CN108732586A - A kind of super large Three Dimensional Ground laser scanning original point cloud Spatial Rules method - Google Patents
A kind of super large Three Dimensional Ground laser scanning original point cloud Spatial Rules method Download PDFInfo
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- CN108732586A CN108732586A CN201810552892.4A CN201810552892A CN108732586A CN 108732586 A CN108732586 A CN 108732586A CN 201810552892 A CN201810552892 A CN 201810552892A CN 108732586 A CN108732586 A CN 108732586A
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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Abstract
The present invention provides a kind of super large Three Dimensional Ground laser scanning original point cloud Spatial Rules method, and step is：1) using scanning movement as the centre of sphere, it is several concentric layers of balls (SCS, Stratification of Concentric Spheres) that super large Three Dimensional Ground laser scanning original point cloud, which is pressed density slice,；2) data management system is established to the point cloud for having carried out layers of balls segmentation described in step 1), and carries out high density area point cloud and vacuates.The present invention can greatly improve the speed of the laser scanning of super large Three Dimensional Ground (TLS) original point cloud Spatial Rules.
Description
Technical field
The present invention relates to a kind of super large Three Dimensional Ground laser scanning original point cloud Spatial Rules methods, belong to engineering survey
Field.
Background technology
Spatially resolution ratio carries out equidistant several grids of divisions to point cloud, retains in each grid from center recently
Point, process are known as Spatial Rules.
For 3470 3.20GHz of CUP i5, memory 4GB, the common computer of hard disk 500GB, by memory and computer
A cloud can be divided into dot cloud, point cloud, a little bigger cloud and super large point cloud by processing capacity, and wherein dot cloud point number is less than 20,000,000,
Point cloud points are 20,000,000-5,000 ten thousand, and for a little bigger cloud point number 50,000,000-1 hundred million, super large point cloud point number is more than 100,000,000.For super large
Point cloud common computer can not almost directly read and handle.
Invention content
It super large point cloud common computer can not almost be directly read and handles present invention aim to address above-mentioned
Problem.Its technical solution is：
A kind of super large Three Dimensional Ground laser scanning original point cloud Spatial Rules method, it is characterised in that use following step
Suddenly：
1) using scanning movement as the centre of sphere, it is several homocentric spheres that super large Three Dimensional Ground laser scanning original point cloud, which is pressed density slice,
Layer (SCS, Stratification of Concentric Spheres)；
2) data management system is established to the point cloud for having carried out layers of balls segmentation described in step 1), and carries out high density area point
Cloud vacuates.
The super large Three Dimensional Ground laser scanning original point cloud Spatial Rules method, it is characterised in that in step 1),
Straight angle resolution ratio of fetching water and vertical angular resolution are equal, i.e.,
θ=Δ φ=Δ ψ (1)
Wherein, θ is angular resolution, and Δ φ is horizontal angular resolution, and Δ ψ is vertical angular resolution；Then angular resolution
For
Wherein, Δ10For the spatial resolution of scanning element at 10 meters of instrument；Scanning element of the scanner on level ground is constituted
The concentric scanning round wires that radius gradually increases, the number put in every scan line are
Wherein, NLFor the number put in every scan line, the scanning element number in every scan line is equal；Each point
It is no more than 5,000,000 points in cloud layers of balls, has
Wherein, n is the scanning line number that each point cloud layers of balls includes；According to formula (2), first scanning outside scan blind spot
The spatial resolution put on line is
Δ1=0.1 Δ10r0 (5)
Wherein, r0For a cloud scan blind spot layers of balls radius, Δ1For the space minute put in first scan line outside scan blind spot
Resolution；The spatial resolution put in Article 2 scan line is
Δ2=Δ1+θΔ1=Δ1(1+θ) (6)
Wherein, Δ2For the spatial resolution put in the Article 2 scan line；The spatial discrimination put in Article 3 scan line
Rate is
Δ3=Δ2+θΔ2=Δ1(1+θ)2 (7)
Wherein, Δ3For the spatial resolution put in the Article 3 scan line；The rest may be inferred, is put in nth bar scan line
Spatial resolution is
Δn=Δ1(1+θ)n-1 (8)
Wherein, ΔnFor the spatial resolution put in the nth bar scan line；The thickness of the first cloud layers of balls is
Wherein, W1For the thickness of first cloud layers of balls, k=(1+ θ) is introducedn, it is defined as resolution ratio expansion index,
r1For the outer radius of 1st cloud layers of balls；The outer radius of 2nd cloud layers of balls is
r2=r1K=r0k2 (10)
Wherein, r2For the outer radius of the 2nd cloud layers of balls, m (m ∈ N*) outer radius of a cloud layers of balls is
rm=r0km (11)
Wherein, m is arbitrary scan point PjPoint cloud layers of balls call number, rmFor the outer radius of the m-th cloud layers of balls；
Natural logrithm is taken to formula (11) both sides, can be derived
Wherein, rjFor arbitrary scan point P in super large point cloudjTo the distance of scanning movement；According to formula (12) by super large ground point cloud
Data are divided into the concentric layers of balls of dozens of, and the point cloud of each layers of balls is write with binary system in corresponding temporary folder respectively.
The super large Three Dimensional Ground laser scanning original point cloud Spatial Rules method, it is characterised in that in step 2),
It defines a cloud layers of balls and manages structural array, field has：Point cloud layers of balls serial number, point cloud layers of balls Data Filename, point cloud layers of balls
Device number when point number, point cloud layers of balls outer radius, point cloud layers of balls inside radius, opening point cloud layers of balls；Each concentric layers of balls from it is interior to
It can be summed up by function outside as scan blind spot (NC, Null Cell), high density area (HDC, High Density Cell), middle density
Area (MDC, Middle Density Cell) and dead space (IC, Invalid Cell), corresponding layers of balls outer radius are respectively
r0、rH、rM、rD；Scan blind spot is the scanner effective scanning shortest distance to region between scanner；High density area is scanning element
Resolution ratio is more than the region of given rule point cloud resolution ratio, needs to vacuate；Middle density region is that scanning point resolution is equal to or small
In given rule point cloud resolution ratio and the effective coverage of engine request can be met, need not be vacuated, be write direct and vacuate hereinafter
Part；Dead space is the peripheral region that cannot meet engine request and points rareness；High density area layers of balls outer radius is
Wherein, L is high density area layers of balls ectosphere spatial resolution；Middle density region layers of balls outer radius rMBy the essence of requirement of engineering
Degree decision, rMTo ensure the effective distance of precision, it is distal to rMScanning element precision cannot be satisfied required precision；According to a cloud layers of balls pipe
Structural array is managed, point cloud layers of balls outer radius is less than r with the value for putting cloud layers of balls inside radiusHPoint cloud layers of balls vacuated, vacuate close
Degree is determined by the precision of requirement of engineering.
Compared with prior art, the present invention the advantage is that：1. solving the problems, such as that existing model exists, entirety is not being lost
In the case of precision, data volume is reduced, saves data processing time；2. the present invention faster than existing data processing software 20%.
Description of the drawings
Fig. 1 is scanning movement angular resolution schematic diagram in the embodiment of the present invention；
Fig. 2 is the spatial resolution schematic diagram for the concentric scan line that scanning element of the scanner on level ground is constituted；
Fig. 3 is the concentric layers of balls horizontal sectional drawing of 3 D laser scanning point cloud in the embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention 1~3, and technical solution in the embodiment of the present invention carries out clear
Chu is fully described by, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Based on the embodiments of the present invention, what those of ordinary skill in the art were obtained without creative efforts is all
Other embodiment shall fall within the protection scope of the present invention.
Data used in the present embodiment come from Shandong Technology Univ's artificial hillock scanning element cloud, and it is Riegl to test scanner used
VZ-1000.Computer configures：CUP i5 3470 3.20GHz, memory 4GB, hard disk 500GB.The site cloud data about 2.2 hundred million
Point, it is binary system that data processing, which uses the software of IDL language developments, point cloud data file memory format,.
It comprises the concrete steps that：
In step 1), using scanning movement as the centre of sphere, cloud is divided into concentric layers of balls (SCS, Stratification by density
Of Concentric Spheres), each cloud layers of balls scanning element number of putting is no more than 5,000,000：See Fig. 1, straight angle resolution ratio of fetching water
It is equal with vertical angular resolution, i.e.,
θ=Δ φ=Δ ψ (1)
Wherein, θ is angular resolution, and Δ φ is horizontal angular resolution, and Δ ψ is vertical angular resolution；Then angular resolution
For
Wherein, Δ10For the spatial resolution of scanning element at 10 meters of instrument, obtained according to laser scanner model；Setting is swept
Retouch blindarearadius r0, X-direction resolution ratio XFBL vacuated according to engine request setting, setting vacuates Y direction resolution ratio YFBL,
Setting vacuates Z-direction resolution ratio ZFBL, and dead space radius r is arrangedD；Scanning element of the scanner on level ground constitutes radius
The concentric scanning round wires gradually increased, the number put in every scan line are
Wherein, NLFor the number put in every scan line, the scanning element number in every scan line is equal；Each point
It is no more than 5,000,000 points in cloud layers of balls, has
Wherein, n is the scanning line number that each point cloud layers of balls includes；According to formula (2), first scanning outside scan blind spot
The spatial resolution put on line is
Δ1=0.1 Δ10r0 (5)
Wherein, r0It is the spatial discrimination put in first scan line outside scan blind spot for a cloud scan blind spot layers of balls radius
Rate；Further, can release the spatial resolution put in Article 2 scan line by Fig. 2 is
Δ2=Δ1+θΔ1=Δ1(1+θ) (6)
Wherein, Δ2For the spatial resolution put in the Article 2 scan line；Further, Article 3 can be released by Fig. 2
The spatial resolution put in scan line is
Δ3=Δ2+θΔ2=Δ1(1+θ)2 (7)
Wherein, Δ3For the spatial resolution put in the Article 3 scan line；The rest may be inferred, is put in nth bar scan line
Spatial resolution is
Δn=Δ1(1+θ)n-1 (8)
Wherein, ΔnFor the spatial resolution put in the nth bar scan line；The thickness of the first cloud layers of balls is
Wherein, W1For the thickness of first cloud layers of balls, k=(1+ θ) is introducedn, it is defined as resolution ratio expansion index,
r1For the outer radius of 1st cloud layers of balls；The outer radius of 2nd cloud layers of balls is
r2=r1K=r0k2 (10)
Wherein, r2For the outer radius of the 2nd cloud layers of balls, m (m ∈ N*) outer radius of a cloud layers of balls is
rm=r0km (11)
Wherein, m is arbitrary scan point PjPoint cloud layers of balls call number, rmFor the outer radius of the m-th cloud layers of balls；
Natural logrithm is taken to formula (11) both sides, can be derived
Wherein, rjFor arbitrary scan point P in super large point cloudjTo the distance of scanning movement；To make to calculate used in the embodiment of the present invention
Function handles super large point cloud, reads 1000000 points every time, judges the point in super large point cloud where each point point by point according to formula (12)
Cloud layers of balls is stored in corresponding point cloud layers of balls file with binary system；Final super large point cloud is divided into the concentric layers of balls of dozens of.
In step 2), a cloud layers of balls is generated simultaneously in step 1) segmentation super large point cloud and manages structural array, field has：Point cloud
Layers of balls serial number, point cloud layers of balls point number, point cloud layers of balls outer radius, point cloud layers of balls inside radius, is opened point cloud layers of balls Data Filename
Device number when point cloud layers of balls；Such as Fig. 3, each concentric layers of balls can be summed up from inside to outside by function as scan blind spot (NC, Null
Cell), high density area (HDC, High Density Cell), middle density region (MDC, Middle Density Cell) and invalid
Area (IC, Invalid Cell), corresponding layers of balls outer radius is respectively r0、rH、rM、rD；Scan blind spot is that scanner is effectively swept
The shortest distance is retouched to region between scanner；High density area distance between scanning element is less than given rule point cloud resolution ratio
Region needs to vacuate；Middle density region distance between scanning element is equal to or more than the effective district of given rule point cloud resolution ratio
Domain need not vacuate, and write direct and vacuate rear file；Dead space is the external zones that cannot meet engine request and points rareness
Domain；High density area layers of balls outer radius is
Wherein, L is high density area layers of balls ectosphere spatial resolution；Middle density region layers of balls outer radius rMBy the essence of requirement of engineering
Degree decision, rMTo ensure the effective distance of precision, it is distal to rMScanning element precision cannot be satisfied required precision；Thus structural array can
Know that points are 5,000,000 or so in each cloud layers of balls that the site cloud generates, computer has processing used in the embodiment of the present invention
Ability；Structural array is managed according to cloud layers of balls, point cloud layers of balls outer radius is less than r with the value for putting cloud layers of balls inside radiusHPoint cloud
Layers of balls is vacuated, and X-direction resolution ratio XFBL is vacuated, and is vacuated Y direction resolution ratio YFBL, is vacuated Z-direction resolution ratio
ZFBL。
The point cloud level for comparing using all point cloud datas progress Spatial Rules and being partitioned into using only the method for the present invention is close
The speed that area carries out Spatial Rules is spent, it is as a result as follows：
| To the time used in all data space regularization | Only to the time used in high density area Spatial Rules |
| 57 points 58.6950 seconds | 49 points 18.0738 seconds |
Experimental data proves：Only being vacuated to high density area in the present invention can be by super large Three Dimensional Ground laser scanning
(TLS) speed of original point cloud Spatial Rules improves 17.6%.
Claims (3)
1. a kind of super large Three Dimensional Ground laser scanning original point cloud Spatial Rules method, it is characterised in that take following steps：
1) using scanning movement as the centre of sphere, it is several concentric layers of balls that super large Three Dimensional Ground laser scanning original point cloud, which is pressed density slice,
(SCS, Stratification of Concentric Spheres)；
2) data management system is established to the point cloud for having carried out layers of balls segmentation described in step 1), and carries out high density area point cloud pumping
It is dilute.
Super large Three Dimensional Ground laser scanning original point cloud Spatial Rules method described in 2., it is characterised in that in step 1), take
Horizontal angular resolution and vertical angular resolution are equal, i.e.,
θ=Δ φ=Δ ψ (1)
Wherein, θ is angular resolution, and Δ φ is horizontal angular resolution, and Δ ψ is vertical angular resolution；Then angular resolution is
Wherein, Δ10For the spatial resolution of scanning element at 10 meters of instrument；Scanning element of the scanner on level ground constitutes radius
The concentric scanning round wires gradually increased, the number put in every scan line are
Wherein, NLFor the number put in every scan line, the scanning element number in every scan line is equal；Each point cloud ball
It is no more than 5,000,000 points in layer, has
Wherein, n is the scanning line number that each point cloud layers of balls includes；According to formula (2), outside scan blind spot in first scan line
Point spatial resolution be
Δ1=0.1 Δ10r0 (5)
Wherein, r0For a cloud scan blind spot layers of balls radius, Δ1For the spatial resolution put in first scan line outside scan blind spot；
The spatial resolution put in Article 2 scan line is
Δ2=Δ1+θΔ1=Δ1(1+θ) (6)
Wherein, Δ2For the spatial resolution put in the Article 2 scan line；The spatial resolution put in Article 3 scan line is
Δ3=Δ2+θΔ2=Δ1(1+θ)2 (7)
Wherein, Δ3For the spatial resolution put in the Article 3 scan line；The rest may be inferred, the space put in nth bar scan line
Resolution ratio is
Δn=Δ1(1+θ)n-1 (8)
Wherein, ΔnFor the spatial resolution put in the nth bar scan line；The thickness of the first cloud layers of balls is
Wherein, W1For the thickness of first cloud layers of balls, k=(1+ θ) is introducedn, it is defined as resolution ratio expansion index, r1For
The outer radius of 1st cloud layers of balls；The outer radius of 2nd cloud layers of balls is
r2=r1K=r0k2 (10)
Wherein, r2For the outer radius of the 2nd cloud layers of balls, m (m ∈ N*) outer radius of a cloud layers of balls is
rm=r0km (11)
Wherein, m is arbitrary scan point PjPoint cloud layers of balls call number, rmFor the outer radius of the m-th cloud layers of balls；To formula
(11) both sides take natural logrithm, can derive
Wherein, rjFor arbitrary scan point P in super large point cloudjTo the distance of scanning movement；According to formula (12) by super large ground point cloud data
It is divided into the concentric layers of balls of dozens of, the point cloud of each layers of balls is write with binary system in corresponding temporary folder respectively.
Super large Three Dimensional Ground laser scanning original point cloud Spatial Rules method described in 3., it is characterised in that fixed in step 2)
One cloud layers of balls of justice manages structural array, and field has：Point cloud layers of balls serial number, point cloud layers of balls Data Filename, point cloud layers of balls point
Device number when number, point cloud layers of balls outer radius, point cloud layers of balls inside radius, opening point cloud layers of balls；Each concentric layers of balls is from inside to outside
It can be summed up by function as scan blind spot (NC, Null Cell), high density area (HDC, High Density Cell), middle density region
(MDC, Middle Density Cell) and dead space (IC, Invalid Cell), corresponding layers of balls outer radius are respectively
r0、rH、rM、rD；Scan blind spot is the scanner effective scanning shortest distance to region between scanner；High density area is scanning element
Resolution ratio is more than the region of given rule point cloud resolution ratio, needs to vacuate；Middle density region is that scanning point resolution is equal to or small
In given rule point cloud resolution ratio and the effective coverage of engine request can be met, need not be vacuated, be write direct and vacuate hereinafter
Part；Dead space is the peripheral region that cannot meet engine request and points rareness；High density area layers of balls outer radius is
Wherein, L is high density area layers of balls ectosphere spatial resolution；Middle density region layers of balls outer radius rMIt is determined by the precision of requirement of engineering
It is fixed, rMTo ensure the effective distance of precision, it is distal to rMScanning element precision cannot be satisfied required precision；According to a cloud layers of balls management knot
Structure array, point cloud layers of balls outer radius are less than r with the value for putting cloud layers of balls inside radiusHPoint cloud layers of balls vacuated, vacuate density by
The precision of requirement of engineering determines.
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Cited By (2)
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| CN109979008A (en) * | 2019-04-09 | 2019-07-05 | 北京大学深圳研究生院 | A kind of point cloud band division methods based on attribute |
| JP2021051057A (en) * | 2019-09-24 | 2021-04-01 | ベイジン バイドゥ ネットコム サイエンス アンド テクノロジー カンパニー リミテッド | Method and apparatus for detecting ground point cloud point |
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Application publication date: 20181102 |