CN106643578A - Sectional area calculation method for trunk cross section profile curve based on point cloud data - Google Patents
Sectional area calculation method for trunk cross section profile curve based on point cloud data Download PDFInfo
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention discloses a sectional area calculation method for a trunk cross section profile curve based on point cloud data. The method comprises the following steps that step 1, the cross section of a trunk at the specific position is acquired; step 2, trunk cross section point cloud is acquired; step 3, the geometric central point of the trunk cross section point cloud is calculated; step 4, the trunk cross section profile points are acquired; step 5, a trunk cross section profile curve is constructed; and step 6, the sectional area of the trunk cross section is calculated. The method is used for constructing the profile curve of the trunk cross section from the point cloud data of the single tree trunk and then accurately calculating the sectional area of the trunk cross section.
Description
Technical field
The present invention relates to a kind of trunk cross section basal area extractive technique, more particularly, to a kind of tree based on cloud data
The basal area computational methods of dry cross-sectional outling curve.
Background technology
Three Dimensional Ground laser scanner technique (Terrestrial Laser Scanning Technology, abbreviation TLS) is
A kind of new surveying and mapping technology, results from the nineties in 20th century.TLS can fast and accurately obtain the point cloud number of target object surface
It is believed that breath, such that it is able to the threedimensional model of fast constructing target object.Development over nearly more than 20 years, three-dimensional laser scanner
Continuously rapidly to being observed object can carry out non-contact measurement, its pass through to obtain body surface to scanner away from
From the three dimensional point cloud that voluminous object surface is obtained with emissive porwer.It is over nearly 10 years to extract forestry relevant parameter using TLS
Study hotspot.
Trunk cross section basal area is an important parameter of Dan Mu, is to calculate stem volume, biomass and organic C storage
Basic data, is also the basic data for building trees relative growth equation.At present in production of forestry with research, trunk is assumed
Cross section is round, on the basis of trunk cross-sectional diameter is obtained, estimates that trunk is horizontal by the computing formula of diameter and the area of a circle
Section basal area.However, trunk cross section is not the solid of rule, the trunk cross section obtained using area formula of circle estimation
Basal area is inevitable to have deviation with the real trunk cross section basal area of trunk.Accordingly, it would be desirable to one kind can accurately calculate tree
The method of dry cross section basal area.
The content of the invention
In view of this, the purpose of the present invention is for the deficiencies in the prior art, there is provided a kind of trunk based on cloud data
The basal area computational methods of cross-sectional outling curve, it is bent to the profile for building trunk cross section from the dry cloud data of single ebon
Line, and trunk cross section basal area is accurately calculated on this basis.
To reach above-mentioned purpose, the present invention is employed the following technical solutions：
A kind of basal area computational methods of the trunk cross-sectional outling curve based on cloud data, comprise the steps：
Step 1, obtains trunk in the cross section of specific location；
Step 2, obtains the cross-section millet cake cloud of trunk；
Step 3, calculates the geometric center point of the cross-section millet cake cloud of trunk；
Step 4, obtains trunk cross-sectional outling point；
Step 5, builds trunk cross-sectional outling curve；
Step 6, calculates trunk cross section basal area.
Preferably, the step 1, calculates trunk in the cross section of specific location, including：
The minimum point in trunk point cloud is calculated, and the height of trunk is calculated based on the minimum point；
On the basis of minimum point, with vectorFor the normal vector of plane, preset with h+ at the top h of minimum point
Two planes built respectively at distance；Trunk point cloud in the middle of two planes constitutes a trunk point cloud mass, will set
Do and obtain a planar point in the plane that cloud mass point cloud projects at trunk height h and converge, Calculation Plane point converges composition
The polygonal center of mass point of convex closure, the trunk at height h is cross-section with trunk for geometric center point that planar point converges for the center of mass point
The anchor point in face.
Preferably, the step 1 also includes the trunk cross section by anchor point structure trunk at height h, bag
Include：
The direction of growth of the trunk at height h is calculated using alternative manner；Kth time is iterated to calculate：Built anchor point
And normal vector isA plane, plane on the basis of the plane；The direction of growth of the trunk at height h is trunk in height
The normal vector in the trunk cross section at degree h；
Based on datum plane, 5 planes parallel with this are built respectively, wherein 3 planes are located on datum plane
Side, 2 planes are located at datum plane lower section；
Obtain 5 trunk point cloud masses and 5 geometric center points；
The direction of growth of the trunk at height h is calculated using principal component analytical method to 5 geometric center pointsWherein,
The corresponding characteristic vector of eigenvalue of maximum of covariance matrix is the direction of growth of the trunk at height hPlane normal vector is assigned
It is worth and isCarry out+1 iteration of kth；Normal vector is during first iterationIteration termination condition is：Adjacent iteration twice
The two trunk directions of growth for obtainingWithAngle thetakLess than 0.5 degree or θkWith θk+1Differential seat angle be less than 0.5 degree；Repeatedly
The trunk direction of growth at the end of generationThe as direction of growth of the trunk at height h；With the direction of growth of the trunk at height h
For the normal vector of plane, trunk cross section of the trunk at height h is built by anchor point.
Preferably, the step 2, obtains the cross-section millet cake cloud of trunk, including：
A plane is built in the top in trunk cross section, the plane is parallel with trunk cross section and apart from cross section
Distance is equal to the width for enclosing chi, and the trunk in the middle of the two planes selects cloud and is the cross-section millet cake cloud Q of trunkD；
By the cross-section millet cake cloud Q of trunkDThe planar point projected in the three dimensions obtained on trunk cross section converges
QDp, according to geometric transformation, by QDpRotate to be one and converge Q with the planar point of the two-dimensional space of plane-parallelDpxy。
Preferably, the step 4, obtains trunk cross-sectional outling point, including：
With the plane projection point set Q of the cross-section millet cake cloud of trunkDpxyGeometric center point centered on point, calculate point set QDpxyIn
The angle of each point and central point；
According to angle value to QDpxyThe point that point is concentrated does angle subregion, and the angle value of each angle subregion is 1 degree, thus
By QDpxyThe point that point is concentrated is divided into 360 angle subregions；
The equalization point in each angle subregion is taken as the profile point in trunk cross section, then obtains one by 360 points
The trunk cross-sectional outling point set Q of compositionprofile；The coordinate value of the equalization point be in the angle subregion geometry a little put down
Average.
Preferably, the step 5, builds trunk cross-sectional outling curve, including：
One closed curve is built using non-reasonable B-spline Curve, first by Qprofile3 points of stem add successively
Enter to QprofileAfterbody also 3 points of afterbody are added sequentially to into Q simultaneouslyprofileStem, constitute interpolation point Q={ Qk},k
=0,1 ..., n；
The node parameter values of interpolation point Q are calculated using chord length parameter methodD is made to be total chord length,
Parameter value is defined as：
Mean value method calculate node vector U={ u are used according to node parameter values0,u0,...,um, have
Wherein, p=3 represents the number of times of SPL, and n=| Q | represent the number of interpolation point, m=n+p-1；
The control point of non-reasonable B-spline Curve is solved using the method for global curve interpolation, obtaining coefficient matrix is
(n+1) system of linear equations of × (n+1)：
Wherein, Ni,pU () is expressed as
Solving equation group obtains n+1 control point { Pi, according to the expression formula of non-reasonable B-spline Curve
A full curve is obtained, Q is setprofileFirst node Q0For first node, start to build from first node,
Stop the structure of curve when curve rounds reaches first node, you can obtain complete closed curve, the curve is
Trunk cross-sectional outling curve.
Preferably, the step 6, calculates trunk cross section basal area, including：
The trunk cross-sectional outling curve of closure encloses the basal area that the area in region is trunk cross section, according to Green
The calculating that the trunk cross-sectional outling curve of closure encloses area can be converted to formula the calculating of first form curve integral, so as to
Obtain the basal area in trunk cross section.
The invention has the beneficial effects as follows：
The present invention obtains the cross-section millet cake cloud of trunk according to trunk in the cross section of specific location, thus calculates trunk cross-section
The profile point of the cross-section millet cake cloud of geometric center point and trunk of millet cake cloud, built the cross-sectional outling of the smooth closure of profile point
Curve, builds the contour curve in trunk cross section from the dry cloud data of single ebon, and according to closed curve trunk cross section is calculated
Basal area.The method of the present invention can accurately calculate trunk cross section basal area, and trunk cross-sectional outling curve can be preferably
The actual profile in reflection trunk cross section, with diameter compared with the trunk cross section basal area that area formula of circle is calculated, the present invention
What is proposed is more accurate based on the closure trunk cross section basal area that obtains of cross-sectional outling curve.
Accurately to calculate trunk cross section basal area, the present invention obtains trunk horizontal on the basis of positioning trunk cross section
Section point cloud, then obtains the profile point in trunk cross section through sequence of operations, builds one and crosses trunk cross-sectional outling point
Closure smooth curve and thus calculate trunk cross section basal area.The present invention is provided for accurate description trunk cross-sectional outling
A kind of approach, is that the basal area for accurately calculating trunk cross section is provided a method that.
The impact of receptor site cloud density, the trunk point cloud only on trunk cross section might not reflect the cross section of trunk
Profile, while when considering that enclosing chi calibrates, enclosing chi and being looped around one circulus of formation in trunk surface.For this purpose, the present invention exists
Positioning trunk builds a plane, the plane and horizontal stroke on the basis of trunk cross section at height h in the top in trunk cross section
Section is parallel and distance apart from cross section is equal to the width for enclosing chi.The tree that the present invention is obtained based on closure cross-sectional outling curve
Dry cross section basal area, the cross sectional feature for accurate description trunk provides technical support, will extract trunk cross section from TLS
Precision brought up to grade, meet the required precision of forestry survey.
Other features and advantages of the present invention will be illustrated in the following description, also, the partly change from specification
Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages can be by the explanations write
Specifically noted structure is realizing and obtain in book, claims and accompanying drawing.
Description of the drawings
Fig. 1 is method of the present invention flow chart.
Fig. 2 is trunk cross-sectional outling curve synoptic diagram.
Specific embodiment
With reference to the accompanying drawings and examples the invention will be further described.
As shown in figure 1, the present invention provides the basal area that a kind of trunk cross-sectional outling curve based on cloud data builds
Computational methods, comprise the steps：
Step 1, obtains trunk in the cross section of specific location；
Step 2, obtains the cross-section millet cake cloud of trunk；
Step 3, calculates the geometric center point of the cross-section millet cake cloud of trunk；
Step 4, obtains trunk cross-sectional outling point；
Step 5, builds trunk cross-sectional outling curve；
Step 6, calculates trunk cross section basal area.
In the embodiment, the present invention obtains the cross-section millet cake cloud of trunk according to trunk in the cross section of specific location, thus
The geometric center point of the cross-section millet cake cloud of trunk and the profile point of the cross-section millet cake cloud of trunk are calculated, the smooth closure of profile point was built
Cross-sectional outling curve, the contour curve in trunk cross section is built from the dry cloud data of single ebon, according to closed curve meter
Calculate the basal area in trunk cross section.The method of the present invention can accurately calculate trunk cross section basal area, trunk cross-sectional outling
Curve can preferably reflect the actual profile in trunk cross section, the trunk cross section basal area calculated with diameter and area formula of circle
Compare, it is proposed by the present invention more accurate based on the closure trunk cross section basal area that obtains of cross-sectional outling curve.
In one embodiment, the step 1, calculates trunk in the cross section of specific location, including：
According to the coordinate value of z-axis, calculate the minimum point in trunk point cloud, and by this put based on calculate the height of trunk；
On the basis of minimum point, with vectorFor the normal vector of plane, distinguish with h+0.5 centimeters at the top h of minimum point
Two planes for building, in the plane such as Fig. 2 at trunk height h shown in pink colour dotted line.Trunk point cloud in two planes
A trunk point cloud mass is constituted, a planar point is obtained in the plane for projecting at trunk height h by this partial dot cloud and is converged,
The polygonal center of mass point of convex closure that this planar point converges composition is calculated, center of mass point is the geometric center point that this planar point converges,
It is also simultaneously the anchor point in trunk trunk cross section at height h.
The direction of growth of the trunk at height h is the normal vector in trunk cross section of the trunk at height h.Using iteration
Method calculates growing method of the trunk at height h, and kth time iterative calculation is：Built anchor point and normal vector wasOne
Individual plane, claims plane on the basis of this plane, based on datum plane, 5 planes parallel with this is built respectively, wherein 3
Plane is located at datum plane top, and 2 planes are located at datum plane lower section, and the distance between adjacent plane is 0.5 centimetre；Thus
5 trunk point cloud masses and 5 geometric center points are obtained, trunk is calculated using principal component analytical method to 5 geometric center points and is existed
The direction of growth at height hWherein, the corresponding characteristic vector of the eigenvalue of maximum of covariance matrix is trunk in height h
The direction of growth at placePlanar process vector assignment isCarry out+1 iteration of kth；Normal vector is during first iterationIteration termination condition is：Two trunk directions of growth that adjacent iteration twice is obtainedWithAngle thetakIt is less than
0.5 degree or θkWith θk+1Differential seat angle be less than 0.5 degree；The trunk direction of growth at the end of iterationAs trunk is at height h
The direction of growth；Normal vector with the direction of growth of the trunk at height h as plane, excessively anchor point build trunk at height h
Trunk cross section.
In one embodiment, the step 2, obtains the cross-section millet cake cloud of trunk, including：
A plane is built in the top in trunk cross section, the plane is parallel with trunk cross section and apart from cross section
Distance is equal to the width for enclosing chi, and the trunk in the middle of the two planes selects cloud and is the cross-section millet cake cloud Q of trunkD；
By the cross-section millet cake cloud Q of trunkDThe planar point projected in the three dimensions obtained on trunk cross section converges
QDp, according to geometric transformation, by QDpRotate to be one and converge Q with the planar point of the two-dimensional space of plane-parallelDpxy。
Trunk cross section is a plane, and point of the trunk point cloud on some trunk cross section has larger with point cloud density
Relation.When a cloud density is not high, only it is difficult to reflect the true of trunk cross section with the trunk point cloud on a trunk cross section
Real profile.It is used in combination when enclosing chi measurement trunk diameter, encloses chi around trunk one week and one circulus of formation, and the height of ring
Degree is equal to the width for enclosing chi --- and 1 centimetre, therefore, the present embodiment one height of structure is 1 centimetre of ring-type trunk point cloud conduct
The cross-section millet cake cloud of trunk.The present embodiment is positioning trunk at height h on the basis of trunk cross section, in trunk cross section
Top builds a plane, and the plane is parallel with trunk cross section and apart from 1 centimetre of cross section.In the middle of the two planes
Trunk selects cloud and is the cross-section millet cake cloud Q of trunkD.By QDProject to the plane in the three dimensions obtained on trunk cross section
Point converges QDp, according to geometric transformation, can be by QDpRotate to be one and converge Q with the planar point of the two-dimensional space of plane-parallelDpxy,
The referred to as plane projection point set of the cross-section millet cake cloud of trunk.
In one embodiment, the step 4, obtains trunk cross-sectional outling point, including：
With the plane projection point set Q of the cross-section millet cake cloud of trunkDpxyGeometric center point centered on point, calculate point set QDpxyIn
The angle of each point and central point；
According to angle value to QDpxyThe point that point is concentrated does angle subregion, and the angle value of each angle subregion is 1 degree, thus
By QDpxyThe point that point is concentrated is divided into 360 angle subregions；
The equalization point in each angle subregion is taken as the profile point in trunk cross section, then obtains one by 360 points
The trunk cross-sectional outling point set Q of compositionprofile；The coordinate value of the equalization point be in the angle subregion geometry a little put down
Average.
In one embodiment, trunk cross-sectional outling curve is built, trunk cross-sectional outling curve is referred to cross for one and set
Dry cross-sectional outling point QprofileClosure smooth curve.The step 5, builds trunk cross-sectional outling curve, including：
One closed curve is built using non-reasonable B-spline Curve, first by Qprofile3 points of stem add successively
Enter to QprofileAfterbody also 3 points of afterbody are added sequentially to into Q simultaneouslyprofileStem, constitute interpolation point Q={ Qk},k
=0,1 ..., n；
The node parameter values of interpolation point Q are calculated using chord length parameter methodD is made to be total chord length,
Parameter value is defined as：
Mean value method calculate node vector U={ u are used according to node parameter values0,u0,...,um, have
Wherein, p=3 represents the number of times of SPL, and n=| Q | represent the number of interpolation point, m=n+p-1；
The control point of non-reasonable B-spline Curve is solved using the method for global curve interpolation, obtaining coefficient matrix is
(n+1) system of linear equations of × (n+1)：
Wherein, Ni,pU () is expressed as
Solving equation group obtains n+1 control point { Pi, according to the expression formula of non-reasonable B-spline Curve
A full curve is obtained, Q is setprofileFirst node Q0For first node, start to build from first node,
Stop the structure of curve when curve rounds reaches first node, you can obtain complete closed curve, the curve is
Trunk cross-sectional outling curve.It is that wealthy curve is taken turns in three cross sections for building shown in Fig. 2, it can be seen that the horizontal stroke of trunk
Profiled outline curve can reflect the scraggly feature in trunk cross section, and on this basis calculated basal area is believed that
It is the real cross section basal area of comparison.In one embodiment, the basal area in trunk cross section, trunk cross-sectional outling are calculated
Curve is the curve of a closure, and the curve encloses the basal area that the area in region is trunk cross section, according to Green
(Green) calculating that closed curve encloses area can be converted to formula the calculating of first form curve integral, so as to obtain trunk
The basal area in cross section.
It should be noted that above example is only to illustrate technical scheme and unrestricted, this area is common
Other modifications or equivalent that technical staff is made to technical scheme, without departing from technical solution of the present invention
Spirit and scope, all should cover in the middle of scope of the presently claimed invention.
Claims (7)
1. a kind of basal area computational methods of the trunk cross-sectional outling curve based on cloud data, it is characterised in that：Including such as
Lower step：
Step 1, obtains trunk in the cross section of specific location；
Step 2, obtains the cross-section millet cake cloud of trunk；
Step 3, calculates the geometric center point of the cross-section millet cake cloud of trunk；
Step 4, obtains trunk cross-sectional outling point；
Step 5, builds trunk cross-sectional outling curve；
Step 6, calculates trunk cross section basal area.
2. the basal area calculating side of a kind of trunk cross-sectional outling curve based on cloud data according to claim 1
Method, it is characterised in that：The step 1, calculates trunk in the cross section of specific location, including：
The minimum point in trunk point cloud is calculated, and the height of trunk is calculated based on the minimum point；
On the basis of minimum point, with vectorFor the normal vector of plane, with h+ predeterminable ranges at the top h of minimum point
Two planes that place builds respectively；Trunk point cloud in the middle of two planes constitutes a trunk point cloud mass, by trunk point
A planar point is obtained in the plane that cloud mass point cloud projects at trunk height h to converge, Calculation Plane point converges the convex closure of composition
Polygonal center of mass point, geometric center point and trunk trunk cross section at height h that the center of mass point is converged for planar point
Anchor point.
3. the basal area calculating side of a kind of trunk cross-sectional outling curve based on cloud data according to claim 2
Method, it is characterised in that：The step 1 also includes building trunk cross section of the trunk at height h by anchor point, including：
The direction of growth of the trunk at height h is calculated using alternative manner；Kth time is iterated to calculate：Built anchor point and method
Vector isA plane, plane on the basis of the plane；The direction of growth of the trunk at height h is trunk in height h
The normal vector in the trunk cross section at place；
Based on datum plane, 5 planes parallel with this are built respectively, wherein 3 planes are located above datum plane, 2
Individual plane is located at datum plane lower section；
Obtain 5 trunk point cloud masses and 5 geometric center points；
The direction of growth of the trunk at height h is calculated using principal component analytical method to 5 geometric center pointsWherein, association side
The corresponding characteristic vector of eigenvalue of maximum of difference matrix is the direction of growth of the trunk at height hPlanar process vector assignment
ForCarry out+1 iteration of kth；Normal vector is during first iterationIteration termination condition is：Adjacent iteration twice is obtained
The two trunk directions of growth for arrivingWithAngle thetakLess than 0.5 degree or θkWith θk+1Differential seat angle be less than 0.5 degree；Iteration
At the end of the trunk direction of growthThe as direction of growth of the trunk at height h；It is with the direction of growth of the trunk at height h
The normal vector of plane, by anchor point trunk cross section of the trunk at height h is built.
4. the basal area calculating side of a kind of trunk cross-sectional outling curve based on cloud data according to claim 3
Method, it is characterised in that：The step 2, obtains the cross-section millet cake cloud of trunk, including：
A plane is built in the top in trunk cross section, the plane is parallel with trunk cross section and distance apart from cross section
Equal to the width for enclosing chi, the trunk in the middle of the two planes selects cloud and is the cross-section millet cake cloud Q of trunkD；
By the cross-section millet cake cloud Q of trunkDThe planar point projected in the three dimensions obtained on trunk cross section converges QDp, root
According to geometric transformation, by QDpRotate to be one and converge Q with the planar point of the two-dimensional space of plane-parallelDpxy。
5. the basal area calculating side of a kind of trunk cross-sectional outling curve based on cloud data according to claim 4
Method, it is characterised in that：The step 4, obtains trunk cross-sectional outling point, including：
With the plane projection point set Q of the cross-section millet cake cloud of trunkDpxyPoint centered on the polygonal center of mass point of convex closure of composition, calculates point
Collection QDpxyIn each point and the angle of central point；
According to angle value to QDpxyThe point that point is concentrated does angle subregion, and the angle value of each angle subregion is 1 degree, thus will
QDpxyThe point that point is concentrated is divided into 360 angle subregions；
Take equalization point in each angle subregion as trunk cross section this angle subregion profile point, then obtain one by
The trunk cross-sectional outling point set Q of 360 point compositionsprofile；The coordinate value of the equalization point in the angle subregion institute a little
Geometrical mean.
6. the basal area calculating side of a kind of trunk cross-sectional outling curve based on cloud data according to claim 5
Method, it is characterised in that：The step 5, builds trunk cross-sectional outling curve, including：
One closed curve is built using non-reasonable B-spline Curve, first by Qprofile3 points of stem are added sequentially to
QprofileAfterbody also 3 points of afterbody are added sequentially to into Q simultaneouslyprofileStem, constitute interpolation point Q={ Qk, k=0,
1,...,n；
The node parameter values of interpolation point Q are calculated using chord length parameter methodD is made to be total chord length,
Parameter value is defined as：
Mean value method calculate node vector U={ u are used according to node parameter values0,u0,...,um, have
u0=...=up=0, um-p=...=um=1,
Wherein, p=3 represents the number of times of SPL, and n=| Q | represent the number of interpolation point, m=n+p-1；
The control point of non-reasonable B-spline Curve is solved using the method for global curve interpolation, coefficient matrix is obtained for (n+1)
The system of linear equations of × (n+1)：
Wherein, Ni,pU () is expressed as
Solving equation group obtains n+1 control point { Pi, according to the expression formula of non-reasonable B-spline Curve
A full curve is obtained, Q is setprofileFirst node Q0For first node, start to build from first node, work as song
Wire loop stops the structure of curve when first node was reached around one week, you can obtain complete closed curve, the curve is trunk
Cross-sectional outling curve.
7. the basal area calculating side of a kind of trunk cross-sectional outling curve based on cloud data according to claim 6
Method, it is characterised in that：The step 6, calculates trunk cross section basal area, including：
The trunk cross-sectional outling curve of closure encloses the basal area that the area in region is trunk cross section, according to green theorem
The calculating that the trunk cross-sectional outling curve of closure encloses area can be converted to the calculating of first form curve integral, so as to obtain
The basal area in trunk cross section.
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| CN111207714A (en) * | 2020-02-18 | 2020-05-29 | 黑龙江省林业科学研究所 | Tree diameter measuring method and tool |
| CN112164081A (en) * | 2020-09-30 | 2021-01-01 | 西南交通大学 | Method for extracting cross section contour of vehicle-mounted LiDAR point cloud railway |
| CN113963010A (en) * | 2021-07-27 | 2022-01-21 | 成都睿铂科技有限责任公司 | Object contour line extraction method and system |
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| CN107773246B (en) * | 2017-09-28 | 2020-09-11 | 武汉惟景三维科技有限公司 | Auricle defect measuring method based on optical three-dimensional measurement |
| CN109215019A (en) * | 2018-08-24 | 2019-01-15 | 华南农业大学 | A kind of timber cut-off localization method and device based on log curvature |
| CN111207714A (en) * | 2020-02-18 | 2020-05-29 | 黑龙江省林业科学研究所 | Tree diameter measuring method and tool |
| CN111207714B (en) * | 2020-02-18 | 2021-07-23 | 黑龙江省林业科学研究所 | Tree diameter measuring method and tool |
| CN112164081A (en) * | 2020-09-30 | 2021-01-01 | 西南交通大学 | Method for extracting cross section contour of vehicle-mounted LiDAR point cloud railway |
| CN112164081B (en) * | 2020-09-30 | 2023-04-21 | 西南交通大学 | Vehicle-mounted LiDAR point cloud railway cross section contour extraction method |
| CN113963010A (en) * | 2021-07-27 | 2022-01-21 | 成都睿铂科技有限责任公司 | Object contour line extraction method and system |
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