Determining a mark in a data record with three-dimensional surface coordinates of a scene acquired by means of at least one laser scanner

摘要

The invention relates to a method for determining a mark (4) which has at least one first mark surface (6) bordered by a closed peripheral edge (8) in a set of three-dimensional surface coordinates of a scene (2) Surface coordinates of the scene (2) are detected by means of at least one laser scanner (1) and wherein the method comprises the following steps: - determining (23) a first set (36) of edge points (35) in a three-dimensional coordinate system of the data set, wherein each of the edge points of the first set (36) is defined by corresponding three-dimensional surface coordinates of the data set and wherein the edge points of the first set (36) of boundary points (35) form support points of a first closed circumferential edge line, which corresponds to the closed peripheral edge (8) of the first mark surface (6), - fitting (25) a compensation surface into at least a subset of the edge points of the first set (36) of edge points (35) such that the edge points in the three-dimensional coordinate system are partially on a first side of the balance surface and partially on a second side opposite the first side the compensation surface are positioned, wherein the compensation surface has an area which approximately corresponds to the first mark surface (6), or the compensation surface is approximately equal to the first mark surface (6), Moving (28) boundary points (35) of the first set (36) of boundary points (35) into the compensation area so that a corrected set of boundary points results, wherein the boundary points of the corrected set of boundary points form support points of a corrected closed circumferential boundary line the closed circumferential edge (8) of the first mark surface (6) corresponds, and wherein the corrected closed circumferential edge line compared to closed circumferential edge line has a larger number of support points in the compensation surface, and - determining (29) the mark (4) in the three-dimensional coordinate system from the corrected set of edge points or the corrected closed peripheral edge line.