Laser scanner system and registration method of point cloud data
The invention provides a laser scanner system, which comprises a laser scanner which includes a distance measuring unit for emitting a distance measuring light, receiving a reflected light, and performing a distance measurement, a scanning unit for rotatably irradiating the distance measuring light, a directional angle detecting unit for detecting an irradiating direction of the distance measuring light, a GNSS device and a control arithmetic unit, and a target which sets a back sight point, wherein the control arithmetic unit has a target scanning mode and a point cloud data measurement mode, and is configured to calculate point cloud data with a global coordinate value and a global coordinate value of the target based on the global coordinate value obtained by the GNSS device, a measurement result obtained by executing the point cloud data measurement mode and a measurement result obtained by executing the target scanning mode.
1. A laser scanner system comprising:
a laser scanner which includes a distance measuring unit for emitting a distance measuring light, receiving a reflected light from an object to be measured, and performing a distance measurement, a scanning unit for rotatably irradiating said distance measuring light, a directional angle detecting unit for detecting an irradiating direction of said distance measuring light, a GNSS device and a control arithmetic unit, a data processing device and a target which sets a back sight point, wherein said control arithmetic unit has a target scanning mode in which a target scanning range is set so as to include said target and said target scanning range is intensively scanned, and a point cloud data measurement mode in which said distance measuring light is scanned to a measurement range and point cloud data is acquired, and wherein said control arithmetic unit is configured to obtain global coordinate values of an installation position of said laser scanner from said GNSS device at a plurality of installation points of said laser scanner respectively, to acquire point cloud data by executing said point cloud data measurement mode at said plurality of installation points respectively, to determine a target central position by executing said target scanning mode at said plurality of installation points respectively,
to obtain a global coordinate value of a center of said target based on a measurement result obtained by said target scanning mode and said global coordinate values of said plurality of installation points,
and to combine said plurality of point cloud data with each other by a shape matching based on said global coordinate value of said center of said target as an initial value.
2. The laser scanner system according to claim 1 , wherein said data processing device is configured to obtain said global coordinate value of said center of said target based on said global coordinate values at said plurality of installation points and measurement results of said target central positions from said plurality of installation points, and to combine said plurality of point cloud data with each other by the shape matching based on said global coordinate value of said center of said target as the initial value.
3. The laser scanner system according to claim 2 , wherein said data processing device is provided on said control arithmetic unit.
4. The laser scanner system according to claim 2 , wherein the data processing device is provided separately from said laser scanner.
5. A registration method of point cloud data comprising steps of:
installing a laser scanner having a GNSS device at an arbitrary installation position, installing a target at an arbitrary position, obtaining global coordinate values of said laser scanner at a plurality of points by said GNSS device, setting a target scanning range so as to include said target, determining a target central position by intensively scanning said target scanning range, obtaining a global coordinate value of a center of said target based on said global coordinate values of said laser scanner at said plurality of points and measurement results of said target central position, acquiring point cloud data from said plurality of points, and combining said plurality of point cloud data with each other by a shape matching based on said global coordinate value of said center of said target as an initial value.