Panoramic Three-dimensional Laser Scanning System Error Analysis And Camera Calibration

Three-dimensional laser scanning technology has advantage of acquiring the accurate three-dimensional geometric information of the surrounding scene rapidly. In recently years, the three-dimensional laser scanning has become a new technology used for collecting the geometric information. Be different from traditional measures,this method can quickly collect the information that reflect the real-time dynamic changes about the objective, with the advantages of accurate and effective, safe and stable, convenient and flexible. In a few minutes, the three-dimensional laser scanner can get the detailed and accurate three-dimensional model about the interest region and provide accurate quantitative analysis of the models. Three-dimensional laser scanner in our country has a huge market, but foreign commercial 3D laser scanner is very expensive. We developed a 360。continuous scanning, portable 3D laser scanner(MStar 8000) supported by the National Natural Science Foundation of China in part of the key techniques of incorporated modeling and representation of the City three-dimensional spatial information. The system provides the distance measurements up to 80 meters away with the accuracy of 6mm, the scanning speeds reach to 8000 points/s, horizontal field of view is 360。, vertical field of view is 330。.In paper further improves the 3D laser scanner(MStar 8000) and the particular contributions are following:(1) Analyze integration error of the system and use various algorithms to reduce data noise.(2) Calibrate the camera fixed on the top of 3D laser scanner to automatic fuse the data from the laser and the visible light.(3) Research on the modeling of three-dimensional laser data using the Delaunay algorithm .After Delaunay modeling, the empty of model is less and the details are prominent.