CN108596860A - A kind of ground point cloud dividing method based on three-dimensional laser radar - Google Patents
A kind of ground point cloud dividing method based on three-dimensional laser radar Download PDFInfo
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Abstract
The invention discloses a kind of ground point cloud dividing method based on three-dimensional laser radar, includes the following steps：S100, ground point cloud data acquisition, are scanned based on Three Dimensional Ground laser radar to obtain spatial information data, and ground data is obtained in combination with GPS；S200, data processing, establish rectangular coordinate system, the ground data coordinate got are transformed into rectangular coordinate system, while being layered using equal thickness according to contour contour interval property；S300, the segmentation of ground point cloud information, the ground laser point cloud information classification that scanning is obtained；Noise data is classified and carries out noise processed respectively to it by S400, denoising；S500, image segmentation are shown, building facade information is directly extracted by grid mode, more comprehensive ground point cloud data is obtained by way of positioning and laser scanning is combined, the accuracy for improving point cloud data by classify segmentation and substep de-noising mode simultaneously, offers convenience for subsequent modeling and simulation.
Description
Technical field
The present invention relates to laser radar technique field, specially a kind of ground point cloud segmentation side based on three-dimensional laser radar
Method.
Background technology
Laser radar is to emit the radar system of the characteristic quantities such as the position of detecting laser beam target, speed.Its work is former
Reason be to objective emission detectable signal (laser beam), then by the reflected signal of slave target (target echo) received with
Transmitting signal is compared, after making proper treatment, so that it may target is obtained for information about, such as target range, orientation, height, speed
Degree, posture, the even parameters such as shape, to which the targets such as aircraft, guided missile are detected, tracked and be identified.It is by Laser emission
Electric pulse is become light pulse emission and gone out by the compositions such as machine, optical receiver, turntable and information processing system, laser, and light connects
Receipts machine electric pulse is reduced into from the reflected light pulse of target, is sent to display again.
Laser radar is the advanced detection mode that laser technology is combined with modern detecting technique, by emission system, is connect
The part such as receipts system, information processing forms, and emission system is various forms of lasers, such as carbon dioxide laser, neodymium-doped yttrium
The compositions such as YAG laser, the solid state laser of semiconductor laser and tunable wave length and optical beam-expanding unit；It connects
Receipts system uses telescope and various forms of photodetectors, such as photomultiplier, semiconductor photo diode, avalanche optoelectronic
The combinations such as diode, infrared and visible light multiunit detector part.
In the information that three-dimensional laser radar scans there are atural object be all ground be connected with each other, need to be extracted
And out, the work such as subsequent simulation and modeling can not otherwise be completed.
But existing three-dimensional laser radar dividing method has the following defects：
(1) traditional three-dimensional laser radar lacks corresponding positioning method, causes when carrying out data scanning acquisition
The data of acquisition are not accurate enough, while easy ting produce certain omission；
(2) while when segmentation, since point cloud data is there are the effect of more noise jamming, and noise jamming side
Formula differs, and single de-noising mode cannot be satisfied requirement, influences subsequent modeling and simulation work.
Invention content
In order to overcome the shortcomings of that prior art, the present invention provide a kind of ground point cloud based on three-dimensional laser radar point
Segmentation method obtains more comprehensive ground point cloud data by way of positioning and laser scanning is combined, while passing through classification
Segmentation and substep de-noising mode improve the accuracy of point cloud data, offer convenience, can effectively solve for subsequent modeling and simulation
The problem of certainly background technology proposes.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of ground point cloud dividing method based on three-dimensional laser radar, includes the following steps：
S100, ground point cloud data acquisition, are scanned based on Three Dimensional Ground laser radar to obtain spatial information data,
Ground data is obtained in combination with GPS；
S200, data processing, establish rectangular coordinate system, and the ground data coordinate got is transformed into rectangular coordinate system,
It is layered simultaneously using equal thickness according to contour contour interval property；
S300, the segmentation of ground point cloud information, the ground laser point cloud information classification that scanning is obtained, respectively building are vertical
Millet cake, ground point, other culture points and noise spot；
Noise data is classified and carries out noise processed respectively to it by S400, denoising；
S500, image segmentation are shown, after eliminating noise, building facade letter is directly extracted by grid mode
Breath, and centralized displaying.
Further, it in the step S100, is scanned by three-dimensional laser scanner, and passes through two GPS quick obtainings
Space coordinate, a rack, which is located on known point, makees base station, and another is mounted on rover station on laser scanner, and rover station ensures
With reference GPS receiver simultaneous observation, the instantaneous position of the real time measure rover station receiver.
Further, the three-dimensional laser scanner is mainly poly- including laser emitter, laser mirror, laser self-adoptive
Burnt control unit and Light Electrical automatic sensing device, and pass through internal compensation device adjust automatically instrument posture.
Further, in the step S200, a certain thickness of setting is taken to carry out equal thickness layering in elevation direction, and carry
Take the point cloud data in every layer.
Further, in the step S300, building facade point, which is divided into construction, to be completed building object point and waits for completed construction
Object point, other culture points include street lamp, billboard, isolated column.
Further, in the step S300, dust, shelter of the noise spot in mirror-reflection, air hide
The interference effect that the factors such as gear and building edge generate laser.
Further, in the step S400, noise jamming is divided into two classes, the first is and surface separation, is suspended in a little
The noise data apart from ground farther out above cloud, another kind are to mix the noise number closer apart from ground with ground point
According to.
Further, it when handling the first noise data, first to area dividing to be measured to ensure ground point, and finds out each
The elevation minimum point of block, and N number of point apart from minimum point is extracted, it is fitted its elevation using apart from the formaldehyde method of average, if fitting is high
The difference of journey value and surveyed height value is more than threshold value, then the point is extremely low point, is deleted；Minimum point is found in this part again, until
Until meeting conditions above.
Further, when handling second of noise data, using first building the triangulation network, then it is fitted part plan, to plane
Neighbouring point cloud data carries out elimination of rough difference, is as follows：
Point cloud data in the gained file after previous step is rejected is generated the triangulation network, and records sequence a little by the first step
Number and triangle serial number；
Second step finds such a triangle as seed region, its 3 points are fitted with weighted distance average method
Elevation, if being no more than threshold value, then it is assumed that they are the points on ground；
Third step is fitted 1 initial plane using this 3 points, and using sequence point, alternately point substitutes into plane equation, if
Fitting height and the difference for observing elevation are more than given value, then filter out, otherwise, receive as ground point；
4th step removes that oldest ground point, and point and the another two point newly received is determined a part plan, then
The elevation alternatively put is substituted into, third step is repeated.It is equivalent to and surveys area with a mobile simple landform face filtering is entire.
Further, in the step S500, the point cloud upright projection with three-dimensional spatial information is put down to rectangular co-ordinate
Face, building are in that band is distributed on the projection surface, grid segmentation are carried out to rectangular coordinate plane, to distinguish different zones projection
Dot density difference, and then distinguish building and the laser point cloud of other atural objects.
Compared with prior art, the beneficial effects of the invention are as follows：
(1) present invention carries out a cloud number when carrying out 3 D laser scanning by three-dimensional laser scanner combination GPS
According to acquisition, can not be limited by landform, control point according to the arbitrary frame station of landform, can flexible frame to the website of serious shielding
If supplement website realizes the complete acquisition of data, to effectively increase the integrality of gathered data information and comprehensive；
(2) the ground point cloud data of acquisition is split processing by the present invention using specific partitioning scheme, by acquisition
Data are classified and are focused on, and the accuracy of data information is improved；
(3) present invention eliminates the noise obtained in information in the way of noise classification processing, to effectively eliminate noise
Interference effect effectively reduces interference effect so that subsequent modeling process and simulation process are more accurate.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, the present invention provides a kind of ground point cloud dividing method based on three-dimensional laser radar, including it is as follows
Step：
S100, ground point cloud data acquisition, are scanned based on Three Dimensional Ground laser radar to obtain spatial information data,
Ground data is obtained in combination with GPS.
It in the step S100, is scanned by three-dimensional laser scanner, and by two GPS quick obtaining space coordinates,
One rack, which is located on known point, makees base station, and another is mounted on rover station on laser scanner, and rover station ensures and base station
GPS receiver simultaneous observation, the instantaneous position of the real time measure rover station receiver.
The three-dimensional laser scanner includes mainly laser emitter, laser mirror, laser self-adoptive focus control list
Member and Light Electrical automatic sensing device, and by internal compensation device adjust automatically instrument posture, so that instrument is working
When freely can actively adjust angle, to complete the work of different angle, improve the accuracy of data acquisition.
In the present embodiment, specifically used RieglVZ-1000 types three-dimensional laser scanner, south GPS differential receivers
Carry out data acquisition, wherein scanner main performance is：2.5~1400m of measurement distance, transmitting laser beam per second are most
300000, measurement accuracy ± 5mm in the range of 100m, 0 °~360 ° of angle measurement range level direction, vertical direction-
40 °~60 °, while using first order laser.
When scanning, three-dimensional laser scanner combination GPS carries out the acquisition of point cloud data, can be arbitrary according to landform
Frame station is not limited by landform, control point, and can flexibly set up supplement website to the website of serious shielding realizes that the complete of data is adopted
Collection, improves data acquisition quality.
Specific gatherer process is as follows：
1, in setting up GPS reference station on known point, the foundation as rover station relative positioning；
2, three-dimensional laser scanner is set up at first stop, opens station GPS and is positioned, ensure that positioning accuracy is full
Foot carries out panoramic scanning after requiring, counterweight spot scan region carries out fine scanning after the end of scan；
3, backsight target is placed in the site location of scanner scanning for the first time, scanner moves to second after the end of scan
Site location of standing carries out GPS positioning and scanner panoramic scanning, after the end of scan, at instrument automatic searching first stop site location
Backsight target column and fine scanning is carried out to target column, after the end of scan to specific atural object carry out scanner after smart scanning remove to
Third station；
4, the operation for repeating the 3rd step, the acquisition work of the point cloud data until completing whole region.
S200, data processing, establish rectangular coordinate system, and the ground data coordinate got is transformed into rectangular coordinate system,
It is layered simultaneously using equal thickness according to contour contour interval property, establishes rectangular coordinate system later, the data conversion that will be got
And be incident upon rectangular co-ordinate and fasten, facilitate and is stated.
In above-mentioned steps, a certain thickness of setting is taken to carry out equal thickness layering in elevation direction, and extract in every layer
Point cloud data extracts linear profile by layered mode and filters non-ground points, has preferable denoising effect to topographic(al) point cloud, make
In point cloud information after must obtaining, ground point cloud has an apparent linear contour feature, and non-ground points cloud then show as it is at random
Point is blocky, does not have contour feature, conveniently distinguishes.
S300, the segmentation of ground point cloud information, the ground laser point cloud information classification that scanning is obtained, respectively building are vertical
Millet cake, ground point, other culture points and noise spot；After obtaining ground point cloud data, divided into row information by partitioning scheme
It cuts, cloud information is divided into building facade point, ground point, other culture points and noise spot, convenient for classification centralized processing.
In the step S300, building facade point, which is divided into construction, to be completed building object point and waits for completed construction object point, to big
For the building of part, facade all has vertical geometry characteristic, and in single scan line, adjacent scanning element is thrown in the horizontal direction
Shadow is approximately a bit, in vertical direction in successional linear distribution；
And in scan line, ground point is in all point cloud datas opposite lowest point and elevation variation is than shallower,
It is in successional linear distribution in the horizontal direction；
Other culture points include street lamp, billboard, isolated column etc., since own target is smaller relative to building, and are tied
Structure has scrambling, and in the laser point of these targets, data volume is rare in scan line and is in discrete nothing in subrange for reflection
Rule is distributed, but is also possible in a small range that certain linear distribution is presented；
Dust, shelter of the noise spot in mirror-reflection, air are blocked with factors such as building edges to swashing
The interference effect that light generates.
Noise data is classified and carries out noise processed respectively to it by S400, denoising, since existing noise spot is logical
Often with there is certain randomness, the irregular distribution in scan line can follow, and single mode is difficult to eliminate, therefore pass through substep
De-noising mode carries out noise elimination.
It should be added that in the step S400, noise jamming is divided into two classes, the first is and surface separation,
The noise data apart from ground farther out being suspended in above a cloud, another kind be mixed with ground point it is closer apart from ground
Noise data, noise is divided into two kinds first, by carrying out step-by-step processings to two kinds of noises, improves the effect of noise processed,
Improve the quality of ground point cloud data.
When handling the first noise data, first to area dividing to be measured to ensure ground point, and each piece of height is found out
Journey minimum point, and extract N number of point apart from minimum point, its elevation is fitted using apart from the formaldehyde method of average, if Fitting height value and
The difference of surveyed height value is more than threshold value, then the point is extremely low point, is deleted；Minimum point is found in this part again, until meet with
Until upper condition.
Specific formula for calculation is as follows：It is distance weighted：Wherein k is a very small constant, for completing
Compensation data, Fitting height value：
When handling second of noise data, using first building the triangulation network, then it is fitted part plan, to the point cloud near plane
Data carry out elimination of rough difference, are as follows：
Point cloud data in the gained file after previous step is rejected is generated the triangulation network, and records sequence a little by the first step
Number and triangle serial number；
Second step finds such a triangle as seed region, its 3 points are fitted with weighted distance average method
Elevation, if being no more than threshold value, then it is assumed that they are the points on ground；
Third step is fitted 1 initial plane using this 3 points, and using sequence point, alternately point substitutes into plane equation, if
Fitting height and the difference for observing elevation are more than given value, then filter out, otherwise, receive as ground point；
4th step removes that oldest ground point, and point and the another two point newly received is determined a part plan, then
The elevation alternatively put is substituted into, third step is repeated.It is equivalent to and surveys area with a mobile simple landform face filtering is entire.
S500, image segmentation are shown, after eliminating noise, building facade letter is directly extracted by grid mode
Breath, and centralized displaying, in the step S500, by the point cloud upright projection with three-dimensional spatial information to rectangular coordinate plane,
Building is in that band is distributed on the projection surface, grid segmentation is carried out to rectangular coordinate plane, to distinguish different zones subpoint
Density variation, and then building and the laser point cloud of other atural objects are distinguished, the data got are divided and are distinguished.
Due to visual angle, the result handled in this way is likely to for some to be not belonging to the point of building facade originally
It is mapped on image, therefore facade information is further extracted to the point cloud data after this with the method for grid, elimination is non-just
Normal object.
Usually single sweep operation region is limited simultaneously, therefore is influenced without the concern for earth curvature, it is possible thereby to clearly show
Show the connected relation between different atural objects.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of ground point cloud dividing method based on three-dimensional laser radar, it is characterised in that：Include the following steps：
S100, ground point cloud data acquisition, are scanned to obtain spatial information data, simultaneously based on Three Dimensional Ground laser radar
Ground data is obtained in conjunction with GPS；
S200, data processing, establish rectangular coordinate system, the ground data coordinate got are transformed into rectangular coordinate system, simultaneously
It is layered using equal thickness according to contour contour interval property；
S300, the segmentation of ground point cloud information, the ground laser point cloud information classification that scanning is obtained, respectively building facade
Point, ground point, other culture points and noise spot；
Noise data is classified and carries out noise processed respectively to it by S400, denoising；
S500, image segmentation are shown, after eliminating noise, building facade information is directly extracted by grid mode, and
Centralized displaying.
2. a kind of ground point cloud dividing method based on three-dimensional laser radar according to claim 1, it is characterised in that：Institute
It states in step S100, is scanned by three-dimensional laser scanner, and by two GPS quick obtaining space coordinates, a rack is located at
Make base station on known point, another is mounted on rover station on laser scanner, and rover station ensures same with reference GPS receiver
Step observation, the instantaneous position of the real time measure rover station receiver.
3. a kind of ground point cloud dividing method based on three-dimensional laser radar according to claim 2, it is characterised in that：Institute
It includes laser emitter, laser mirror, laser self-adoptive focus control unit and Light Electrical to state three-dimensional laser scanner mainly
Automatic sensing device, and pass through internal compensation device adjust automatically instrument posture.
4. a kind of ground point cloud dividing method based on three-dimensional laser radar according to claim 1, it is characterised in that：Institute
It states in step S200, takes a certain thickness of setting to carry out equal thickness layering in elevation direction, and extract the point cloud data in every layer.
5. a kind of ground point cloud dividing method based on three-dimensional laser radar according to claim 1, it is characterised in that：Institute
It states in step S300, building facade point, which is divided into construction, to be completed building object point and wait for completed construction object point, other culture points include
Street lamp, billboard, isolated column.
6. a kind of ground point cloud dividing method based on three-dimensional laser radar according to claim 1, it is characterised in that：Institute
It states in step S300, dust, shelter of the noise spot in mirror-reflection, air block and the factors such as building edge
The interference effect that laser is generated.
7. a kind of ground point cloud dividing method based on three-dimensional laser radar according to claim 1, it is characterised in that：Institute
State in step S400, noise jamming is divided into two classes, the first is and surface separation, be suspended in above a cloud apart from ground farther out
Noise data, another kind is to mix the noise data closer apart from ground with ground point.
8. a kind of ground point cloud dividing method based on three-dimensional laser radar according to claim 7, it is characterised in that：Place
When managing the first noise data, first to area dividing to be measured to ensure ground point, and each piece of elevation minimum point is found out, and carry
N number of point apart from minimum point is taken, its elevation is fitted using apart from the formaldehyde method of average, if the difference of Fitting height value and surveyed height value
More than threshold value, then the point is extremely low point, is deleted；Minimum point is found in this part again, until meeting conditions above.
9. a kind of ground point cloud dividing method based on three-dimensional laser radar according to claim 7, it is characterised in that：Place
When managing second of noise data, using first building the triangulation network, then it is fitted part plan, the point cloud data near plane is carried out thick
Difference is rejected, and is as follows：
Point cloud data in the gained file after previous step is rejected is generated the triangulation network by the first step, and record serial number a little with
Triangle serial number；
Second step finds such a triangle as seed region, and the height of its 3 points is fitted with weighted distance average method
Journey, if being no more than threshold value, then it is assumed that they are the points on ground；
Third step is fitted 1 initial plane using this 3 points, and using sequence point, alternately point substitutes into plane equation, if fitting
Elevation and the difference for observing elevation are more than given value, then filter out, otherwise, receive as ground point；
4th step removes that oldest ground point, point and the another two point newly received is determined a part plan, then will be standby
The elevation of reconnaissance substitutes into, and repeats third step, is equivalent to and surveys area with a mobile simple landform face filtering is entire.
10. a kind of ground point cloud dividing method based on three-dimensional laser radar according to claim 1, it is characterised in that：
In the step S500, by the point cloud upright projection with three-dimensional spatial information to rectangular coordinate plane, building is on perspective plane
It is upper to be distributed in band, grid segmentation is carried out to rectangular coordinate plane, to distinguish different zones subpoint density variation, Jin Erqu
Separate building and the laser point cloud of other atural objects.
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| CN110782465A (en) * | 2019-12-30 | 2020-02-11 | 中智行科技有限公司 | Ground segmentation method and device based on laser radar and storage medium |
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