | 0.001665 | 0.001697 | 0.000407 | 0.002412 | | I | 3.729364 | 2.922657 | -0.732008 | 3.728376 | 2.921324 | -0.731506 | 0.000988 | 0.001333 | -0.000502 | 0.001734 | | J | 3.529337 | 2.814357 | -0.700831 | 3.527730 | 2.813142 | -0.701545 | 0.001607 | 0.001215 | 0.000714 | 0.002138 | | K | 3.535536 | 2.964299 | -0.731730 | 3.534737 | 2.962755 | -0.731491 | 0.000799 | 0.001544 | -0.000239 | 0.001755 | | Serialnumber | True value | Measurement | dX | dY | dZ | Deviation | | X | Y | Z | X | Y | Z | | L | 3.404690 | 2.971072 | -0.720809 | 3.404365 | 2.969911 | -0.721118 | 0.000325 | 0.001161 | 0.000309 | 0.001245 | | M | 3.253632 | 3.028907 | -0.732404 | 3.252974 | 3.027738 | -0.733193 | 0.000658 | 0.001169 | 0.000789 | 0.001556 | | N | 3.116722 | 2.878858 | -0.703782 | 3.115175 | 2.878594 | -0.703757 | 0.001547 | 0.000264 | -0.000025 | 0.001569 | | O | 2.994037 | 2.452192 | -0.705750 | 2.992278 | 2.452173 | -0.706052 | 0.001759 | 0.000019 | 0.000302 | 0.001784 | | P | 3.001766 | 2.373500 | -0.704538 | 3.001550 | 2.372954 | -0.705976 | 0.000216 | 0.000546 | 0.001438 | 0.001553 | | Q | 2.937048 | 2.231523 | -0.748692 | 2.936890 | 2.230449 | -0.747950 | 0.000158 | 0.001074 | -0.000742 | 0.001315 | | R | 3.011326 | 2.166202 | -0.736976 | 3.010121 | 2.166311 | -0.737758 | 0.001205 | -0.000109 | 0.000782 | 0.001441 | | S | 3.117890 | 2.166922 | -0.724112 | 3.116354 | 2.165675 | -0.725483 | 0.001536 | 0.001247 | 0.001371 | 0.002407 | | T | 3.299000 | 2.133830 | -0.719385 | 3.297237 | 2.133577 | -0.720010 | 0.001763 | 0.000253 | 0.000625 | 0.001888 | | U | 3.377920 | 2.255868 | -0.704839 | 3.376946 | 2.254402 | -0.705421 | 0.000974 | 0.001466 | 0.000582 | 0.001854 | | V | 3.525863 | 2.074015 | -0.722650 | 3.525816 | 2.074665 | -0.722099 | 0.000047 | -0.000650 | -0.000551 | 0.000853 | | W | 3.542835 | 2.219203 | -0.704651 | 3.542162 | 2.219047 | -0.705085 | 0.000673 | 0.000156 | 0.000434 | 0.000815 | | X | 3.656599 | 2.140160 | -0.702573 | 3.657006 | 2.140230 | -0.702828 | -0.000407 | -0.000070 | 0.000255 | 0.000485 | | Y | 3.636190 | 2.048413 | -0.722264 | 3.635042 | 2.047634 | -0.722305 | 0.001148 | 0.000779 | 0.000041 | 0.001388 | | Z | 3.727651 | 1.966563 | -0.752961 | 3.726005 | 1.966300 | -0.752167 | 0.001646 | 0.000263 | -0.000794 | 0.001846 | | Average | | 0.001063 | 0.000844 | 0.000539 | 0.001658 |
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Table 3. Deviation of marking points unit: m
| Serial number | True value | Measurement | Deviation |
|---|
| Line 1 | 0.131143 | 0.131914 | -0.000771 | | Line 2 | 0.118167 | 0.118286 | -0.000119 | | Line 3 | 0.157465 | 0.157519 | -0.000055 | | Line 4 | 0.229590 | 0.229913 | -0.000323 | | Line 5 | 0.153218 | 0.152741 | 0.000477 | | Line 6 | 0.162166 | 0.162508 | -0.000343 | | Line 7 | 0.205130 | 0.205180 | -0.000050 | | Line 8 | 0.443959 | 0.443784 | 0.000175 | | Line 9 | 0.162158 | 0.162020 | 0.000139 | | Line 10 | 0.107340 | 0.106942 | 0.000398 | | Line 11 | 0.184169 | 0.183790 | 0.000378 | | Average | | 0.000293 |
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Table 4. Deviation of characteristic lines unit: m
