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Optics and Precision Engineering, Volume. 32, Issue 6, 774(2024)

Line feature coplanar constraint calibration method for lidar point cloud of tunnel contour

Yaodong WANG1,2, Jinyang XU1,2、*, Liqiang ZHU1,2, Hongmei SHI1,2, and Yan FANG3
Author Affiliations
  • 1School of Mechanical， Electronic and Control Engineering， Beijing Jiaotong University， Beijing00044， China
  • 2Frontiers Science Center for Smart High-Speed Railway System，Beijing Jiaotong University， Beijing100044， China
  • 3Beijing Special Machinery Research Institute， Beijing10014， China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (18)
    Equations (10)
    References (16)
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    Figures & Tables(18)
    System overall design

    Fig. 1. System overall design

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    Calibration algorithm

    Fig. 2. Calibration algorithm

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    Schematic diagram of coordinate transformation

    Fig. 3. Schematic diagram of coordinate transformation

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    Rotation diagram of coordinate transformation

    Fig. 4. Rotation diagram of coordinate transformation

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    Schematic diagram of ideal and actual calibration results

    Fig. 5. Schematic diagram of ideal and actual calibration results

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    Schematic diagram of data points on measurement lines

    Fig. 6. Schematic diagram of data points on measurement lines

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    Rendering before calibration and after calibration using genetic algorithm

    Fig. 7. Rendering before calibration and after calibration using genetic algorithm

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    Rendering before calibration and after calibration using LM algorithm

    Fig. 8. Rendering before calibration and after calibration using LM algorithm

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    Simulated tunnel model

    Fig. 9. Simulated tunnel model

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    Trolley and collection module

    Fig. 10. Trolley and collection module

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    Tunnel contour scanning in laboratory

    Fig. 11. Tunnel contour scanning in laboratory

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    point cloud image of tunnel

    Fig. 12. point cloud image of tunnel

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    • Table 1. Transformation matrix parameters of lidars

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      Table 1. Transformation matrix parameters of lidars

      LiDARRotation matrixPan matrix
      10.320 00.952 0424.25
      -0.952 00.320 0320.00
      20.320 0-0.952 098.25
      0.952 00.320 0300.00

    • Table 2. Measured rail top height

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      Table 2. Measured rail top height

      Absolute error of

      the right rail

      Absolute error of

      the left rail

      Mean error0.7520.676
      10.5180.658
      20.9210.556
      30.6990.529
      40.8570.893
      50.7660.743

    • Table 3. Results of static measurement in simulation tunnel

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      Table 3. Results of static measurement in simulation tunnel

      Measured XMeasured YStandard XStandard YX ErrorY Error
      1-2 779.951 495.88-2 779.311 494.290.64-1.59
      2-2 780.321 492.46-2 779.771 494.290.551.83
      3-2 779.591 493.09-2 780.431 492.71-0.84-0.38
      4-2 779.851 494.69-2 780.581 493.28-0.73-1.41
      5-2 780.921 493.83-2 780.111 494.400.810.57

    • Table 4. Results of dynamic measurement in simulation tunnel

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      Table 4. Results of dynamic measurement in simulation tunnel

      Measured XMeasured YStandard XStandard YX ErrorY Error
      1-2 777.911 499.40-2 776.011 494.551.90-4.85
      2-2 779.651 494.55-2 778.091 499.551.565.00
      3-2 779.301 499.64-2 780.471 494.48-1.17-5.16
      4-2 778.151 494.58-2 776.331 497.601.823.02
      5-2 776.311 499.19-2 778.031 494.73-1.72-4.46

    • Table 5. Results of static measurement in tunnel

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      Table 5. Results of static measurement in tunnel

      Measured XMeasured YStandard XStandard YX ErrorY Error
      1-2 491.204 477.30-2 490.464 476.330.74-0.97
      2-2 492.034 477.48-2 491.404 478.640.631.16
      3-2 488.784 475.61-2 489.554 474.09-0.77-1.52
      4-2 491.784 481.59-2 492.354 480.96-0.57-0.63
      5-2 489.354 471.12-2 488.644 471.960.710.84

    • Table 6. Results of dynamic measurement in tunnel

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      Table 6. Results of dynamic measurement in tunnel

      Measured XMeasured YStandard XStandard YX ErrorY Error
      1-2 495.084 466.68-2 494.494 461.70.59-4.98
      2-2 494.214 458.38-2 495.244 463.57-1.035.19
      3-2 493.234 466.54-2 494.834 462.43-1.6-4.11
      4-2 492.354 470.82-2 493.734 464.84-1.38-5.98
      5-2 491.44 456.54-2 492.274 461.27-0.874.73
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    Yaodong WANG, Jinyang XU, Liqiang ZHU, Hongmei SHI, Yan FANG. Line feature coplanar constraint calibration method for lidar point cloud of tunnel contour[J]. Optics and Precision Engineering, 2024, 32(6): 774

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    Paper Information

    Category:

    Received: Jul. 29, 2023

    Accepted: --

    Published Online: Apr. 19, 2024

    The Author Email: Jinyang XU (22126064@bjtu.edu.cn)

    DOI:10.37188/OPE.20243206.0774

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology