VBN - Aalborg Universitet

3D anblok sammenknytning af laserscanningsdata
Indhold
1 Indledning .......................................................................................................................................................................... 9
2 Metode beskrivelse ..................................................................................................................................................... 11
3 Foranalyse ...................................................................................................................................................................... 15
3.1 Sammenknytning ............................................................................................................................................... 15
3.2 Definitioner .......................................................................................................................................................... 16
3.3 Nøjagtighed af sammenknytningen ............................................................................................................ 17
Side | 6
3.3.1 Antal og placering af targets i overlappet ml. punktskyer ...................................................... 17
3.3.2 Højdevariation af targets ...................................................................................................................... 18
3.3.3 Målepræcision med laserscanner ...................................................................................................... 19
3.3.4 Nøjagtighed af targets ............................................................................................................................ 19
3.3.5 Opsamling .................................................................................................................................................... 19
3.4 Sammenknytning i Cyclone ........................................................................................................................... 19
3.4.1 Cloud registration metoden ................................................................................................................. 20
3.4.2 Registration metoden ............................................................................................................................. 20
3.4.3 Opsamling .................................................................................................................................................... 20
3.5 Overordnede teori bag transformation og anblok ............................................................................... 21
3.5.1 Transformation ......................................................................................................................................... 22
3.5.2 Anblok ........................................................................................................................................................... 24
4 Problemformulering ................................................................................................................................................... 27
4.1 Problemafgrænsning ........................................................................................................................................ 27
5 Grundlæggende teori ................................................................................................................................................. 29
5.1 Teori bag 3D anblok med tre modeller ..................................................................................................... 30
5.1.1 Gennemgang af 2D anblok til fremskaffelse af foreløbige værdier ..................................... 30
5.1.2 3D anblok ..................................................................................................................................................... 33
5.1.3 Det udarbejdede program .................................................................................................................... 37
5.2 Testnet .................................................................................................................................................................... 39
5.2.1 Teori ............................................................................................................................................................... 40
5.2.2 Variansfaktor kontra vægtmatrice .................................................................................................... 40
5.2.3 Anvendelse .................................................................................................................................................. 42
5.2.4 Konfidensellipser ..................................................................................................................................... 44
5.2.5 Det udarbejdede program .................................................................................................................... 45
6 Forsøg med anvendelse af anblok og Testnet .................................................................................................. 47