AU2020103105A4 - A Method for Segmenting Point Cloud Data on Shield Tunnel Surface - Google Patents
A Method for Segmenting Point Cloud Data on Shield Tunnel Surface Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/12—Edge-based segmentation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2408—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring roundness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/06—Tracing profiles of cavities, e.g. tunnels
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
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Abstract
The invention relates to a method for segmenting the surface point cloud data of a shield tunnel,
which comprises: 1) Point cloud projection of shield tunnel, 3D point cloud is transformed into
2D according to the trend of shield tunnel point cloud; 2) Boundary point extraction, the
projected 2D point cloud is meshed, and the upper and lower boundary points of the point cloud
are extracted by the grid; 3) Calculation of segment position of tunnel point cloud, a) The
tangent slope of the extracted boundary points is calculated; b) Section position calculation; 4)
The point cloud location of the shield tunnel on the two projection planes is processed jointly to
complete the segmentation of the whole point cloud data of the tunnel, so as to prepare for the
point cloud modeling of the tunnel. Advantage: 1) The segmentation method of point cloud on
the surface of shield tunnel is studied, which provides technical support for point cloud
processing methods such as axis extraction and section analysis of shield tunnel based on TLS
technology; 2) It is of great practical value to effectively improve the fitting accuracy of the
central axis and supplement the deformation monitoring technology of shield tunnel.
1/5
DRAWINGS
Point cloud projection of
shield tunnel
Extract boundary
Slope calculation of
boundary points
Point cloud computing
of tunnel
Figure 1
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20 40 60 80 100 1'20 1'40 160 180 200
Figure 2
Description
1/5
Point cloud projection of shield tunnel
Extract boundary
Slope calculation of boundary points
Point cloud computing of tunnel
Figure 1
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40 35 30 25
20 15 101 20 40 60 80 100 1'20 1'40 160 180 200
Figure 2
A Method for Segmenting Point Cloud Data on Shield Tunnel Surface
[0001] The invention relates to a point cloud data segmentation method of shield tunnel surface,
it belongs to the field of civil engineering safety monitoring technology.
[0002] Shield tunnel deformation monitoring technology based on Terrestrial Laser Scanning
(TLS) is a hot technology in thefield of deformation monitoring. At present, the deformation
monitoring method of shield metro tunnel based on TLS is to get the tunnel section by extracting
the central axis, and then analyze the tunnel section to obtain the tunnel deformation value. In
some studies, the points on the tunnel axis are extracted and the conic curve fitting is carried out
directly to obtain the central axis. However, for the tunnel with straight and curved sections, the
conic fitting directly reduces the extraction accuracy of the central axis. If the tunnel can be
accurately segmented, and then extract the central axis of the segmented tunnel separately, the
fitting accuracy of the central axis will be improved.
[0003] The present invention proposes a segmenting method of point cloud data on the surface of
shield tunnel, which aims to provide a segmenting method to accurately distinguish the straight
section and curve section of the surface point cloud of shield tunnel in view of the deficiencies of
existing tunnel deformation monitoring, and provide technical support for subsequent tunnel
modeling and deformation analysis based on point cloud.
[0004] The technical solution of the invention is:
A segmentation method for point cloud data of shield tunnel surface includes the following steps:
(1) Point cloud projection of shield tunnel: according to the overall trend of point cloud of shield tunnel, two ofXOY, YOZ orXOZ planes are selected as projection planes to convert 3D point cloud into 2D and simplify calculation; (2) Boundary point extraction: mesh the projected two-dimensional point cloud in the plane, and extract the upper and lower boundary points of the point cloud by using the mesh; (3) Calculation of segment position of tunnel point cloud: a) Calculate the tangent slope of the extracted boundary points: the point cloud boundary of shield tunnel is fitted, and the slope is calculated by deriving the fitting function; b) Section position calculation: the K-X coordinate system is established with the tangent slope as the vertical axis. In this coordinate system, the tangent slope is fitted and analyzed, and the intersection point of the fitting straight line is obtained. The abscissa value X of the intersection point is the tunnel section position. Finally, the segment position of the tunnel point cloud on the two projection planes is obtained; (4) The point cloud location of the shield tunnel on the two projection planes is processed jointly to complete the segmentation of the whole point cloud data of the tunnel, so as to prepare for the point cloud modeling of the tunnel.
[0005] The beneficial effects of the invention are: (1) The invention studies the segmentation method of point cloud on the surface of shield tunnel, and provides reliable technical support for point cloud processing methods such as axis extraction and section analysis of shield tunnel based on TLS technology.
[0006](2) It can effectively improve the fitting accuracy of the central axis, supplement and improve the deformation monitoring technology of shield tunnel, which has important practical value in the safety monitoring of shield tunnel and the prevention of major accidents.
[0007] Figure 1 is the flow chart of point cloud segmentation of shield tunnel.
[0008] Figure 2 is the result of XOY plane projection.
[0009] Figure 3 is the result of XOZ plane projection.
[0010] Figure 4 shows the result of boundary extraction.
[0011] Figure 5 shows the result of boundary extraction.
[0012] Figure 6 is the flow chart of segment position calculation.
[0013] Figure 7 is a block diagram of point cloud.
[0014] A segmentation method for point cloud data of shield tunnel surface includes the
following steps:
(1) Point cloud projection of shield tunnel: according to the overall trend of point cloud of shield
tunnel, two ofXOY, YOZ orXOZ planes are selected as projection planes to convert 3D point
cloud into 2D and simplify calculation;
(2) Boundary point extraction: mesh the projected two-dimensional point cloud in the plane, and
extract the upper and lower boundary points of the point cloud by using the mesh;
(3) Calculation of segment position of tunnel point cloud:
a) Calculating the tangent slope of the extracted boundary points: the point cloud boundary of
shield tunnel is fitted, and the slope is calculated by deriving the fitting function;
b) Section position calculation: the K-X coordinate system is established with the tangent slope
as the vertical axis. In this coordinate system, the tangent slope is fitted and analyzed, and the
intersection point of the fitting straight line is obtained. The abscissa value X of the intersection
point is the tunnel section position. Finally, the segment position of the tunnel point cloud on the
two projection planes is obtained;
(4) The point cloud location of the shield tunnel on the two projection planes is processed jointly
to complete the segmentation of the whole point cloud data of the tunnel, so as to prepare for the point cloud modeling of the tunnel.
[0015] The step (2) boundary point extraction: The point cloud is gridded, and the cell grid size is 1/20 of the width after the tunnel projection. If there are points in the cell, then matrix Ni=1; if there are no points in the cell, then matrix Ni=O. Then use the other 8 units around it to judge whether it is a boundary point. The judgment formula is as follows:
8 f 0t , boundary element Fi 1= H, _HNi 1H, nonboundary element Equation 1
For the boundary element, the average value of the coordinates of the points in the boundary element is taken as the boundary point.
[0016] The step a) calculates the tangent slope of the extracted boundary points, including the following steps: 1) Search the boundary points within the range of [x-Ax, x+Ax], and set x as needed; 2) Using RANSAC algorithm and quadratic curve equation fitting step 1), the quadratic curve equation of curve fitting is:
y = ao + ax + a2 X 2 Equation 2
3) The derivative of the fitting function is used to calculate the slope K, and the calculation formula of the slope K is:
M = {KIK = yp'x=x, = a, + 2a2 Xp} Equation 3
For all points on the boundary, the slope is calculated by the above method.
[0017] The step b) subsection position calculation includes the following steps:
1) Let the slope of each point on the boundary and the coordinates (X, K) of the abscissa
value constitute the set P, and the number of points in the set P is calculated;
2) The point of set P is fitted by RANSAC algorithm and linear equation. The linear equation
used is K=Kx+b; the distance d between each point in set P and thefitting line is calculated by
setting threshold value cl. If d <&j, the point is classified as in-line point, and the in-line point
constitutes set Pi, and the remaining non-local points constitute set P2 ;
3) Pi was fitted with the linear equation, and the slope k 'of a straight line was obtained and
recorded.
[0018] 4) For the set P2; composed of non local points, P2;G P;, calculate the number of midpoint
n in P2, if n is less than a certain number, go to step 5), otherwise, use RANSAC algorithm and
linear equation to fit the points in set P2;; use threshold value el to calculate the distance d from
each point in set P2; to the fitting line, if d <1, the distance between each point in set P2 ; and the
fitting line is calculated, Then the point is classified as an in-line point, clear P1, and internal
points form a new set P1; when P2 ; is cleared, non interior points form a new set P2 ; and go to
step 3);
) Calculating and fitting the intersection point of the straight line Pi; fitted each time;
6) End of calculation.
[0019] The method of point cloud data segmentation in step (4) comprises the following steps:
1) Obtain the location coordinates of sections: use step 3) to find the intersection points of the
slope fitting lines of each point on the upper boundary of the projection plane and the
intersection points of the slope fitting lines of each point on the lower boundary in the XOY
plane. For example, the intersection point Qi of the slope fitting lines of the upper boundary
points and the intersection point Qi'of the slope fitting lines of the lower boundary points can be
obtained in the XOY plane, The coordinates on the boundary corresponding to Qi and Qi 'are Hi
(xi,yi) , Hi' (xiyi') , where i= 0,1,2 and i<n; n is the number of intersections;
2) The first segmentation: the point cloud on the left of the line HiHi'isthe first segment of the
tunnel, and the point cloud is the second segment on the right of the line; if K'= 0, it is a straight
line segment, otherwise it is a curved line segment; if K '=0, it means that the point cloud in the projection plane is a curved line segment; ifK is equal to 0, it means that the point cloud in the projection plane is a straight line segment;
3) The point cloud of the first segment is projected to the XOZ surface, and the method of steps 1
and 2) is used to segment until all segments are finished, and finally the point cloud
segmentation on the surface of shield tunnel is completed.
[0020] The technical scheme of the invention is further explained in combination with the
attached drawings.
As shown in Figure 1, a point cloud segmentation method for shield tunnel includes the
following steps:
(1) Point cloud projection of shield tunnel: according to the tunnel direction, the point cloud
projection of shield tunnel selects XOYplane and YOZ plane as projection plane. The projection
results are shown in Figures 2 and Figures 3.
[0021] (2) Boundary point extraction: the point cloud is meshed, and the cell grid size is 1 / 20 of
the width after tunnel projection; if there are points in the cell, the matrix Ni=1; if there is no
point in the cell, the matrix Nij=0; then use the other 8 elements around it to judge whether it is a
boundary point, and the judgment formula is as follows:
0,boundary element Fi1 = ] [8a H _Nj 1, non boundary element Equation4
For boundary elements, the average value of the point coordinates in the boundary element is
calculated as the boundary point. The extraction results are shown in Figures 4 and 5.
[0022] (3) Calculate the segment position: the direction of the boundary point is the tangent
direction at the position of the point, that is, the slope of the tangent at the position where the
point is located. The direction of the boundary point is the tangent direction at the location of the
point, that is, the slope of the tangent at the location of the point. By fitting the upper and lower
boundary points in two planes, the tangent slope of each point on the boundary is obtained, and the intersection point of straight line and curve is obtained by fitting the slope in x-k coordinate system. The intersection point is the segment position of the point cloud on the tunnel surface, and the segment position of the point cloud on the tunnel surface in different planes is finally obtained.
[0023] Q The calculation method of slope K of a point p(xp, yp) on the boundary is as follows:
1) Search for the boundary points within the range of [x-Ax,x+Ax] (Ax to be set as required);
2) The RANSAC algorithm and quadratic curve equation are used to fit the boundary points
extracted by fitting ®;
3) Derivation of fitting function to calculate slope;
The quadratic curve equation of curve fitting is:
2 y = ao + a1 x + a 2x Equation 5
The formula of slope k is:
M = {KIK = ypl, = ai + 2a 2xp} Equation 6
For all points on the boundary, the slope K is calculated by the above method.
[0024] @Calculate segment location
The slope reflects the direction of curve change, so the continuity of tunnel changes and the
boundary point of change can be found by fitting the slope. The specific process is shown in
Figure 6:
1) Set the slope of each point on the boundary and the coordinate of the point of the horizontal
coordinate value (X, K) to form the set P, and calculate the number of points in the set P;
2) The linear equation used for fitting the midpoint of set P is: KK'x+b; the threshold value C
is set to calculate the distance between each point in set P and the fitting line d. if d < C1, the
point is classified as the internal point, and the interior point constitutes the set P1, and the rest
non local points constitute the set P2;
3) The linear equation is used to fit P1 to get a straight line slope K', and record it.
[0025] 4) For the set P2 , P2;9 P P, which is composed of non local points, calculate the number
of points n of P2. If n is less than a certain number, go to step 5), otherwise, use RANSAC
algorithm and linear equation to fit the points in the set P2 ; use threshold Cl to calculate the
distance d from each point in the set P2 to the fitting line, if d < 1, Then the point is classified as
the internal point, and Pi is cleared, and the internal point constitutes a new set Pi; clear P2 , and
the non local point constitutes a new set P2, and enter step 3);
) Calculating the intersection of the lines fitted with P1 each time;
6) End calculation.
[0026] (4) Segmenting the point cloud of shield tunnel
The segmentation of the tunnel whole point cloud data is completed by the joint processing of
the feature positions of the tunnel point cloud data on different planes. The specific methods are
as follows:
1) Get the sectional position coordinate: the intersection point of the line and the slope of each
point in the lower boundary are fitted by using the slope of each point in the upper boundary of
the projection plane. For example, the intersection Qi of the upper boundary points and the slope
of each point of the lower boundary are calculated in XOY plane to fit the intersection of the line
Qi'. The calculated cross-ordinate axis of the intersection is the horizontal coordinate value of the tunnel segment position, and Qi and Qi'correspond to the intersection point The coordinates on
the boundary of are Hi (xi,yi) Hi' (xi',y'), as shown in Figure 7, where i=0,1,2 And i<n; n is
the number of intersections;
2) The first segment is performed: the point cloud is the first section of the tunnel on the left of
the line HiHi'andthe point cloud is the second section on the right of the line; if K'=0 is a
straight line segment, otherwise it is a curved segment; if there is no K'=0, it means that the
point cloud in the projection plane is a curved segment; if K is equal to 0, it means that the point
cloud in the projection plane is a straight line ;
3) The point cloud at the end of thefirst segment is projected to XOZ surface, and the
segmentation is carried out by using steps 1) and 2) until all segments are finished, and the point
cloud segment on the shield tunnel surface is finally completed.
[0027] According to the information listed above, we can know that the method described in this paper can segment the point cloud on the shield tunnel surface accurately, provide reliable basic data and technical methods for extracting the data of the central axis and section analysis, and supplement and improve the deformation monitoring technology of shield tunnel based on TLS technology.
Claims (6)
1. A method for segmenting point cloud data on the surface of shield tunnel is characterized by the following steps:
(1) Shield tunnel point cloud projection: according to the overall trend of the shield tunnel point cloud, two of the XOY, YOZ or XOZ planes were selected as the projection planes to convert the three-dimensional point cloud into the two-dimensional one and simplify the calculation; (2) Boundary point extraction: the two-dimensional point cloud after projection is meshed in the plane, and the upper and lower boundary points of the point cloud are extracted by using the grid;
(3) Calculation of segment position of tunnel point cloud: a) Extracting the tangent slope of boundary points: fitting the neighborhood of the point cloud boundary of shield tunnel, deriving the fitting function to calculate the slope; b) Section position calculation: the K-X coordinate system is established with the tangent slope as the vertical axis. In this coordinate system, the tangent slope is fitted and analyzed, and the intersection point of the fitting line is obtained. The abscissa value x of the intersection point is the tunnel section position, and the segment position of the tunnel point cloud on two projection planes is obtained; (4) The point cloud location of shield tunnel on two projection planes is processed jointly to complete the segmentation of the whole point cloud data of the tunnel.
2. The method for segmenting the surface point cloud data of shield tunnel according to claim 1, which is characterized in that the tangent slope calculation of the extracted boundary point
p(xp, yp) in the step a) comprises the following steps:
1) Search the boundary points within the range of [x-Ax, x+Ax], and set Ax as needed;
2) RANSAC algorithm and quadratic curve equation fitting step 1) were used to extract the boundary points, the quadratic curve equation of curve fitting is as follows: y= ao + a1 x + a2 x 2;
3) The derivative of the fitting function is used to calculate the slope K, and the calculation
formula of the slope K is as follows: M {KIK = y' ai + 2azxp}
For all points on the boundary, the slope is calculated by the above method.
3. The method for segmenting the surface point cloud data of shield tunnel according to claim
1, which is characterized in that the step b) segment position calculation includes the following
steps:
1) Let the slope of each point on the boundary and the coordinates (X, K) of the abscissa
value constitute the set P, and calculate the number of points in the set P;
2) The point of set P isfitted by RANSAC algorithm and linear equation. The linear
equation used is K=K'x+b; the distance d between each point in set P and the fitting line is
calculated by setting threshold value cl. If d<c , the point is classified as in-line point, and the in
line point constitutes set P1 , and the remaining non-local points constitute set P2 ;
3) Pi was fitted with the linear equation, and the slope K'of a straight line was obtained
and recorded.
4) For the set P2 composed of non local points, P2; P, calculating the number of
midpoint n in P2 , if n is less than a certain number, go to step 5), otherwise, Otherwise, the points in
P2 are fitted by RANSAC algorithm and linear equation; use threshold value cl to calculate the
distance d from each point in set P2 to the fitting line, if d<c1 , the distance between each point in set
P2 and the fitting line is calculated, If P1 is cleared, the interior points constitute a new set Pi; if P2 is
cleared, the non interior points constitute a new set P2 , and then proceed to step 3);
5) Calculating and fitting the intersection point of the straight line Pi fitted each time;
6) End of calculation.
4. The method for segmenting point cloud data on the surface of shield tunnel according to
claim 1, which is characterized in that the point cloud data segmentation method in step (4)
comprises the following steps:
1) Obtain segmented position coordinates: Step 3 was used to figure out the intersection point of the slope fitting line at each point of the upper boundary and the slope fitting line at each point of the lower boundary. For example, in XOY plane, the intersection point Qi of the slope fitting line at each point of the upper boundary and the intersection point Qi'of the slope fitting line at each point of the lower boundary were calculated, the value of the abscissa axis at the intersection of the obtained points is the abscissa value of the section position of the tunnel. The coordinates corresponding to Qi and Qi'on the boundary are Hi (xi, yi) and Hi' (xi',yi') respectively, where i
=0,1,2... And isn; n is the number of intersection points;
2) Make the first segmentation: the point cloud on the left of the line HiHi'was the first
segment of the tunnel, and the point cloud on the right of the line was the second segment. If K'=O,
it is a straight line segment; otherwise, it is a curve segment. If there is no K'=O, it means that the
point cloud in the projection plane is a curve segment. If K is equal to 0, it means that the point
cloud in the projection plane is a straight line segment.
3) The point cloud of the first segment is projected to the XOZ surface, and the method of
steps 1) and 2) is used to segment until all segments are finished, and finally the point cloud
segmentation on the surface of shield tunnel is completed.
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