CN107741222B - regularization method and system for disordered point cloud - Google Patents
regularization method and system for disordered point cloud Download PDFInfo
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- CN107741222B CN107741222B CN201711012759.1A CN201711012759A CN107741222B CN 107741222 B CN107741222 B CN 107741222B CN 201711012759 A CN201711012759 A CN 201711012759A CN 107741222 B CN107741222 B CN 107741222B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The invention discloses a regularization method of disordered point cloud. The method comprises the following steps: collecting a track line of a scanning vehicle; dividing the trajectory line to obtain dividing points, wherein the distance between every two dividing points is the same; constructing a virtual oblique plane of each dividing point; calculating the azimuth angles from the laser point on the virtual oblique plane and the laser point which is spatially less than the threshold value away from the virtual oblique plane to the dividing point; connecting laser points in sequence according to the size of the azimuth angle to obtain scanning lines and marking line numbers of the scanning lines; marking the point numbers of the laser points in sequence according to the size of the azimuth angle; searching the laser point with the closest distance on the adjacent scanning line of each laser point, and recording the point number of the closest laser point corresponding to each laser point; and acquiring the line number of the scanning line, the point number of the laser point and the point number of the nearest laser point corresponding to each laser point, and establishing the topological relation of the point cloud. The invention can realize the regularization of the disordered point cloud, improve the efficiency of automatic point cloud extraction and quickly and accurately construct the three-dimensional model of the target object.
Description
Technical Field
The invention relates to the field of vehicle-mounted laser point cloud, in particular to a regularization method and system of disordered point cloud.
Background
in recent years, laser scanning technology has been gaining popularity in various fields, which can rapidly acquire surface information of an object on a large scale. Vehicle-mounted laser scanning technology has been widely applied to the geographic information industry for acquiring city three-dimensional data and constructing digital cities. The spatial sampling points acquired by laser scanning are called 'point clouds', the point clouds contain abundant terrain and ground object information, and feature information in the point clouds, such as a roadside line, an isolation zone, a street lamp, an electric pole, an electric wire, a trunk, a sign, a wall surface and other tens of road elements can be identified by automatically extracting point cloud data, so that a three-dimensional model of a target object can be constructed.
However, most of the current vehicle-mounted laser point clouds are disordered, namely, the logic in the point clouds is unclear, and a topological relation cannot be established. The disordered point cloud affects the efficiency of automatic extraction, and therefore the efficiency and accuracy of the construction of the three-dimensional model of the target object are affected.
Disclosure of Invention
the invention aims to provide a regularization method and a regularization system for disordered point clouds, which are used for establishing a topological relation in the point clouds to enable laser points in the point clouds to be sequentially arranged, so that the automatic extraction efficiency of the point clouds is improved, and a three-dimensional model of a target object is quickly and accurately constructed.
In order to achieve the purpose, the invention provides the following scheme:
a method of regularization of a disordered point cloud, the method comprising:
Collecting a track line of a scanning vehicle;
Dividing the trajectory line to obtain dividing points, wherein the distance between every two dividing points is the same;
constructing a virtual chamfer of each of the division points;
Calculating the azimuth angles from the laser points on the virtual oblique planes and the laser points which are spatially less than a threshold value away from the virtual oblique planes to the division points;
connecting the laser points in sequence according to the size of the azimuth angle to obtain a scanning line, and marking the line number of the scanning line; marking the point numbers of the laser points in sequence according to the size of the azimuth angle;
Searching the laser point with the closest distance on the adjacent scanning line of each laser point, and recording the point number of the closest laser point corresponding to each laser point;
And acquiring the line number of the scanning line, the point number of the laser point and the point number of the nearest laser point corresponding to each laser point, and establishing a topological relation in the point cloud.
optionally, the distance between each dividing point is 5cm-10 cm.
optionally, at the dividing point, the included angle between the track line and the virtual chamfer is 45 °.
Optionally, when the laser points are connected in sequence according to the size of the azimuth angle, if a plurality of laser points with the same azimuth angle exist, the laser point with the minimum distance from the dividing point is selected.
the invention also provides a regularization system of the disordered point cloud, which comprises the following components:
the acquisition module is used for acquiring the track line of the scanning vehicle;
the dividing point acquisition module is used for dividing the trajectory line to obtain dividing points, and the spacing of each dividing point is the same;
The oblique plane construction module is used for constructing a virtual oblique plane of each division point;
the azimuth angle calculation module is used for calculating the azimuth angles from the laser points on the virtual oblique planes and the laser points which are spatially less than a threshold value away from the virtual oblique planes to the division points;
The scanning line acquisition module is used for sequentially connecting the laser points according to the size of the azimuth angle to obtain scanning lines and marking the line numbers of the scanning lines;
The point number marking module is used for marking the point numbers of the laser points in sequence according to the size of the azimuth angle;
The searching module is used for searching the laser point with the shortest distance on the adjacent scanning lines of each laser point and recording the point number of the laser point with the shortest distance corresponding to each laser point;
and the topological relation establishing module is used for acquiring the line number of the scanning line, the point number of the laser point and the point number of the nearest laser point corresponding to each laser point and establishing the topological relation in the point cloud.
optionally, the distance between each dividing point is 5cm-10 cm.
optionally, at the dividing point, the included angle between the track line and the virtual chamfer is 45 °.
optionally, when the laser points are connected in sequence according to the size of the azimuth angle, if a plurality of laser points with the same azimuth angle exist, the laser point with the minimum distance from the dividing point is selected.
compared with the prior art, the invention has the following technical effects: the invention provides a regularization method and a regularization system for disordered point clouds, which can establish a topological relation among the point clouds, sequentially arrange laser points in the point clouds, realize regularization of the disordered point clouds and ensure relative uniformity of the point clouds, thereby improving the efficiency of automatic extraction of the point clouds and quickly and accurately constructing a three-dimensional model of a target object.
Drawings
in order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a flowchart of a method for regularizing a disordered point cloud according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of scan line setup according to an embodiment of the present invention;
Fig. 3 is a schematic diagram for establishing a point cloud internal topological relation according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a regularization method and a regularization system for disordered point clouds, which are used for establishing a topological relation in the point clouds to enable laser points in the point clouds to be sequentially arranged, so that the automatic extraction efficiency of the point clouds is improved, and a three-dimensional model of a target object is quickly and accurately constructed.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a flowchart of a method for regularizing a disordered point cloud according to an embodiment of the present invention, where as shown in fig. 1, the method for regularizing a disordered point cloud includes:
step 101: and acquiring a track line of the scanning vehicle.
Specifically, a trajectory line is acquired by using an on-board system, or the trajectory line is manually drawn and subjected to appropriate smoothing processing.
Step 102: and dividing the trajectory line to obtain dividing points, wherein the distance between every two dividing points is the same.
Specifically, the track line is divided, and since the interval between the Riegl laser VMX450 and the time line of 70 kilometers per hour is 10cm, the interval between each dividing point is 5cm-10 cm.
Step 103: constructing a virtual chamfer of each of the division points.
specifically, at the dividing point, an included angle between the trajectory line and the virtual chamfer is 45 °. If the included angle is set to be 0 degree (namely a vertical plane), the boundary information of a plurality of vertical pole type ground objects (lamp poles and tree trunks) is lost; if the included angle is too large (approximate to a horizontal plane), the characteristic information of ground objects such as road teeth, traffic signs, electric wires and the like is lost. The angle of the vehicle-mounted laser is 30-60 degrees, so that the included angle between the track line and the virtual chamfer plane is 45 degrees.
Step 104: and calculating the azimuth angles from the laser point on the virtual oblique section and the laser point which is spatially less than a threshold value away from the virtual oblique section to the division point.
Step 105: connecting the laser points in sequence according to the size of the azimuth angle to obtain a scanning line, and marking the line number of the scanning line; and marking the point numbers of the laser points in sequence according to the size of the azimuth angle.
Specifically, as shown in fig. 2, a is an azimuth, a1 is a point number of the laser spot, L1 is a line number of the scanning line obtained by connecting the laser spots in sequence according to the size of the azimuth, and T is a track line of the scanning vehicle. And when the laser points are connected in sequence according to the size of the azimuth angle, if a plurality of laser points with the same azimuth angle exist, selecting the laser point with the minimum distance to the division point.
Step 106: and searching the laser point with the closest distance on the adjacent scanning line of each laser point, and recording the point number of the closest laser point corresponding to each laser point.
Step 107: and acquiring the line number of the scanning line, the point number of the laser point and the point number of the nearest laser point corresponding to each laser point, and establishing a topological relation in the point cloud.
specifically, as shown in fig. 3, in the schematic diagram for establishing the point cloud internal topological relationship, L1 and L2 are line numbers of two adjacent scanning lines, and b1 is a point number of a laser point a1 closest to the laser point on the adjacent scanning line L2. And acquiring the line number of the scanning line, the point number of the laser point and the point number of the nearest laser point corresponding to each laser point, so as to establish the topological relation in the point cloud.
the embodiment of the invention can establish the topological relation among the point clouds, so that the laser points in the point clouds are arranged in sequence, the regularization of disordered point clouds is realized, the relative uniformity of the point clouds is ensured, the automatic extraction efficiency of the point clouds is improved, and the three-dimensional model of the target object is constructed quickly and accurately.
The invention also provides a regularization system of the disordered point cloud, which comprises the following components:
And the acquisition module is used for acquiring the track line of the scanning vehicle.
Specifically, a trajectory line is acquired by using an on-board system, or the trajectory line is manually drawn and subjected to appropriate smoothing processing.
and the dividing point acquisition module is used for dividing the trajectory line to obtain dividing points, and the spacing of each dividing point is the same.
Specifically, the track line is divided, and since the interval between the Riegl laser VMX450 and the time line of 70 kilometers per hour is 10cm, the interval between each dividing point is 5cm-10 cm.
And the oblique plane construction module is used for constructing a virtual oblique plane of each division point.
Specifically, at the dividing point, an included angle between the trajectory line and the virtual chamfer is 45 °. If the included angle is set to be 0 degree (namely a vertical plane), the boundary information of a plurality of vertical pole type ground objects (lamp poles and tree trunks) is lost; if the included angle is too large (approximate to a horizontal plane), the characteristic information of ground objects such as road teeth, traffic signs, electric wires and the like is lost. The angle of the vehicle-mounted laser is 30-60 degrees, so that the included angle between the track line and the virtual chamfer plane is 45 degrees.
And the azimuth angle calculation module is used for calculating the azimuth angles from the laser point on the virtual oblique section and the laser point which is spatially less than a threshold value away from the virtual oblique section to the division point.
The scanning line acquisition module is used for sequentially connecting the laser points according to the size of the azimuth angle to obtain a scanning line; and marking the line number of the scanning line, and if a plurality of laser points with the same azimuth angle exist, selecting the laser point with the minimum distance from the dividing point.
And the point number marking module is used for marking the point numbers of the laser points in sequence according to the size of the azimuth angle.
and the searching module is used for searching the laser point with the closest distance on the adjacent scanning line of each laser point and recording the point number of the closest laser point corresponding to each laser point.
And the topological relation establishing module is used for acquiring the line number of the scanning line, the point number of the laser point and the point number of the nearest laser point corresponding to each laser point and establishing the topological relation in the point cloud.
in the system disclosed by the embodiment in the specification, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
the principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (4)
1. a regularization method of disordered point clouds, the method comprising:
Collecting a track line of a scanning vehicle;
Dividing the trajectory line to obtain dividing points, wherein the distance between every two dividing points is the same;
Constructing a virtual oblique plane of each division point, wherein the included angle between the track line and the virtual oblique plane is 45 degrees at the division point;
Calculating the azimuth angles from the laser points on the virtual oblique planes and the laser points which are spatially less than a threshold value away from the virtual oblique planes to the division points;
connecting the laser points in sequence according to the size of the azimuth angle to obtain a scanning line, and marking the line number of the scanning line; marking the point numbers of the laser points in sequence according to the size of the azimuth angles, and selecting the laser point with the minimum distance from the dividing point if a plurality of laser points with the same azimuth angle exist when the laser points are connected in sequence according to the size of the azimuth angles;
searching the laser point with the closest distance on the adjacent scanning line of each laser point, and recording the point number of the closest laser point corresponding to each laser point;
And acquiring the line number of the scanning line, the point number of the laser point and the point number of the nearest laser point corresponding to each laser point, and establishing a topological relation in the point cloud.
2. The method of claim 1, wherein each of said dividing points is spaced between 5cm and 10cm apart.
3. a regularization system for disordered point clouds, the system comprising:
the acquisition module is used for acquiring the track line of the scanning vehicle;
The dividing point acquisition module is used for dividing the trajectory line to obtain dividing points, and the spacing of each dividing point is the same;
The oblique plane construction module is used for constructing a virtual oblique plane of each division point, and the included angle between the track line and the virtual oblique plane at the division point is 45 degrees;
The azimuth angle calculation module is used for calculating the azimuth angles from the laser points on the virtual oblique planes and the laser points which are spatially less than a threshold value away from the virtual oblique planes to the division points;
the scanning line acquisition module is used for sequentially connecting the laser points according to the size of the azimuth angle to obtain scanning lines, marking the line number of the scanning lines, and if a plurality of laser points with the same azimuth angle exist, selecting the laser point with the minimum distance to the division point;
The point number marking module is used for marking the point numbers of the laser points in sequence according to the size of the azimuth angle;
The searching module is used for searching the laser point with the shortest distance on the adjacent scanning lines of each laser point and recording the point number of the laser point with the shortest distance corresponding to each laser point;
and the topological relation establishing module is used for acquiring the line number of the scanning line, the point number of the laser point and the point number of the nearest laser point corresponding to each laser point and establishing the topological relation in the point cloud.
4. the system of claim 3, wherein each of said dividing points is spaced between 5cm and 10cm apart.
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| US9208609B2 (en) * | 2013-07-01 | 2015-12-08 | Mitsubishi Electric Research Laboratories, Inc. | Method for fitting primitive shapes to 3D point clouds using distance fields |
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