CN102997871A - Method for inverting effective leaf area index by utilizing geometric projection and laser radar - Google Patents
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Abstract
The invention provides a method for inverting effective leaf area index by utilizing geometric projection and laser radar and belongs to the field of research on methods for acquiring forest canopy structure parameter. The method includes the following steps: acquiring and preprocessing three-dimensional laser point cloud data of a plant canopy layer, converting a coordinate system of point cloud data, utilizing different geometric projections to project the three-dimensional point cloud data into a two-dimensional plane space and convert the data into a grid image and further utilizing the linear least square inversion algorithm to conduct estimation of porosity and effective leaf area index. Compared with a traditional observation method, the method is small in work amount and free of contact type observation and damage to the canopy structure and radiative characteristics, has the advantages of being objective, high in efficiency and accurate. A method for extracting three-dimensional structure and biological physical diversity information from laser radar data is developed, and characterization is conducted on the horizontal and vertical distribution change rule of leaves.
Description
One, technical field
The present invention relates to the method that a kind of cloud data that utilizes the Three Dimensional Ground laser scanner to obtain calculates the Forest Canopy effective leaf area index, specifically, refer to a kind of improved method (flow process as shown in Figure 1) of utilizing the computational geometry projection algorithm to come Calculation of Three Dimensional Forest Canopy effective leaf area index.
Two, background technology
Carbon, water circulation are two very important ingredients in the biogeochemical process in the Global climate change.Leaf area index is the important input parameter of the ecological process model serves of the carbon that drives of remote sensing, water coupling.Leaf area can affect the micro climate of crown canopy, determines the radiation utilization ratio of the ecosystem, is controlling the variations of flux of carbon, water and energy between atmosphere-vegetation-soil.The development of remote sensing technology is so that we can carry out estimation and the drawing of leaf area index in different spaces and time scale.Laser Radar Scanning as a kind of active remote sensing technology, successfully has been applied in inverting and the various ecological physical parameters of extraction.Aviation and ground laser radar are two kinds of Laser Radar Scanning platforms comparatively commonly used at present.
Two kinds of methods of utilizing three dimensional point cloud estimation leaf area index commonly used are arranged at present: a kind of method that is based on 3-D technology; Another kind is based on the method for two dimensional technique.Usually based on the method for 3-D technology, owing to need directly to process a large amount of cloud datas, so computing power and the resource of having relatively high expectations; Compare with 3-D technology, two-dimension method since its based on comparatively generally accepted theory (such as the theory of Monsi and Saeki, M-S theoretical), thereby can directly apply in the practical operation.Also adopted the digital hemisphere camera work of having integrated the M-S theory in the present invention.
Usually have four kinds of common geometric projection methods to be used to the spot projection on the hemisphere to the plane, they are respectively polar stereographic projection, orthogonal projection, Lang Bo position angle homolosine projection and three-dimensional isometric projection.Orthogonal projection is the simplest method, and the point on the hemisphere is directly projected on the plane vertical with projection line.Polar stereographic projection is constant owing to not remaining on the resulting hemisphere solid angle of projection plane area, so its application has certain limitation.Lang Bo position angle homolosine projection technology can keep area constant, and can guarantee point density consistent on hemisphere surface and projecting plane.Three-dimensional isometric projection can keep the angle information of correspondence constant.Therefore, be necessary to inquire into different shadow casting techniques identical hemisphere surface is amassed area change rule and characteristic on projection plane.
Three, summary of the invention
The objective of the invention is:
The three dimensional point cloud that provides a cover directly to utilize the ground laser radar system to generate, in conjunction with the geometric projection technology, three dimensional point cloud is converted to the effective leaf area index that the two-dimensional grid image is estimated crown canopy fast, thus overcome the traditional optical instrument to when observation light condition restriction and the some cloud based on shortcomings such as 3-D technology method calculated amount are large, complicated.
Principle of the present invention is as follows:
Utilize newer remote sensing technology means (Three Dimensional Ground Laser Radar Scanning system), carrying out the hemisphere mode in crown canopy lower floor scans and obtains three dimensional point cloud, in conjunction with different geometric projection methods, three-dimensional point cloud is converted to the two-dimentional grating image that is similar to the flake Bigpian, utilizes existing comparatively ripe linear least-squares inversion algorithm to carry out the estimation of crown canopy effective leaf area index.Major advantage is not require for observation light condition constantly, and can permanent three-dimensional structure and the true color image that records forest sample ground.
Technical scheme of the present invention mainly may further comprise the steps:
(1) at first utilizes the ground laser radar scanning system, obtain the three dimensional point cloud of vegetation canopy.Wherein comprised the space geometry of scanning impact point and the energy information that laser beam is rebounded, three-dimensional coordinate directly provides the locus coordinate information of any point, and this also is the basis of the mathematical model in the traditional optical theory.The cloud data that obtains at first carries out Image Mosaics, and manually removes the ground point cloud.
(2) three dimensional point cloud with each forest sample prescription is cut into take observation station as the center of circle, 30 meters is the circular sample prescription of radius, the point that again all is lower than the terrestrial Laser scanner height removes, remaining point (being called " crown canopy point the cloud ") three-dimensional point cloud that scanning is obtained as terrestrial Laser scanner hemisphere is used for the estimation of crown canopy effective leaf area index.Then crown canopy being put cloud, to transfer radius to from cartesian coordinate system be 1 meter spherical coordinate system.Transfer the cloud data of three-dimensional the cloud data of the plane of two dimension to by shadow casting technique, software hole light analysis (GLA) software for the traditional optical that can use routine is converted into grating image with the two-dimensional points cloud on the plane.This image with utilize fisheye camera to carry out digital hemisphere to photograph resulting picture category seemingly.
(3) three-dimensional isometric projection.Three-dimensional isometric projection can keep angle information constant in projection process, but shape and area can change.First " crown canopy point cloud " is converted to radius and is 1 meter spherical coordinate system, namely project to radius and be 1 meter sphere.Shown in a among Fig. 2, projection plane and sphere are tangential on a bit, and vertical with the line of some O with sphere centre point.The target of three-dimensional isometric projection be exactly with sphere the first half surface have a few (three dimensions) and project on the two dimensional surface.For example: some P (x, y, z) is any point on the sphere, it be projected as P ' (X, Y).When the two all represents with cartesian coordinate system, can mutually change with following formula:
(4) Lang Bo position angle homolosine projection.The position angle homolosine projection is commonly used to the draughtsmanship of spherical projection to the plane.One of characteristics that it is main are the areas that can represent preparatively the sphere All Ranges.But can not well keep angle information.At first obtain " crown canopy point cloud ".Shown in the b among Fig. 2, the O point is the projection basic point that sphere the latter half is had a few, and projection plane and sphere are tangential on an O.The purpose of position angle projection is that all spot projections with sphere the latter half are to two dimensional surface.For example, some P (x, y, z) is any point on the sphere, it be projected as P ' (X, Y).When the two all represents with cartesian coordinate system, can mutually change with following formula:
(5) linear least-squares inversion algorithm
Numeral hemisphere photography (DHP) technology is modal one of the technology estimated the Forest Canopy effective leaf area index that is used for.Most essential steps in the method is how appropriate exposure intensity to be set so that distinguish crown canopy element and sky background in the flake grid photo that obtains.The theoretical foundation of DHP technology is exactly the linear least-squares inversion algorithm, and its theoretical core is as follows:
-1nP(θ)＝G(θ，α)×L
e/cos(θ) (1)
Wherein θ is the zenith angle of incident ray, and α is the position angle of blade, L
eIt is effective leaf area index.Definition of T (θ)=-1nP (θ) K (θ, α)=G (θ, α)/cos θ, G (θ, α) is that blade is in the system of averaging projection that is parallel on the incident ray plane.
Can be written as
T(θ)＝K(θ，α)×L
e (2)
If known α can solve by inversion formula (2).If L
eBe distributed in several different inclination angle scopes, we will obtain laying respectively at inclination alpha by calculating following formula
1, α
2... α
nEffective leaf area index L
E1, L
E2..., L
En,
T(θ)＝K(θ，α
1)×L
e1+K(θ，α
2)×L
e2+…+K(θ，α
n)×L
en (3)
Concrete beneficial effect is as follows:
The three dimensional point cloud that the present invention utilizes laser scanner to obtain take different geometric projection technology as means, provides a kind of method of fast, accurately, indirectly estimating the crown canopy effective leaf area index.The present invention projects to two dimensional surface by the cloud data with the vector format of three-dimensional and is converted to the method for grating image, realize utilizing laser radar point cloud data to carry out estimation and the inverting of effective leaf area index, not only easy but also efficient, and can not cause any harmful effect to forest structure and radiation characteristic.The present invention not only can calculate effective leaf area index of crown canopy, but also Three Dimensions Structure that can permanent recording forest sample ground, this will be conducive to further to study light radiation the holding back and distribution mechanism of crown canopy inside, and the research of other biophysical parameters.The present invention observes the Forest Canopy structure from three dimensions, its key is to utilize the geometric projection technology that three dimensional point cloud is converted to the two-dimensional grid image, estimate effective leaf area index of Forest Canopy in the mode of hemisphere scanning, not only greatly improve estimation precision, and provide bulk information for the research of the radiation delivery mechanism of canopy inside.
Practical application shows, the invention provides the effective ways of indirect observation Forest Canopy effective leaf area index, and no matter seeds and sample prescription density all can directly use this method to try to achieve.The method has overcome classic method can only be observed from two dimension angular, affects the Forest Canopy architectural characteristic, and the large defective of error, has improved the efficient of vegetation biophysical parameters estimation, has strengthened popularization and validity that three-dimensional laser scanning technique is used.Can serve better the resource environment research projects such as forest inventory investigation, vegetation ecological remote sensing.
Four, description of drawings
Fig. 1 is schematic flow sheet of the present invention;
Fig. 2 is the synoptic diagram of two kinds of different shadow casting techniques;
Fig. 3 is the key step of ground laser radar estimation crown canopy effective leaf area index
A. original three-dimensional laser radar cloud data;
B. original point cloud data projects to hemisphere surface;
C. the cloud data with hemisphere surface projects in the two dimensional surface;
D. based on the analysis of porosity of " longitude and latitude " grid;
E. transfer the two dimensional surface cloud data to the two-value grating image;
F. the real digital hemisphere photography photo of same sample prescription.
Fig. 4 is the ground laser radar of 30 forest sample prescriptions and digital hemisphere photography result's comparative analysis
Five, embodiment
Below by example the present invention is further explained:
Take the western arbor-vitae of a slice (Western Red Cedar) as research object (the about 50m*50m of area, the about 15m of the height of tree), use Three Dimensional Ground laser scanner Leica ScanStation 2 (its parameter is as shown in table 1) and high-precision GPSs, carrying out the hemisphere mode in the center of sample prescription scans, the scanner terrain clearance is 1 meter, and sampling interval is 2cm.Manually remove ground point cloud and other noise spot clouds, obtain the three dimensional point cloud of forest sample prescription, shown in a in the accompanying drawing 3.
Table 1 three-dimensional laser scanner Leica ScanStation2 parameter
After the cloud data of obtaining pesudotsuga taxifolia and pre-service, as shown in Figure 3, adopt the geometric projection technology that three dimensional point cloud is processed, the first step is converted into spherical coordinate system for projecting to hemisphere surface; Second step is for utilizing different shadow casting techniques that it is projected to two dimensional surface, and third and fourth step is for utilizing " fictitious graticule " to analyze the two-dimensional grid image that is converted into two dimensional surface.
According to technical scheme steps (2), cloud data is cut into take observation station as the center of circle, 30 meters is the circular sample prescription of radius, and remove be lower than the scan setting height have a few, obtain " crown canopy point cloud ".Be converted into again spherical co-ordinate, utilize different geometric projection technology to project to two dimensional surface, be converted to again the grating image of two-value, generate the grating image similar with fisheye photo.
According to technical scheme steps (3) and (4), (Lang Bo orientation homolosine projection and three-dimensional isometric projection have transferred it on the two dimensional surface vector point cloud respectively " crown canopy point cloud " to be utilized different geometric projection technology.And will become the suitable threshold value of setting to carry out binary segmentation to the bianry image of black and white, and white represents sky background, and black represents the crown canopy element.
According to technical scheme steps (5), utilize the linear least square inversion algorithm, the concentric ring that has different zenith angles in double spherical space is respectively analyzed, obtain respectively the porosity in each torus space, needed averaging projection coefficient is determined by the ellipsoid model in the formula (1).Thereby calculate the interior effective leaf area index of each torus space of possibility according to formula (1), and then obtain the effective leaf area index of whole crown canopy.
The algorithm that proposes according to the present invention, described according to technical scheme steps (4), (5) and (6) to the laser radar point cloud data analysis on western arbor-vitae forest sample ground, obtained the effective leaf area index of sample prescription crown canopy.And with its as a result comparative analysis (seeing Fig. 4) with the effective leaf area index of the resulting identical sample prescription of photographing at the digital hemisphere of same position and highly collection.Can find out that the present invention can also provide the three-dimensional information of tree crown leaves density vertical change and certain height horizontal distribution thereof, be that additive method is difficult to realize.
Claims (6)
1. method of utilizing geometric projection technology and laser radar point cloud computing crown canopy effective leaf area index, it mainly may further comprise the steps:
(1) three-dimensional laser point cloud data of vegetation canopy obtains and pre-service;
(2) cutting of cloud data: define one with X, Y, Z are the cartesian coordinate system of axle, ground laser radar scanner position is arranged in the forest sample prescription, highly be 1 meter, its Laser emission position is initial point, and it is carried out hemisphere scanning collection cloud data; The three dimensional point cloud of each forest sample prescription is cut into take observation station as the center of circle, 30 meters is the circular sample prescription of radius, the point that again all is lower than the terrestrial Laser scanner height removes, remaining point (being called " crown canopy point the cloud ") three-dimensional point cloud that scanning is obtained as terrestrial Laser scanner hemisphere is used for the estimation of crown canopy effective leaf area index; Then crown canopy being put cloud, to transfer radius to from cartesian coordinate system be 1 meter spherical coordinate system; Transfer the cloud data of three-dimensional the cloud data of the plane of two dimension to by shadow casting technique, software hole light analysis (GLA) software for the traditional optical that can use routine is converted into grating image with the two-dimensional points cloud on the plane; This image is photographed resulting picture category seemingly with utilizing fisheye camera numeral hemisphere;
(3) three-dimensional isometric projection: three-dimensional isometric projection can make angle information remain unchanged in projection process, but shape and area can change; First " crown canopy point cloud " is converted to radius and is 1 meter spherical coordinate system, namely project to radius and be 1 meter sphere; Projection plane and sphere are tangential on a bit, and vertical with the line of coordinate origin O with sphere centre point; The target of three-dimensional isometric projection be exactly with sphere the first half surface have a few (three dimensions) and project on the two dimensional surface, for example: some P (x, y, z) be any point on the sphere, it be projected as P ' (X, Y), when the two all represents with cartesian coordinate system, can mutually change with following formula:
(4) Lang Bo position angle homolosine projection: the position angle homolosine projection is commonly used to the draughtsmanship of spherical projection to the plane; One of characteristics that it is main are the areas that can represent preparatively the sphere All Ranges, but can not well keep angle information; At first obtain " crown canopy point cloud "; Coordinate origin O point is the projection basic point that sphere the latter half is had a few, and projection plane and sphere are tangential on an O; The purpose of position angle projection be all spot projections with sphere the latter half to two dimensional surface, for example, some P (x, y, z) is any point on the sphere, it be projected as P ' (X, Y).When the two all represents with cartesian coordinate system, can mutually change with following formula:
(5) linear least-squares inversion algorithm
Numeral hemisphere photography (DHP) technology is modal one of the technology estimated the Forest Canopy effective leaf area index that is used for; Most essential steps in the method is how appropriate exposure intensity to be set so that distinguish crown canopy element and sky background in the flake grid photo that obtains; The theoretical foundation of DHP technology is exactly the linear least-squares inversion algorithm, and its theoretical core is as follows:
-1nP(θ)＝G(θ，α)×L
e/cos(θ) (1)
Wherein θ is the zenith angle of incident ray, and α is the position angle of blade, L
eIt is effective leaf area index; Definition of T (θ)=-1nP (θ), K (θ, α)=G (θ, α)/cos θ, G (θ, α) they are that blade is in the system of averaging projection that is parallel on the incident ray plane;
Can be written as
T(θ)＝K(θ，α)×L
e (2)
If known α can solve by inversion formula (2); If L
eBe distributed in several different inclination angle scopes, we will calculate by following formula and lay respectively at inclination alpha
1, α
2... α
nEffective leaf area index L
E1, L
E2..., L
En,
T(θ)＝K(θ，α
1)×L
e1+K(θ，α
2)×L
e2+…+K(θ，α
n)×L
en (3)
2. a kind of method of utilizing laser point cloud Calculation of Three Dimensional Forest Canopy extinction coefficient according to claim 1, its feature is in step (1), described three-dimensional laser point cloud data is the forest cover canopy point cloud that is obtained by the Three Dimensional Ground laser scanner, the space geometry of scanning impact point and the energy information that laser beam is rebounded have wherein been comprised, and the locus coordinate information of each point, the point cloud that obtains is carried out Image Mosaics, and manually remove the ground point cloud, as the data source of extracting canopy structure information.
3. a kind of method of utilizing laser point cloud Calculation of Three Dimensional forest hat effective leaf area index according to claim 1 and 2, it is characterized in that in the step (2), define one with X in a territory, cloud sector, Y, Z is the cartesian coordinate system of coordinate axis, the cloud data cutting of obtaining is obtained " crown canopy point cloud ", be used for the fisheye photo that the photography of analog digital hemisphere obtains.
4. according to claim 1 or 3 described a kind of methods of utilizing laser point cloud Calculation of Three Dimensional Forest Canopy effective leaf area index, it is characterized in that in the step (3), obtain in " crown canopy point cloud ", be converted to spherical coordinate system, and project to hemisphere surface; Be used for further Projection Analysis.
5. according to claim 1,3 or 4 described a kind of methods of utilizing laser point cloud Calculation of Three Dimensional Forest Canopy effective leaf area index, it is characterized in that in the step (3), the three-dimensional isometric projection of the some cloud utilization of hemisphere surface and Lang Bo position angle homolosine projection technology project to respectively two dimensional surface, and are converted into the grid bianry image.
6. according to claim 1,3,4 or 5 described a kind of methods of utilizing laser point cloud Calculation of Three Dimensional Forest Canopy effective leaf area index, utilize linear least-squares inversion algorithm spheroid distributed model, crown canopy porosity and average projection coefficient for half spherical space in the different zenith angle scopes carries out simulation estimate respectively, finally obtains the effective leaf area index of storey a part or whole part.
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