CN106204547B - The method that rod-shaped atural object spatial position is automatically extracted from Vehicle-borne Laser Scanning point cloud - Google Patents
The method that rod-shaped atural object spatial position is automatically extracted from Vehicle-borne Laser Scanning point cloud Download PDFInfo
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- CN106204547B CN106204547B CN201610504709.4A CN201610504709A CN106204547B CN 106204547 B CN106204547 B CN 106204547B CN 201610504709 A CN201610504709 A CN 201610504709A CN 106204547 B CN106204547 B CN 106204547B
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- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
Abstract
The invention discloses a kind of methods that rod-shaped atural object spatial position is automatically extracted in point cloud from Vehicle-borne Laser Scanning, it is first from Vehicle-borne Laser Scanning point cloud, optimal spatial demixing point cloud plane projection image；Threshold segmentation is carried out to the optimal spatial demixing point cloud plane projection image of generation, removes the low point of brightness；Straight-line detection is carried out to the plane projection image after Threshold segmentation, removes the data with line feature；Image is further extracted, the data portion for not meeting rod-shaped atural object characteristics of diameters is removed, obtains rod-shaped atural object projected image；Finally from rod-shaped atural object projected image, the geometric center of each rod-shaped ground object area is taken, is reverted in three-dimensional point cloud as the spatial position anchor point of rod-shaped atural object, and by its relative position.The method of the present invention is not easy to be influenced by data noise point, and high degree of automation takes full advantage of the morphological feature of point cloud data to a greater extent, has reached preferable extraction effect.
Description
Technical field
The invention belongs to Vehicle-borne Laser Scanning Point Cloud Processing technical fields.
Background technology
Vehicle-mounted mobile laser measurement system is as a kind of advanced measurement means, the application in the three dimensional data collection of city
It is increasingly wider, system acquisition to three-dimensional information include the buildings of both sides of the road, trees, electric light bar, power line, bridge and
Pavement of road etc..Rod-shaped atural object is that facility the most universal in Municipal Component is badly in need of obtaining with the fast development of smart city
More comprehensively and accurately rod-shaped atural object spatial positional information.Currently, the research for rod-shaped Objects extraction in laser point cloud, main
There are clustering procedure and projected density method, both methods to be all based on whole point cloud data, noise spot easily in by point cloud data
It influences, method applicability is not high.The morphological feature for how preferably excavating point cloud data improves rod-shaped atural object spatial position extraction
Precision and efficiency, be still current one of Research Challenges.
Invention content
In view of the above technical problems, the plane based on points that the present invention is generated by research point Vehicle-borne Laser Scanning data
Projected image, by way of image procossing, in conjunction with the geometric shape and feature of rod-shaped atural object, it is proposed that a kind of vehicle-mounted laser is swept
The method that rod-shaped atural object spatial positional information automatically extracts in described point cloud, extracts rod-shaped atural object, can be from massive point cloud
Rod-shaped atural object spatial positional information is fast and automatically extracted in data.
To achieve the goals above, the present invention adopts the following technical scheme that：
A method of rod-shaped atural object spatial position being automatically extracted from Vehicle-borne Laser Scanning point cloud, is included the following steps：
The first step obtains the space of rod-shaped atural object in the vertical direction in subrange from Vehicle-borne Laser Scanning point cloud
It is layered point cloud data, plane projection is carried out to space delamination point cloud, it, will be from according to the range and plane coordinates of space delamination point cloud
Scattered laser point cloud projects in plane, and the brightness value of pixel is defined with unit pixel point cloud quantity, is converted into two-dimensional figure
As data, and optimal spatial demixing point cloud plane projection image is obtained automatically；
Second step carries out Threshold segmentation to the optimal spatial demixing point cloud plane projection image of generation, it is low to remove brightness
Point removes the less laser point of sustained height number of ranges in point cloud data；
Third walks, and carries out straight-line detection to the plane projection image after Threshold segmentation, removes the data with line feature, i.e.,
The wall data of building in point cloud data is removed；
4th step further extracts image, removes the data portion for not meeting rod-shaped atural object characteristics of diameters, obtain
Rod-shaped atural object projected image；
5th step takes the geometric center of each rod-shaped ground object area, as rod-shaped atural object from rod-shaped atural object projected image
Spatial position anchor point, and its relative position is reverted in three-dimensional point cloud.
It is an advantage of the invention that：
The present invention is automatic to obtain space delamination data, and selection optimal spatial hierarchy number automatically according to laser point cloud data
According to plane projection is carried out, by analyzing the feature of rod-shaped atural object, rod-shaped atural object is carried out to the plane projection image based on points
Extraction, is not easy to be influenced by data noise point, high degree of automation, and the form for taking full advantage of point cloud data to a greater extent is special
Sign, has reached preferable extraction effect.
Description of the drawings
Fig. 1 is the flow chart that the present invention is implemented；
Fig. 2 is automatic acquisition optimal spatial demixing point cloud projected image；
Fig. 3 is the demixing point cloud projected image for having more different high-rise points；
Fig. 4 is demixing point cloud projected image after filtering；
Fig. 5 is the spatial position projected image of rod-shaped atural object.
The projected image of Fig. 2-Fig. 5 is the white with black point image inverted by white with black point image.
Specific implementation mode
Those skilled in the art are according to the flow chart attached drawing 1 of invention content and implementation, you can implement to the present invention.For
It is convenient to carry out, below each step in invention content is described in further detail, when detailed description gives Fig. 2-Fig. 5
Specific example, example is only by taking the extraction of two rod-shaped object coordinates spatial positions by building as an example.
One, to the detailed description of invention content first step：
1, vertical direction space delamination point cloud automatically extracts
It is distributed according to practical building space height, cloud is integrally layered according to vertical direction first, one is divided per 2m
Point cloud layer obtains a series of space delamination point cloud datas in the vertical direction in subrange, is set as l1, l2, l3……lN；
2, plane projection is carried out to each cloud layer successively
Using x/y plane as perspective plane, the negative direction in the directions z is projecting direction, is projected to laser point cloud, by building,
Road, rod-shaped atural object etc. project under projected coordinate system；
3, the plane projection image based on points is generated
According to current point cloud range, the cloud coordinate that sets up an office is (X, Y, Z), point cloud ranging from { Xmin, Ymin,Zmin, Xmax, Ymax,
Zmax, the pixel coordinate of image is (x, y), and scaling precision is s, then puts (x, y) of cloud coordinate (X, Y, Z) correspondence image respectively
It is：X=(X-Xmin) × s, y=(Y-Ymin)×s；
The brightness put in unit pixel is to fall the brightness superposition that cloud number is put in unit pixel, if often there are one point clouds to turn
Change (x, y) into, this brightness value increases by 30%；
All point cloud datas are traversed, its corresponding plane projection image coordinate is calculated, and carry out brightness superposition, obtains optimal
Plane projection image of the space all the points cloud layer based on points, to generate N number of plane projection image：
4, optimal spatial demixing point cloud is obtained automatically
The external loop truss of rough boxed area is carried out to N number of plane projection image of generation, calculates circumscribed circle diameter, choosing
Take more diameter close to the plane projection image of practical rod-shaped atural object diameter, as optimal spatial demixing point cloud projected image,
Carry out the rod-shaped Objects extraction of next step.
Fig. 2 shows one of optimal spatial demixing point cloud projected image, multiple rod-shaped culture point clouds are contained in image
Projected image, wherein the rod-shaped atural object pixel nearest from top building has P1 and P2.
In order to prove the present invention accuracy, P1 and P2 are projected under projected coordinate system and learnt, P1 coordinates
(509170.2306,3985536.5028,75.0464), P2 coordinates (509173.3905,3985537.3584,74.6881),
It is converted into plane projection image recoil and is designated as P1 ' coordinates to be (293,161), P2 ' coordinates are (354,181).
Two, to the detailed description of invention content second step：
Threshold value point is carried out to optimal spatial demixing point cloud projected image as shown in Figure 2 with the method for existing adaptive threshold
It cuts, i.e., by calculating the weighted average of pixel peripheral region, then subtracts a constant to obtain adaptive threshold, to obtaining
Plane projection image carry out Threshold segmentation, obtain the larger region of brightness.
As shown in figure 3, P1 ' and the brightness of the positions P2 ' are larger, therefore it has been effectively maintained.This subregion
The data for having more different high-rise points in corresponding points cloud in the unit range of x/y plane, meet rod-shaped atural object Vertical Square
There is the feature compared with multiple spot upwards.
Three, to the detailed description of invention content third step：
Straight-line detection is carried out to the image after Threshold segmentation, removes the part of apparent wired characteristic in image, by these portions
It splits as background colour, the influence to rod-shaped Objects extraction result such as building walls in practical three dimensional point cloud.
As shown in figure 4, after image shown in Fig. 3 is excluded building walls influence, so that it may obtain figure as shown in Figure 4
Picture.
Four, to the detailed description of invention content four steps：
Regional area growth is carried out on excluding the part that brightness is big in the image after building walls influence, is extracted every
The big region of one Block Brightness, is filtered these regions：Extraction monolithic zone boundary first, if the zone boundary circularity
Less than 0.2, then the inclined linear in the region, does not meet the feature of rod-shaped atural object, excludes；Monolithic region is extracted again, is calculated minimum outer
Diameter of a circle is connect, the distance being converted into point cloud data, if the data are much smaller than or are much larger than practical rod-shaped atural object diameter,
The feature for not meeting rod-shaped atural object, is excluded；Judge whether the distance of n adjacent rod atural object meets practical rod-shaped atural object again
Spacing, meet, retain, otherwise delete.
As shown in figure 5, by after image filtering as shown in Figure 4, rod-shaped atural object projected image shown in Fig. 5 is finally obtained.
Five, to the detailed description of the 5th step of invention content：
1, rod-shaped atural object central point is calculated
For the rod-shaped remaining region of atural object projected image, the boundary in region is extracted, asks the center of circle of its minimum circumscribed circle, is made
For the central point of rod-shaped atural object；
2, rod-shaped atural object center point coordinate is converted into a cloud coordinate
Rod-shaped atural object point coordinates is set as (x, y), then corresponding cloud coordinate (X, Y, Z) is：X=x/s+Xmin, Y=y/s+
Ymin, Z-direction coordinate takes the median of Z-direction when carrying out space delamination to cloud；(X, Y, the Z) found out is rod-shaped atural object
Spatial position.
As shown in figure 5, by P1 and P2 center point coordinates P1 ' (293,162) in image shown in Fig. 4 and P2 ' (354,179),
It is as follows to be converted into a cloud coordinate：
P1’(509170.2535,3985536.5059,75.0235)；
P2’(509173.2149,3985537.4218,75.0235)。
The above-mentioned point being converted into and projects to the coordinate in projected coordinate system at cloud coordinate, and the two is almost the same, it was demonstrated that this hair
Bright method can be applied to the extraction of practical rod-shaped atural object.
Claims (6)
1. a kind of method for automatically extracting rod-shaped atural object spatial position in point cloud from Vehicle-borne Laser Scanning, which is characterized in that including
Following steps：
The first step obtains the space delamination of rod-shaped atural object in the vertical direction in subrange from Vehicle-borne Laser Scanning point cloud
Point cloud data, carrying out plane projection to space delamination point cloud will be discrete according to the range and plane coordinates of space delamination point cloud
Laser point cloud projects in plane, and the brightness value of pixel is defined with unit pixel point cloud quantity, is converted into two-dimensional picture number
According to, and optimal spatial demixing point cloud plane projection image is obtained automatically；
Second step carries out Threshold segmentation to the optimal spatial demixing point cloud plane projection image of generation, removes the low point of brightness, i.e.,
The less laser point of sustained height number of ranges in point cloud data is removed；
Third walks, and carries out straight-line detection to the plane projection image after Threshold segmentation, removes the data with line feature, i.e., by point
The wall data of building removes in cloud data；
4th step further extracts image, removes the data portion for not meeting rod-shaped atural object characteristics of diameters, obtained rod-shaped
Atural object projected image；
5th step takes the geometric center of each rod-shaped ground object area, the sky as rod-shaped atural object from rod-shaped atural object projected image
Between position anchor point, and its relative position is reverted in three-dimensional point cloud.
2. the method as described in claim 1, which is characterized in that the detailed step of the first step is：
1.1, vertical direction space delamination point cloud automatically extracts
It is distributed, cloud is integrally layered according to vertical direction first, every 2 meters of points of clouds according to practical building space height
Layer obtains a series of space delamination point cloud datas in the vertical direction in subrange, is set as l1, l2, l3……lN；
1.2, plane projection is carried out to each cloud layer successively
Using x/y plane as perspective plane, the negative direction in the directions z is projecting direction, is projected to laser point cloud, by building, road
Road, rod-shaped atural object project under projected coordinate system；
1.3, the plane projection image based on points is generated
According to current point cloud range, the cloud coordinate that sets up an office is (X, Y, Z), point cloud ranging from { Xmin, Ymin, Zmin, Xmax, Ymax, Zmax,
The pixel coordinate of image is (x, y), and scaling precision is s, then putting (x, y) of cloud coordinate (X, Y, Z) correspondence image is respectively：X=
(X-Xmin) × s, y=(Y-Ymin)×s；
The brightness put in unit pixel is to fall the brightness superposition that cloud number is put in unit pixel, if often there are one point clouds to be converted into
Pixel (x, y), the pixel brightness value increase by 30%；
All point cloud datas are traversed, its corresponding plane projection image coordinate is calculated, and carry out brightness superposition, obtains optimal spatial
Plane projection image of all the points cloud layer based on points, to generate N number of plane projection image；
1.4, optimal spatial demixing point cloud is obtained automatically
The external loop truss of rough boxed area is carried out to N number of plane projection image of generation, calculates circumscribed circle diameter, selection has
The plane projection image of the close practical rod-shaped atural object diameter of more circumscribed circle diameter, as optimal spatial demixing point cloud perspective view
Picture carries out the rod-shaped Objects extraction of next step.
3. the method as described in claim 1, which is characterized in that the detailed step of the second step is：
When Threshold segmentation, image segmentation is carried out to optimal spatial demixing point cloud projected image with the method for adaptive threshold, i.e., it is logical
The weighted average for calculating pixel peripheral region is crossed, then subtracts a constant to obtain adaptive threshold, to obtained plane
Projected image obtains the larger region of brightness into row threshold division；Perpendicular to x/y plane in this subregion, that is, corresponding points cloud
The data for having more different high-rise points in unit range, meet the feature having in rod-shaped atural object vertical direction compared with multiple spot.
4. method as described in claim 1, which is characterized in that the detailed step of third step is：
Straight-line detection is carried out to the image after Threshold segmentation, removes the part of apparent wired characteristic in image, these parts is set
For background colour, you can exclude influence of the building walls to rod-shaped Objects extraction result in practical three dimensional point cloud.
5. the method as described in claim 1, which is characterized in that the detailed step of the 4th step is：
The part big to brightness in image carries out regional area growth, the big region of each Block Brightness is extracted, to these regions
It is filtered：Extraction monolithic zone boundary first, if zone boundary circularity ＜ 0.2, the inclined linear in the region are not inconsistent
The feature of rod-shaped atural object is closed, is excluded；Monolithic region is extracted again, is calculated the diameter of minimum circumscribed circle, is converted into point cloud data
Distance, if the distance is much smaller than or much larger than practical rod-shaped atural object diameter, does not meet the feature of rod-shaped atural object, arranged
It removes；Obtain rod-shaped atural object projected image.
6. method as claimed in claim 5, which is characterized in that the detailed step of the 5th step is：
5.1, rod-shaped atural object central point is calculated
For the rod-shaped remaining region of atural object projected image, the center of circle of its minimum circumscribed circle is asked in extraction monolithic zone boundary, as
The central point of rod-shaped atural object；
5.2, rod-shaped atural object center point coordinate is converted into a cloud coordinate
Rod-shaped atural object center point coordinate is set as (x, y), then corresponding cloud coordinate (X, Y, Z) is：X=x/s+Xmin, Y=y/s+
Ymin, Z-direction takes the median of Z-direction when carrying out space delamination to cloud；
(X, Y, the Z) that finds out is the spatial position of rod-shaped atural object.
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