CN104537218B - A kind of faulting quantity measuring method and system based on three-dimensional data - Google Patents

Abstract

The invention discloses a kind of faulting quantity measuring method based on three-dimensional data and system, following steps are specifically included：Input road surface three-dimensional data matrix simultaneously carries out denoising to data；Then the height histogram of faulting of slab ends is drawn out；Height histogram according to faulting of slab ends finds out the threshold value for calculating faulting of slab ends amount；The three-dimensional data matrix of faulting of slab ends is divided into two parts further according to threshold value；It is just the faulting of slab ends amount of the faulting of slab ends finally to calculate two-part average value respectively and seek the difference of two values.The present invention only need to be input into the road surface three-dimensional data matrix for collecting, you can calculate faulting amount, therefore, detection method calculating is simple, run time is short, and without artificial participation, method efficiency high, detection are accurately.

Description

A kind of faulting quantity measuring method and system based on three-dimensional data

Technical field

The invention belongs to field of road, a kind of method for particularly relating to pavement crack classification judgement and feature extraction.

Background technology

The faulting pavement performances such as surface evenness, comfortableness that satisfy the need have a significant impact.Many country's road pavement faulting of slab ends Research is paid much attention to, and many correlative studys have been carried out successively.International highway research association to including u s. state, plus Multiple provinces, Federal Highway office and PIARC etc. 56 of putting on airs in the industry cycle has certain authoritative road traffic department Faulting of slab ends detection technique actually used for many years has carried out investigation, analysis, as a result proves, currently used universal and testing result The method that can be got the nod is broadly divided into two major classes：Manual detection method and automatic testing method.

Manual detection method mainly has Georgia electronics faulting of slab ends instrument, mechanical faulting of slab ends instrument and AASHTO methods, these three Detection method, speed is slow, the interference that is caused to traffic is big, precision is low, and due to the limitation of sample point data, existing to lead to Detection is crossed to obtain accurate faulting of slab ends amount and then carry out faulting of slab ends destructiveness the defect that grade classification is evaluated.Automatic testing method is near Have both at home and abroad over year and set foot in, achieve some achievements, but, remaining many links in such as detection process needs detection Automaticity is relatively low caused by the participation of personnel, the difficult realization of practical operation, cannot eliminate the inconsistency on road surface and various Property etc. the influence that is brought of natural environment, and road slab deformation or it is inclined in the case of faulting of slab ends amount calculating exist it is larger The problems such as distortion.For current present Research both domestic and external, in existing faulting detection method, also without a kind of energy Enough methods for more accurately determining faulting of slab ends amount, so the research of the detection method of faulting amount will be faulting of slab ends detection development Direction.

The content of the invention

For defect present in above-mentioned prior art or deficiency, it is a primary object of the present invention to, there is provided one kind is based on The faulting quantity measuring method of three-dimensional data.

In order to achieve the above object, the present invention is adopted the following technical scheme that：

A kind of faulting quantity measuring method based on three-dimensional data, specifically includes following steps：

Step 1：Read road surface three-dimensional data matrix M_m×n；

Step 2：Road pavement three-dimensional data matrix M_m×nDenoising is carried out, the road surface three-dimensional data matrix after denoising is obtained M'_m×n；

Step 3：Draw the height histogram Hist of faulting of slab ends；

Step 4：Height histogram according to faulting of slab ends obtains the threshold value th of faulting of slab ends amount；

Step 5：Road surface three-dimensional data matrix M' after traversal denoising line by line_m×n, by matrix M'_m×nIn all be more than or equal to The data of faulting of slab ends amount threshold value th are stored in a matrix O₁In, and all data less than faulting of slab ends amount threshold value th are stored in another square Battle array O₂In, so as to by the road surface three-dimensional data matrix M' after denoising_m×nIt is divided into two parts；

Step 6：The arithmetic mean of instantaneous value avg of data in two matrixes is calculated respectively₁And avg₂, calculate target using following formula wrong The faulting of slab ends amount of platform：

JFMV=| avg₁-avg₂|*u

Wherein, u is the conversion coefficient of the camera for gathering pavement image.

Further, the road surface three-dimensional data matrix M in the step 1_m×n：

z_ijExpression line number is i, and row number is the pavement-height corresponding to j.

Further, the step 2 road pavement three-dimensional data matrix M_m×nCarry out denoising and specifically include following steps：

Pavement-height histogram is drawn, abscissa is the altitude information in the three-dimensional data matrix of road surface in figure, ordinate is The element number corresponding to each altitude information section in the three-dimensional data matrix of road surface；By two height in pavement-height histogram Element corresponding to data segment is marked respectively；The corresponding rubidium marking of other altitude informations section is noise spot；To the noise for marking Point carries out filtering process, obtains the road surface three-dimensional data matrix M' after denoising_m×n。

Further, the height histogram Hist for faulting of slab ends being drawn in the step 3 specifically includes following steps：

Step 31, by the three-dimensional data matrix M' after denoising_m×nIn all data take with its immediate integer, obtain height Degrees of data matrix O_m×n；

Step 32, finds out matrix O_m×nIn maximum height data value max；

Step 33, it is the one-dimensional matrix f of (max+1) to create length, by altitude information matrix O_m×nIn each height value Value is in altitude information matrix O_m×nThe number of times f of middle appearance_(value)One-dimensional matrix f is sequentially stored into according to the order from 0 to max； Wherein max is altitude information matrix O_m×nMaximum；

Step 34, with altitude information matrix O_m×nMiddle height value value is abscissa, with each height value value values one The number of times f occurred in dimension matrix f_(value)For ordinate is drawn, the height histogram Hist of faulting of slab ends is obtained.

Further, the step 4 specifically includes as follows according to the threshold value th that the height histogram of faulting of slab ends obtains faulting of slab ends amount Step：

Step 41, difference computed altitude data matrix O_m×nAverage value avg (two faces of height i.e. where faulting of slab ends of middle data The average height of plate), maximum max, minimum value min and standard deviation sd；

Step 42, on the height histogram Hist of faulting of slab ends, is equal to average value avg as separation, respectively with abscissa value The abscissa i.e. height value corresponding to its arranged on left and right sides peak value is found out, val is designated as respectively₁And val₂；

Step 43, if val₂-val₁≤ sd, then illustrate the faulting of slab ends height histogram Hist two peak values in have a peak Value is very low, need to separately seek the position of ebb, then perform step 44；Otherwise, val is made_p1=val₁, val_p2=val₂If, val_p2By Value was assigned, herein just no longer assignment；Wherein, val_p1With val_p2Height corresponding to storage effective peak；Skip to step 47；

Step 44, comparesWithIfThen make val_P1=val₁；Otherwise make val_P1=val₂；

Step 45, one-dimensional matrix f is arranged from small to large, finds out the corresponding subscript of its median point, is designated as val_mid；

Step 46, if val_mid＞ avg, show small peak on the great Feng left sides；Perform step (a)；If val_mid＜ avg, show Small peak performs step (b) on the right of big peak；

A () adjusts separation to the left：Progressive scan altitude information matrix O_m×n, find out and all meet O_ij≤val_p1Height Value, is stored in a new one-dimensional matrix F 1, O_ijRepresent matrix O_m×nIn the i-th row jth column data；Calculate height in new matrix F 1 The average value of valueAvg=avg' is made, step 42 is skipped to；

B () adjusts to the right separation：Progressive scan altitude information matrix O_m×n, find out and all meet O_ij≥val_p1Height Value, is stored in a new one-dimensional matrix F 1, calculates the average value of height value in new matrix F 1Make avg= Avg', skips to step 42；

Step 47, calculates threshold value th：

It is a further object of the invention to provide a kind of faulting amount detection systems based on three-dimensional data, specifically Including being sequentially connected connect six modules as follows：

Road surface three-dimensional data matrix read module：It is the module for road surface three-dimensional matrice to be read in computer；

Denoising module：It is the module for realizing road pavement three-dimensional data matrix denoising；

Faulting of slab ends height histogram drafting module：It is for realizing the module that faulting of slab ends height histogram is drawn；

Faulting of slab ends amount threshold calculation module：It is the module for realizing the threshold value of faulting of slab ends amount；

Matrix division module：It is the module for realizing following functions：The road surface three-dimensional data square after denoising is traveled through line by line Battle array M'_m×n, by matrix M'_m×nIn all data more than or equal to faulting of slab ends amount threshold value th be stored in a matrix O₁In, and will be all small Another matrix O is stored in the data of faulting of slab ends amount threshold value th₂In, by the road surface three-dimensional data matrix M' after denoising_m×nIt is divided into two Part；

Faulting of slab ends amount computing module：Be for realizing according to division after matrix computations target faulting of slab ends faulting of slab ends amount module； Wherein, faulting of slab ends amount computing formula is：

JFMV=| avg₁-avg₂|*u

Wherein, avg₁And avg₂The arithmetic mean of instantaneous value of data in respectively two matrixes, u is the camera for gathering pavement image Conversion coefficient.

Further, in the road surface three-dimensional data matrix read module, the road surface three-dimensional data matrix M of reading_m×n：

z_ijExpression line number is i, and row number is the pavement-height corresponding to j.

Further, the denoising module is used to implement function such as：

Pavement-height histogram is drawn, abscissa is the altitude information in the three-dimensional data matrix of road surface in figure, ordinate is The element number corresponding to each altitude information section in the three-dimensional data matrix of road surface；By two height in pavement-height histogram Element corresponding to data segment is marked respectively；The corresponding rubidium marking of other altitude informations section is noise spot；To the noise for marking Point carries out filtering process, obtains the road surface three-dimensional data matrix M' after denoising_m×n。

Further, the faulting of slab ends height histogram drafting module is used to implement function such as：

Step 31, by the three-dimensional data matrix M' after denoising_m×nIn all data take with its immediate integer, obtain height Degrees of data matrix O_m×n；

Step 32, finds out matrix O_m×nIn maximum height data value max；

Step 33, it is the one-dimensional matrix f of (max+1) to create length, by altitude information matrix O_m×nIn each height value Value is in altitude information matrix O_m×nThe number of times f of middle appearance_(value)One-dimensional matrix f is sequentially stored into according to the order from 0 to max； Wherein max is altitude information matrix O_m×nMaximum；

Step 34, with altitude information matrix O_m×nMiddle height value value is abscissa, with each height value value values one The number of times f occurred in dimension matrix f_(value)For ordinate is drawn, the height histogram Hist of faulting of slab ends is obtained.

Further, the faulting of slab ends amount threshold calculation module is used to implement function such as：

Step 41, difference computed altitude data matrix O_m×nAverage value avg (two faces of height i.e. where faulting of slab ends of middle data The average height of plate), maximum max, minimum value min and standard deviation sd；

Step 42, on the height histogram Hist of faulting of slab ends, is equal to average value avg as separation, respectively with abscissa value The abscissa i.e. height value corresponding to its arranged on left and right sides peak value is found out, val is designated as respectively₁And val₂；

Step 43, if val₂-val₁≤ sd, then illustrate the faulting of slab ends height histogram Hist two peak values in have a peak Value is very low, need to separately seek the position of ebb, then perform step 44；Otherwise, val is made_p1=val₁, val_p2=val₂If, val_p2By Value was assigned, herein just no longer assignment；Wherein, val_p1With val_p2Height corresponding to storage effective peak；Skip to step 47；

Step 44, comparesWithIfThen make val_P1=val₁；Otherwise make val_P1=val₂；

Step 45, one-dimensional matrix f is arranged from small to large, finds out the corresponding subscript of its median point, is designated as val_mid；

Step 46, if val_mid＞ avg, show small peak on the great Feng left sides；Perform step (a)；If val_mid＜ avg, show Small peak performs step (b) on the right of big peak；

A () adjusts separation to the left：Progressive scan altitude information matrix O_m×n, find out and all meet O_ij≤val_p1Height Value, is stored in a new one-dimensional matrix F 1, O_ijRepresent matrix O_m×nIn the i-th row jth column data；Calculate height in new matrix F 1 The average value of valueAvg=avg' is made, step 42 is skipped to；

B () adjusts to the right separation：Progressive scan altitude information matrix O_m×n, find out and all meet O_ij≥val_p1Height Value, is stored in a new one-dimensional matrix F 1, calculates the average value of height value in new matrix F 1Make avg= Avg', skips to step 42；

Step 47, calculates threshold value th：

Compared with prior art, the method for the present invention has important practical significance, especially in highway maintenance and maintenance Aspect has important application value, and it has advantages below：

1st, using planar survey, the road surface three-dimensional data matrix for collecting need to be only input into, you can complete the calculating of faulting of slab ends amount, its Efficiency high, detection are accurate, are adapted to be used in real-time system.

2nd, initial value is kept to refuse to be filtered treatment for required faulting of slab ends data and normal road surface data, and only Denoising is filtered to burr point data, so as to preferably ensure that the accuracy of the three-dimensional information data after denoising.

Explanation is further explained to the present invention below in conjunction with the drawings and specific embodiments.

Brief description of the drawings

Fig. 1 is the general flow chart of the faulting quantity measuring method based on three-dimensional data of the invention.

Fig. 2 is the Three-dimensional Display figure of original road surface three-dimensional data.

Fig. 3 is pavement-height histogram.

Fig. 4 is the Three-dimensional Display figure of the road surface three-dimensional data matrix after denoising.

Fig. 5 is the height histogram of faulting of slab ends.

Fig. 6 is the functional block diagram of the faulting of slab ends amount detection systems of the faulting based on three-dimensional data of the invention.

Specific embodiment

The embodiment be given the following is inventor is, it is necessary to explanation, the embodiment is explained further to of the invention Illustrate, invention which is intended to be protected is not limited to the embodiment.

Referring to Fig. 1~Fig. 5, it then follows technical scheme, the faulting amount based on three-dimensional data of the present embodiment Detection method, specifically includes following steps：

Step 1：Computer input road surface three-dimensional data matrix M_m×n；M=100, n=900.Original road surface three-dimensional data shows Show as shown in Figure 2.

Step 2：Road pavement three-dimensional data matrix M_m×nDenoising is carried out, obtains removing the road surface three-dimensional data after noise Matrix M'_m×n；Comprise the following steps：

Step 21：Draw pavement-height histogram as shown in Figure 3：I.e. to original road surface three-dimensional data matrix in each The element number of individual data segment is counted；In the pavement-height histogram, abscissa is in the three-dimensional data matrix of road surface Altitude information, ordinate is the element number corresponding to each altitude information section in the three-dimensional data matrix of road surface；

Step 22：Carry out rubidium marking：There are two crests, respectively near 304 and 310, one in pavement-height histogram Data segment where individual crest represents the element number in faulting of slab ends face of faulting, the data segment generation where another crest The element number in another faulting of slab ends face of table pavement crack, the data segment where the two crests is that required three-dimensional height is believed Breath, the element data in its corresponding three-dimensional information matrix retains initial value；And the corresponding element of other altitude informations section is on road surface Mark is in three-dimensional data matrix；

Step 23：Noise spot to being marked in step 22 is filtered treatment：1>Process line by line：To where noise spot element Row all data calculation art average values, then the noise spot element is replaced with the arithmetic mean of instantaneous value.2>Process by column： In road surface three-dimensional data matrix after processing line by line, to all data calculation art average values of the row where noise spot element, so The noise spot element is replaced with the arithmetic mean of instantaneous value of the row afterwards, obtains the road surface three-dimensional data matrix M' after denoising_m×n, such as Fig. 4 It is shown.

Step 3：Draw the height histogram Hist of faulting of slab ends；Specifically include following steps：

Step 31, by the three-dimensional data matrix M' after denoising_m×nIn all data take with its immediate integer, obtain height Degrees of data matrix O_m×n；

On the one hand it is, because the camera resolution used in the three dimensional data collection system of road surface is high, to collect that data are rounded Road surface three-dimensional altitude information be accurate to 0.01mm, in general, to accuracy of detection without so high in engineer applied It is required that；On the other hand, its height histogram is counted, then step-length is too small if being accurate to 0.01mm, is unfavorable for analysis below.

Step 32：Find out O_m×nMaximum max=308.

Step 33：The one-dimensional matrix f that length is 309 is created, for depositing altitude information matrix O_m×nIn each height value go out Existing number of times.Height value is the order statistics from 0 to 308 herein, that is, f_(value)Just for height for value value in matrix O_m×nThe number of times of middle appearance.

Step 34：With value as abscissa (for the ease of observation, take herein the value of value from 200 be incremented to 350), with Each value value corresponding number of times f in one-dimensional matrix f_(value)For ordinate is drawn, the height of faulting of slab ends as shown in Figure 5 is obtained Degree histogram Hist.

Step 4：Height histogram according to faulting of slab ends obtains the threshold value th=303 of faulting of slab ends amount；

Step 5：The three-dimensional data matrix of faulting of slab ends is divided into by two parts according to threshold value：With threshold value th=303 as separation, Filtered matrix M' is traveled through line by line_m×n, by matrix M'_m×nIn all data more than or equal to th=303 be stored in a matrix O₁ In, all data less than th=303 are stored in another matrix O₂In.

Step 6：Calculating matrix O₁Average value avg₁=304.4986, matrix O₂Average value avg₂=301.2570.Car The conversion coefficient u=0.036cm of the camera that pavement image is used is gathered, therefore the faulting of slab ends amount of faulting of slab ends is：

JFMV=| avg₁-avg₂| * u=| 304.4986-301.2570 | * 0.036=3.2416*0.036= 0.1167cm。

Technical scheme is followed, the faulting of slab ends amount for having carried out the faulting based on three-dimensional data of the invention is calculated The exploitation of system, is compared the following is the result for running the system with the result of traditional spirit level method.As shown in fig. 6, being The functional block diagram of system of the invention.

It is known that the method for traditional measurement faulting of slab ends amount it is more common be spirit level method, the Fig. 6 in accompanying drawing for the present invention Method the Comparative result table of faulting of slab ends amount is measured with traditional spirit level method：

The present invention measures faulting of slab ends amount Comparative result table with spirit level method

As can be seen from the above table, the faulting of slab ends amount relative error that the method for the present invention is obtained with traditional spirit level method measurement with And absolute error all very littles, it can be seen that the method for the present invention has the degree of accuracy very high to faulting of slab ends measurement.

Claims (8)

1. a kind of faulting quantity measuring method based on three-dimensional data, it is characterised in that specifically include following steps：

Step 1：Read road surface three-dimensional data matrix M_m×n；

Step 2：Road pavement three-dimensional data matrix M_m×nDenoising is carried out, the road surface three-dimensional data matrix M' after denoising is obtained_m×n；

Step 3：Draw the height histogram Hist of faulting of slab ends；Specifically include following steps：

Step 31, by the three-dimensional data matrix M' after denoising_m×nIn all data take with its immediate integer, obtain the number of degrees high According to matrix O_m×n；

Step 32, finds out matrix O_m×nIn maximum height data value max；

Step 33, it is the one-dimensional matrix f of (max+1) to create length, by altitude information matrix O_m×nIn each height value value exist Altitude information matrix O_m×nThe number of times f of middle appearance_(value)One-dimensional matrix f is sequentially stored into according to the order from 0 to max；Wherein max It is altitude information matrix O_m×nMaximum；

Step 34, with altitude information matrix O_m×nMiddle height value value is abscissa, with each height value value values in one-dimensional square The number of times f occurred in battle array f_(value)For ordinate is drawn, the height histogram Hist of faulting of slab ends is obtained；

Step 4：Height histogram according to faulting of slab ends obtains the threshold value th of faulting of slab ends amount；

Step 5：Road surface three-dimensional data matrix M' after traversal denoising line by line_m×n, by matrix M'_m×nIn it is all more than or equal to faulting of slab ends amount The data of threshold value th are stored in a matrix O₁In, and all data less than faulting of slab ends amount threshold value th are stored in another matrix O₂In, So as to by the road surface three-dimensional data matrix M' after denoising_m×nIt is divided into two parts；

Step 6：The arithmetic mean of instantaneous value avg of data in two matrixes is calculated respectively₁And avg₂, target faulting of slab ends is calculated using following formula Faulting of slab ends amount：

JFMV=| avg₁-avg₂|*u

Wherein, u is the conversion coefficient of the camera for gathering pavement image.

2. the faulting quantity measuring method of three-dimensional data is based on as claimed in claim 1, it is characterised in that the step 1 In road surface three-dimensional data matrix M_m×n：

$M_{m\×n}=\left[\begin{array}{ccccccc}{z}_{11}& z_{12}& z_{13}& \mathrm{......}& z_{1j}& \mathrm{...}& z_{1n}\\ z_{21}& z_{22}& z_{23}& \mathrm{......}& z_{2j}& \mathrm{...}& z_{2n}\\ \mathrm{...}& \mathrm{...}& \mathrm{...}& \mathrm{......}& \mathrm{...}& \mathrm{...}& \mathrm{...}\\ z_{i1}& z_{i2}& z_{i3}& \mathrm{......}& z_{ij}& \mathrm{...}& z_{in}\\ \mathrm{...}& \mathrm{...}& \mathrm{...}& \mathrm{......}& \mathrm{...}& \mathrm{...}& \mathrm{...}\\ z_{m1}& z_{m2}& z_{m3}& \mathrm{......}& z_{mj}& \mathrm{...}& z_{mn}\end{array}\right],(i=1,\mathrm{2...}m,j=1,2,\mathrm{...}n)$

z_ijExpression line number is i, and row number is the pavement-height corresponding to j.

3. the faulting quantity measuring method of three-dimensional data is based on as claimed in claim 1, it is characterised in that the step 2 Road pavement three-dimensional data matrix M_m×nCarry out denoising and specifically include following steps：

Pavement-height histogram is drawn, abscissa is the altitude information in the three-dimensional data matrix of road surface in figure, and ordinate is road surface The element number corresponding to each altitude information section in three-dimensional data matrix；By two altitude informations in pavement-height histogram Element corresponding to section is marked respectively；The corresponding rubidium marking of other altitude informations section is noise spot；Noise to marking is clicked through Row filtering process, obtains the road surface three-dimensional data matrix M' after denoising_m×n。

4. the faulting quantity measuring method of three-dimensional data is based on as claimed in claim 1, it is characterised in that the step 4 The threshold value th that height histogram according to faulting of slab ends obtains faulting of slab ends amount specifically includes following steps：

Step 41, difference computed altitude data matrix O_m×nThe average value avg of middle data, maximum max, minimum value min and standard Deviation sd；Altitude information matrix O_m×nThe average value avg of middle data is two average heights of panel of height where faulting of slab ends；

Step 42, on the height histogram Hist of faulting of slab ends, average value avg is equal to as separation with abscissa value, is found out respectively Abscissa corresponding to its arranged on left and right sides peak value is height value, and val is designated as respectively₁And val₂；

Step 43, if val₂-val₁≤ sd, then illustrate the faulting of slab ends height histogram Hist two peak values in have a peak value very It is low, need to separately seek the position of ebb, then perform step 44；Otherwise, val is made_p1=val₁, val_p2=val₂If, val_p2Assigned Value, herein just no longer assignment；Wherein, val_p1With val_p2Height corresponding to storage effective peak；Skip to step 47；

Step 44, comparesWithIfThen make val_P1=val₁；Otherwise make val_P1=val₂；

Step 45, one-dimensional matrix f is arranged from small to large, finds out the corresponding subscript of its median point, is designated as val_mid；

Step 46, if val_mid＞ avg, show small peak on the great Feng left sides；Perform step (a)；If val_mid＜ avg, show small peak On the right of big peak, step (b) is performed；

A () adjusts separation to the left：Progressive scan altitude information matrix O_m×n, find out and all meet O_ij≤val_p1Height value, It is stored in a new one-dimensional matrix F 1, O_ijRepresent matrix O_m×nIn the i-th row jth column data；Calculate height value in new matrix F 1 Average valueAvg=avg' is made, step 42 is skipped to；

B () adjusts to the right separation：Progressive scan altitude information matrix O_m×n, find out and all meet O_ij≥val_p1Height value, A new one-dimensional matrix F 1 is stored in, the average value of height value in new matrix F 1 is calculatedMake avg=avg', Skip to step 42；

Step 47, calculates threshold value th：

$th=\frac{{\mathrm{val}}_{p1}+{\mathrm{val}}_{p2}}{2}.$

5. a kind of faulting amount detection systems based on three-dimensional data, it is characterised in that specifically include following being sequentially connected and connect Six modules：

Road surface three-dimensional data matrix read module：It is the module for road surface three-dimensional matrice to be read in computer；

Denoising module：It is the module for realizing road pavement three-dimensional data matrix denoising；

Faulting of slab ends height histogram drafting module：It is for realizing the module that faulting of slab ends height histogram is drawn, specifically for realizing such as Lower function：

Step 31, by the three-dimensional data matrix M' after denoising_m×nIn all data take with its immediate integer, obtain the number of degrees high According to matrix O_m×n；

Step 32, finds out matrix O_m×nIn maximum height data value max；

Step 33, it is the one-dimensional matrix f of (max+1) to create length, by altitude information matrix O_m×nIn each height value value exist Altitude information matrix O_m×nThe number of times f of middle appearance_(value)One-dimensional matrix f is sequentially stored into according to the order from 0 to max；Wherein max It is altitude information matrix O_m×nMaximum；

Step 34, with altitude information matrix O_m×nMiddle height value value is abscissa, with each height value value values in one-dimensional square The number of times f occurred in battle array f_(value)For ordinate is drawn, the height histogram Hist of faulting of slab ends is obtained；

Faulting of slab ends amount threshold calculation module：It is the module for realizing the threshold value of faulting of slab ends amount；

Matrix division module：It is the module for realizing following functions：The road surface three-dimensional data matrix after denoising is traveled through line by line M'_m×n, by matrix M'_m×nIn all data more than or equal to faulting of slab ends amount threshold value th be stored in a matrix O₁In, and be less than all The data of faulting of slab ends amount threshold value th are stored in another matrix O₂In, by the road surface three-dimensional data matrix M' after denoising_m×nIt is divided into two Point；

Faulting of slab ends amount computing module：Be for realizing according to division after matrix computations target faulting of slab ends faulting of slab ends amount module；Wherein, Faulting of slab ends amount computing formula is：

JFMV=| avg₁-avg₂|*u

Wherein, avg₁And avg₂The arithmetic mean of instantaneous value of data in respectively two matrixes, u is turning for the camera of collection pavement image Change coefficient.

6. the faulting amount detection systems of three-dimensional data are based on as claimed in claim 5, it is characterised in that the road surface three In dimension data matrix read module, the road surface three-dimensional data matrix M of reading_m×n：

$M_{m\×n}=\left[\begin{array}{ccccccc}{z}_{11}& z_{12}& z_{13}& \mathrm{......}& z_{1j}& \mathrm{...}& z_{1n}\\ z_{21}& z_{22}& z_{23}& \mathrm{......}& z_{2j}& \mathrm{...}& z_{2n}\\ \mathrm{...}& \mathrm{...}& \mathrm{...}& \mathrm{......}& \mathrm{...}& \mathrm{...}& \mathrm{...}\\ z_{i1}& z_{i2}& z_{i3}& \mathrm{......}& z_{ij}& \mathrm{...}& z_{in}\\ \mathrm{...}& \mathrm{...}& \mathrm{...}& \mathrm{......}& \mathrm{...}& \mathrm{...}& \mathrm{...}\\ z_{m1}& z_{m2}& z_{m3}& \mathrm{......}& z_{mj}& \mathrm{...}& z_{mn}\end{array}\right],(i=1,\mathrm{2...}m,j=1,2,\mathrm{...}n)$

z_ijExpression line number is i, and row number is the pavement-height corresponding to j.

7. the faulting amount detection systems of three-dimensional data are based on as claimed in claim 5, it is characterised in that the denoising mould Block is used to implement function such as：

Pavement-height histogram is drawn, abscissa is the altitude information in the three-dimensional data matrix of road surface in figure, and ordinate is road surface The element number corresponding to each altitude information section in three-dimensional data matrix；By two altitude informations in pavement-height histogram Element corresponding to section is marked respectively；The corresponding rubidium marking of other altitude informations section is noise spot；Noise to marking is clicked through Row filtering process, obtains the road surface three-dimensional data matrix M' after denoising_m×n。

8. the faulting amount detection systems of three-dimensional data are based on as claimed in claim 5, it is characterised in that the faulting of slab ends amount Threshold calculation module is used to implement function such as：

Step 41, difference computed altitude data matrix O_m×nThe average value avg of middle data, maximum max, minimum value min and standard Deviation sd；Altitude information matrix O_m×nThe average value avg of middle data is two average heights of panel of height where faulting of slab ends；

Step 42, on the height histogram Hist of faulting of slab ends, average value avg is equal to as separation with abscissa value, is found out respectively Abscissa corresponding to its arranged on left and right sides peak value is height value, and val is designated as respectively₁And val₂；

Step 43, if val₂-val₁≤ sd, then illustrate the faulting of slab ends height histogram Hist two peak values in have a peak value very It is low, need to separately seek the position of ebb, then perform step 44；Otherwise, val is made_p1=val₁, val_p2=val₂If, val_p2Assigned Value, herein just no longer assignment；Wherein, val_p1With val_p2Height corresponding to storage effective peak；Skip to step 47；

Step 44, comparesWithIfThen make val_P1=val₁；Otherwise make val_P1=val₂；

Step 45, one-dimensional matrix f is arranged from small to large, finds out the corresponding subscript of its median point, is designated as val_mid；

Step 46, if val_mid＞ avg, show small peak on the great Feng left sides；Perform step (a)；If val_mid＜ avg, show small peak On the right of big peak, step (b) is performed；

A () adjusts separation to the left：Progressive scan altitude information matrix O_m×n, find out and all meet O_ij≤val_p1Height value, It is stored in a new one-dimensional matrix F 1, O_ijRepresent matrix O_m×nIn the i-th row jth column data；Calculate height value in new matrix F 1 Average valueAvg=avg' is made, step 42 is skipped to；

B () adjusts to the right separation：Progressive scan altitude information matrix O_m×n, find out and all meet O_ij≥val_p1Height value, A new one-dimensional matrix F 1 is stored in, the average value of height value in new matrix F 1 is calculatedMake avg=avg', Skip to step 42；

Step 47, calculates threshold value th：

$th=\frac{{\mathrm{val}}_{p1}+{\mathrm{val}}_{p2}}{2}.$