CN106918311A - Isolated tree crown mapping area automatic calculating method based on vehicle-mounted laser cloud data - Google Patents
Isolated tree crown mapping area automatic calculating method based on vehicle-mounted laser cloud data Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/28—Measuring arrangements characterised by the use of optical techniques for measuring areas
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0035—Measuring of dimensions of trees
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
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- G06T2207/10028—Range image; Depth image; 3D point clouds
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Abstract
The invention discloses a kind of isolated tree crown mapping area automatic calculating method based on vehicle-mounted laser cloud data, and in particular to the crossing domain of geography information and information technology.The three dimensional point cloud that the isolated tree crown mapping area automatic calculating method for being based on vehicle-mounted laser cloud data is obtained using vehicle-mounted laser traverse measurement system, culture point cloud to be sorted is obtained by the pretreatment to original point cloud data, using the sorting technique of layering projection, feature according to different atural objects is accurately identified isolated tree, and the automatic calculating of isolated tree projected area is realized further with algorithm of convex hull.The present invention realizes and isolated tree is extracted from mass cloud data, solve the problems, such as the extraction of isolated tree, and further carried out the calculating of crown mapping area, solve the problems, such as that isolated tree crown mapping area is difficult to accurate measurement, realize automatic calculating and the accurate measurement of isolated tree crown mapping area.
Description
Technical field
Vehicle-mounted laser point cloud number is based on the present invention relates to geography information and the crossing domain of information technology, more particularly to one kind
According to isolated tree crown mapping area automatic calculating method.
Background technology
Isolated tree accurately measure be forestry practitioner carry out arboreal growth detection, biomass calculate etc. research necessary hand
Section, meanwhile, to realize that the dynamic to isolated tree growing state updates so that the measurement of isolated tree must is fulfilled for certain precision.
Traditional measurement means complex operation, precision is not high, destruction is strong, automaticity is low, particularly the essence of crown mapping area
Locating tab assembly is always a big difficult point.
The content of the invention
The purpose of the present invention is directed to above-mentioned deficiency, it is proposed that a kind of to realize the fast of isolated tree crown mapping area
Fast, lossless, accurate measurement the isolated tree crown mapping area automatic calculating method based on vehicle-mounted laser cloud data.
The present invention is specifically adopted the following technical scheme that：
Isolated tree crown mapping area automatic calculating method based on vehicle-mounted laser cloud data, including：
Three dimensional point cloud is obtained using vehicle-mounted laser traverse measurement system, by carrying out to original point cloud data processing
To culture point cloud to be sorted, using the sorting technique of layering projection, the feature according to different atural objects is accurately identified isolated tree,
The automatic calculating of isolated tree projected area is realized further with algorithm of convex hull, including：
Data preprocessing, the extraction of isolated tree point cloud and isolated tree crown mapping areal calculation；
Data preprocessing includes denoising and is filtered with ground；
The extraction of isolated tree point cloud：Specified altitude assignment layer point cloud segmentation and Knowledge based engineering point cloud classifications：
The process of specified altitude assignment layer point cloud segmentation is as follows：
To the atural object cloud data after point cloud pretreatment, the method using layering projection is classified, first by atural object
Point projects to XOY faces and builds two-dimensional level grid according to specified altitude assignment, and counts the points fallen into each grid respectively, according to
Grid is carried out binary conversion treatment by the number of point：Points are labeled as 0 for 0 and less than the grid value of threshold value in grid, other marks
It is 1, then since the upper left corner of two-dimentional grid, the grid that grid value is 1 is searched from left to right, from top to bottom, with what is found
First grid is seed point, and eight neighborhood search is carried out to it, if its adjoining grid value is 1, is clicked through as next seed
Line search, untill being found without the grid that adjacent grid value is 1, while the continuous grid that will have been found is assigned to ground
Thing is numbered, and all of point is an independently object point cloud in the area grid；It is 1 and not labeled lattice to continue to search for grid value
Net, finishes until all of grid is judged, and completes the segmentation of independently object point cloud；
Knowledge based engineering point cloud classifications include it is following some：
Building：Building typically has larger floor space, and the length range along vehicle heading is also larger,
After carrying out layering projection to building object point cloud, there is same shape at the same location of different layers, facade point is intensive, has
Grid density higher, and with larger absolute altitude, contact area of ground and horizontal projected area；
Trees：After carrying out layering projection to tree point cloud, the projection of shape of different height layer differs greatly, and is in from top to bottom
Now first increase the projected area feature for reducing afterwards, and the bottom of isolated tree is smaller with contact area of ground, tri- directions of X, Y, Z
Coordinate standard deviation it is larger, with larger horizontal projected area and less contact area of ground；
Shaft-like atural object：After shaft-like culture point cloud layering projection, universal law is except top, the projection of shape of other layers
Keep constant, with less contact area of ground；
Isolated tree crown mapping areal calculation：
For the isolated tree point cloud for extracting, project on level ground first, to the discrete point set after projection using convex
Bag algorithm is processed, and then calculates the polygonal area of convex closure, as crown mapping area；
Algorithm of convex hull is Graham scanning methods, and operating process is that each point that subpoint is concentrated is pressed into stack once,
The point for being not belonging to summit in convex hull set is popped, and the polygonal summit of convex closure is only included in so last storehouse, and order is each
The order of the counter clockwise direction arrangement that summit occurs on border；
The computational methods of convex closure area of a polygon are：N represents the number of required convex closure polygon vertex, xiRepresent i-th
The x coordinate on individual summit, yiRepresent i-th y-coordinate on summit, xi+1Represent the x coordinate on i+1 summit, yi+1Represent i+1
The y-coordinate on summit, the polygonal areal calculation formula of its convex closure is：
Wherein, S is required crown mapping area.
Preferably, the three dimensional point cloud that vehicle-mounted laser traverse measurement system is obtained is gathered including vehicle-mounted mobile measuring system
Road both sides and its surrounding magnanimity city three dimensional point cloud, including building, trees, electric pole and street lamp city be classical
Atural object, its data form includes coordinate information and echo information.
Preferably, the method for building two-dimensional level grid is that the difference for projecting to X-direction on the XOY plane of level ground is
The length of horizontal grid, the difference for projecting to Y-direction on the XOY plane of level ground is the width of horizontal grid, carry out here etc.
The step-length that interval is divided in grid, i.e. X-direction and Y-direction is equal, if step-length is l, then for any point (x, y), where it
Grid computing formula be,
Wherein, r is grid line number, and c is grid row number, and (int) represents rounding operation.
Preferably, the convex closure polygon is on given its border or any two point of inside, the two point connecting lines
Being included in a little on the polygonal inside or border in section, then the polygon is convex closure polygon.
The present invention has the advantages that：The present invention realizes and isolated tree is extracted from mass cloud data, solves
The extraction problem of isolated tree, and the calculating of crown mapping area has further been carried out, solve isolated tree crown mapping area difficult
With the problem of accurate measurement, automatic calculating and the accurate measurement of isolated tree crown mapping area are realized.
Brief description of the drawings
Fig. 1 is the flow chart of the isolated tree crown mapping area automatic calculating method based on vehicle-mounted laser cloud data；
Fig. 2 is the three dimensional point cloud that vehicle-mounted mobile measuring system is collected；
Fig. 3 is the pretreated cloud data of passing point cloud；
Fig. 4 is the isolated tree cloud data for extracting；
Fig. 5 is that seed point eight neighborhood searches for schematic diagram；
Fig. 6 is to build the result after the layering projection of object point cloud；
Fig. 7 is the result after shaft-like cloud layering projection；
Fig. 8 is the result after tree point cloud layering projection；
Fig. 9 is the convex closure polygon that isolated tree of the present invention projects to the composition of the discrete point set behind ground；
Figure 10 is the two-dimensional level grid schematic diagram for building.
Wherein, 1 is data preprocessing, and 2 is the extraction of isolated tree point cloud, and 3 is isolated tree crown mapping areal calculation.
Specific embodiment
Specific embodiment of the invention is described further with specific embodiment below in conjunction with the accompanying drawings：
As Figure 1-5, the isolated tree crown mapping area automatic calculating method based on vehicle-mounted laser cloud data, bag
Include：
Three dimensional point cloud is obtained using vehicle-mounted laser traverse measurement system, by carrying out to original point cloud data processing
To culture point cloud to be sorted, using the sorting technique of layering projection, the feature according to different atural objects is accurately identified isolated tree,
The automatic calculating of isolated tree projected area is realized further with algorithm of convex hull, including：
The extraction 2 of data preprocessing 1, isolated tree point cloud and isolated tree crown mapping areal calculation 3；
Data preprocessing includes denoising and is filtered with ground；Denoising is exactly in removing original point cloud data
Noise data, due to the working method of laser scanner, part is inevitably included in the laser point cloud data for obtaining
Noise data, it is therefore desirable to denoising first is carried out to original point cloud data, in order to avoid influence subsequent point cloud classification precision.Carry out
Ground filtering is, in order to reduce the amount of calculation of sort operation, to improve the treatment effeciency of total algorithm.
The extraction of isolated tree point cloud：Specified altitude assignment layer point cloud segmentation and Knowledge based engineering point cloud classifications：
The process of specified altitude assignment layer point cloud segmentation is as follows：
To the atural object cloud data after point cloud pretreatment, the method using layering projection is classified, first by atural object
Point projects to XOY faces and builds two-dimensional level grid according to specified altitude assignment, and counts the points fallen into each grid respectively, according to
Grid is carried out binary conversion treatment by the number of point：Points are labeled as 0 for 0 and less than the grid value of threshold value in grid, other marks
It is 1, then since the upper left corner of two-dimentional grid, the grid that grid value is 1 is searched from left to right, from top to bottom, with what is found
First grid is seed point, and eight neighborhood search is carried out to it, if its adjoining grid value is 1, is clicked through as next seed
Line search, untill being found without the grid that adjacent grid value is 1, while the continuous grid that will have been found is assigned to ground
Thing is numbered, and all of point is an independently object point cloud in the area grid；It is 1 and not labeled lattice to continue to search for grid value
Net, finishes until all of grid is judged, and completes the segmentation of independently object point cloud；During specified altitude assignment layer point cloud segmentation
Eight neighborhood search for, if the grid coordinate of seed point be (i, j), then its eight neighborhood grid coordinate be respectively (i-1, j), (i-1, j),
(i-1, j+1), (i, j-1), (i, j+1), (i+1, j-1), (i+1, j), (i+1, j+1).
Knowledge based engineering point cloud classifications include it is following some：
As Figure 6-9, building：Building typically has larger floor space, along the length of vehicle heading
Degree scope is also larger, after carrying out layering projection to building object point cloud, there is same shape at the same location of different layers, stands
Millet cake is intensive, with grid density higher, and with larger absolute altitude, contact area of ground and horizontal projected area；
Trees：After carrying out layering projection to tree point cloud, the projection of shape of different height layer differs greatly, and is in from top to bottom
Now first increase the projected area feature for reducing afterwards, and the bottom of isolated tree is smaller with contact area of ground, tri- directions of X, Y, Z
Coordinate standard deviation it is larger, with larger horizontal projected area and less contact area of ground；
Shaft-like atural object：After shaft-like culture point cloud layering projection, universal law is except top, the projection of shape of other layers
Keep constant, with less contact area of ground；
Isolated tree crown mapping areal calculation：
For the isolated tree point cloud for extracting, project on level ground first, to the discrete point set after projection using convex
Bag algorithm is processed, and then calculates the polygonal area of convex closure, as crown mapping area, and crown mapping area is tree crown
Point cloud projects to the area of level ground XOY.
Algorithm of convex hull is Graham scanning methods, and operating process is that each point that subpoint is concentrated is pressed into stack once,
The point for being not belonging to summit in convex hull set is popped, and the polygonal summit of convex closure is only included in so last storehouse, and order is each
The order of the counter clockwise direction arrangement that summit occurs on border；
The computational methods of convex closure area of a polygon are：N represents the number of required convex closure polygon vertex, xiRepresent i-th
The x coordinate on individual summit, yiRepresent i-th y-coordinate on summit, xi+1Represent the x coordinate on i+1 summit, yi+1Represent i+1
The y-coordinate on summit, the polygonal areal calculation formula of its convex closure is：
Wherein, S is required crown mapping area.
The three dimensional point cloud that vehicle-mounted laser traverse measurement system is obtained includes the road of vehicle-mounted mobile measuring system collection
Both sides and its magnanimity city three dimensional point cloud of surrounding, including building, trees, electric pole and the classical ground in city etc. street lamp
Thing, its data form generally comprises coordinate information and echo information.
As shown in Figure 10, the method for building two-dimensional level grid is the difference for projecting to X-direction on the XOY plane of level ground
It is the length of horizontal grid to be worth, and the difference for projecting to Y-direction on the XOY plane of level ground is the width of horizontal grid, is entered here
The step-length that row is divided in grid, i.e. X-direction and Y-direction at equal intervals is equal, if step-length is l, then for any point (x, y), its
The grid computing formula at place is,
Wherein, r is grid line number, and c is grid row number, and (int) represents rounding operation.
Convex closure polygon be for a simple polygon, convex closure polygon be give its border on or inside appoint
Two points of meaning, being included in a little on the polygonal inside or border on the two point connecting line segments, then this is polygon
Shape is convex closure polygon.
This is based on the isolated tree crown mapping area automatic calculating method of vehicle-mounted laser cloud data, first to original point cloud
Data carry out noise suppression preprocessing, remove noise spot, and ground filtering is then carried out to the cloud data after denoising, remove ground
Point, then carries out point cloud classifications to remaining culture point.Here the method based on layering projection is classified, in specified altitude assignment layer
Grid cluster is carried out after projection, knowledge based is classified to different atural objects, obtains isolated tree, then realized by algorithm of convex hull
The automatic calculating of isolated tree projected area.The present invention realizes and isolated tree is extracted from mass cloud data, solves isolated tree
Extraction problem, and further carried out the calculating of crown mapping area, solve isolated tree crown mapping area and be difficult to accurately
The problem of measurement, realizes automatic calculating and the accurate measurement of isolated tree crown mapping area.
Certainly, described above is not limitation of the present invention, and the present invention is also not limited to the example above, this technology neck
Change, remodeling, addition or replacement that the technical staff in domain is made in essential scope of the invention, should also belong to of the invention
Protection domain.
Claims (4)
1. the isolated tree crown mapping area automatic calculating method of vehicle-mounted laser cloud data is based on, it is characterised in that including：
Three dimensional point cloud is obtained using vehicle-mounted laser traverse measurement system, is treated by original point cloud data process
The culture point cloud of classification, using the sorting technique of layering projection, the feature according to different atural objects is accurately identified isolated tree, enters one
Step realizes the automatic calculating of isolated tree projected area using algorithm of convex hull, including：
Data preprocessing, the extraction of isolated tree point cloud and isolated tree crown mapping areal calculation；
Data preprocessing includes denoising and is filtered with ground；
The extraction of isolated tree point cloud：Specified altitude assignment layer point cloud segmentation and Knowledge based engineering point cloud classifications：
The process of specified altitude assignment layer point cloud segmentation is as follows：
To the atural object cloud data after point cloud pretreatment, the method using layering projection is classified, is first pressed culture point
XOY faces are projected to according to specified altitude assignment and build two-dimensional level grid, and count the points fallen into each grid respectively, according to point
Grid is carried out binary conversion treatment by number：Points are labeled as 0 for 0 and less than the grid value of threshold value in grid, and other are labeled as 1,
Then since the upper left corner of two-dimentional grid, from left to right, from top to bottom search grid value be 1 grid, with find first
Individual grid is seed point, and eight neighborhood search is carried out to it, if its adjoining grid value is 1, is searched as next seed point
Rope, untill being found without the grid that adjacent grid value is 1, while the continuous grid that will have been found is assigned to atural object volume
Number, all of point is an independently object point cloud in the area grid；It is 1 and not labeled grid to continue to search for grid value,
Finished until all of grid is judged, complete the segmentation of independently object point cloud；
Knowledge based engineering point cloud classifications include it is following some：
Building：Building typically has larger floor space, and the length range along vehicle heading is also larger, to building
After building object point cloud and carrying out layering projection, there is same shape at the same location of different layers, facade point is intensive, with higher
Grid density, and with larger absolute altitude, contact area of ground and horizontal projected area；
Trees：After carrying out layering projection to tree point cloud, the projection of shape of different height layer differs greatly, and presents from top to bottom first
The projected area feature reduced after increase, and the bottom of isolated tree is smaller with contact area of ground, tri- seats in direction of X, Y, Z
Mark standard deviation is larger, with larger horizontal projected area and less contact area of ground；
Shaft-like atural object：After shaft-like culture point cloud layering projection, universal law is except top, the projection of shape holding of other layers
It is constant, with less contact area of ground；
Isolated tree crown mapping areal calculation：
For the isolated tree point cloud for extracting, project on level ground first, the discrete point set after projection is calculated using convex closure
Method is processed, and then calculates the polygonal area of convex closure, as crown mapping area；
Algorithm of convex hull is Graham scanning methods, and operating process is that each point that subpoint is concentrated is pressed into stack once, is not belonged to
The point on summit is popped in convex hull set, and the polygonal summit of convex closure is only included in so last storehouse, and order is each summit
The order of the counter clockwise direction arrangement occurred on border；
The computational methods of convex closure area of a polygon are：N represents the number of required convex closure polygon vertex, xiRepresent i-th summit
X coordinate, yiRepresent i-th y-coordinate on summit, xi+1Represent the x coordinate on i+1 summit, yi+1Represent i+1 summit
Y-coordinate, the polygonal areal calculation formula of its convex closure is：
Wherein, S is required crown mapping area.
2. the isolated tree crown mapping area automatic calculating method of vehicle-mounted laser cloud data is based on as claimed in claim 1,
Characterized in that, the three dimensional point cloud that vehicle-mounted laser traverse measurement system is obtained includes the road of vehicle-mounted mobile measuring system collection
Road both sides and its magnanimity city three dimensional point cloud of surrounding, including the classical ground in building, trees, electric pole and street lamp city
Thing, its data form includes coordinate information and echo information.
3. the isolated tree crown mapping area automatic calculating method of vehicle-mounted laser cloud data is based on as claimed in claim 1,
Characterized in that, build two-dimensional level grid method be project to X-direction on the XOY plane of level ground difference be level
The length of grid, the difference for projecting to Y-direction on the XOY plane of level ground is the width of horizontal grid, is carried out here at equal intervals
The step-length divided in grid, i.e. X-direction and Y-direction is equal, if step-length is l, then for any point (x, y), and the lattice where it
Network No. computing formula is,
Wherein, r is grid line number, and c is grid row number, and (int) represents rounding operation.
4. the isolated tree crown mapping area automatic calculating method of vehicle-mounted laser cloud data is based on as claimed in claim 1,
Characterized in that, the convex closure polygon is on given its border or any two point of inside, on the two point connecting line segments
Be included in a little on the polygonal inside or border, then the polygon be convex closure polygon.
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| CN108744520A (en) * | 2018-06-05 | 2018-11-06 | 网易（杭州）网络有限公司 | Determine the method, apparatus and electronic equipment of game model placement position |
| CN108984599A (en) * | 2018-06-01 | 2018-12-11 | 青岛秀山移动测量有限公司 | A kind of vehicle-mounted laser point cloud road surface extracting method referred to using driving trace |
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