CN109829199A - Power line fast hierarchical extracting method based on LiDAR point cloud - Google Patents
Power line fast hierarchical extracting method based on LiDAR point cloud Download PDFInfo
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Abstract
The present invention proposes a kind of power line fast hierarchical extracting method based on LiDAR point cloud, including carries out local elevation distributional analysis to power transmission line corridor point cloud as unit of two-dimentional grid, carries out coarse extraction to power line point cloud；Multi-layer technology is carried out to power line point cloud using RANSAC Parabolic Fit algorithm；Smart extraction is carried out to power line point cloud using RANSAC Algorithm of fitting a straight line, every layer of power line point cloud data that Multi-layer technology is obtained is projected on XOY plane and extracted horizontally arranged single power line point cloud using RANSAC Algorithm of fitting a straight line；Model growth is carried out using power line straight line and parabola model, obtains complete power line point cloud；The arrangement mode of power line is obtained according to the radical of the number of plies of power line and every layer of power line.The present invention has many advantages, such as that full-automatic, parameter setting is simple, good to power line difference arrangement mode adaptability, and extraction accuracy is high, can effectively improve the efficiency and precision of the polling transmission line of airborne laser radar.
Description
Technical field
The present invention relates to earth observation fields, and in particular to a kind of power line fast hierarchical extraction based on LiDAR point cloud
Method.
Background technique
Power grid is the energy delivery channel of efficient quick and distributes platform rationally, is sent out in the energy supply system in China
Very important effect is waved, power grid security is most important to the energy security in China.With the continuous expansion of power grid scale,
The continuous improvement of complexity, the workload and difficulty ensured to transmission line safety and reliability are also continuously increased, when
A kind of efficiently, scientific, quickly, inexpensive polling transmission line mode of preceding Regulation department urgent need.It is airborne to swash
Optical radar measuring system be it is a kind of gathered laser radar range system (Light Detection and Ranging,
LiDAR) can quick obtaining there is higher density and can accurately describe the laser point cloud number of ground object three-dimensional spatial information
According to.In recent years, airborne laser radar measuring technique can be transmitted electricity since its precision is high, at low cost, applicability is wide with quick obtaining
The three-dimensional spatial information of route is realized the accurate quantification analysis of transmission line safety situation, has been obtained in electric inspection process extensively
Using.The method that existing power line extraction algorithm majority has used two-dimensional projection to extract straight line, including Hough transform,
RANSAC straight line fitting etc. does not consider the influence of power line vertical arrangement, for the power line extraction effect of multilayer arrangement
It is bad.
Summary of the invention
The power line fast hierarchical extracting method based on LiDAR point cloud that the purpose of the present invention is to provide a kind of improves electricity
Line of force extraction efficiency.
To achieve the above object, the invention adopts the following technical scheme:
Power line fast hierarchical extracting method based on LiDAR point cloud, comprising the following steps:
S1, local elevation distributional analysis is carried out to power transmission line corridor point cloud as unit of two-dimentional grid, to power line point cloud
Carry out coarse extraction；
S2, Multi-layer technology is carried out to power line point cloud using RANSAC Parabolic Fit algorithm；
S3, smart extraction, every layer that Multi-layer technology is obtained are carried out to power line point cloud using RANSAC Algorithm of fitting a straight line
Power line point cloud data is projected on XOY plane and is extracted horizontally arranged single power using RANSAC Algorithm of fitting a straight line
Line point cloud；
S4, model growth is carried out using power line straight line and parabola model, obtains complete power line point cloud；
S5, the arrangement mode that power line is obtained according to the radical of the number of plies of power line and every layer of power line.
Preferably, step S1 includes:
S11, the point cloud data for cutting out the tower bar for going to single grade of transmission of electricity corridor both ends respectively to account for span 5%；
S12, two-dimentional gridization division is carried out to transmission of electricity corridor point cloud data；Determine grid size；Calculate transmission of electricity corridor point
The most value of cloud data X and Y coordinates；It calculates the quantity of grid and determines the grid number where each cloud；Record each cloud
The grid at place completes the building of two-dimentional grid；
S13, elevation distribution statistics are carried out to transmission of electricity corridor point cloud data and determine separate layer, calculate minimum point in grid
To the difference of apogee altitude, distance threshold is set, rejects the grid that difference is less than distance threshold；Threshold value is greater than to difference
Wherein all point cloud datas are counted the point cloud quantity of each wall by grid from minimum point according to interval height, will be adjacent
There is no the wall of point cloud data to merge；Finally, setting separate layer height threshold, by elevation it is minimum and height be greater than separate layer
The wall of height threshold is as separate layer；
S14, according to the elevation of the separate layer identified in each grid, reject Ground Point, obtain the power line of coarse extraction
Point cloud.
Preferably, step S2 includes:
S21, the power line point cloud after coarse extraction is projected in the perpendicular for being parallel to power line trend；
S22, the principal direction that the power line point cloud that coarse extraction obtains is calculated using PCA algorithm, according to principal direction to power line
Point cloud is coordinately transformed, so that power line trend is parallel with X-direction, then power line point cloud is projected in XOZ plane；
S23, two-dimentional grid and grid merger are carried out to the power line point cloud of coarse extraction, calculates point cloud data X and Z and sits
Target is most worth；Calculate the quantity of grid and the grid number where each cloud；The grid that a cloud will be present is assigned a value of 1,
There is no the grid of cloud to be assigned a value of 0；Grid merger threshold value is set, is less than the lattice of grid merger threshold value to Z-direction spacing by column
Net carries out merger, and by Z-direction center grid is assigned a value of 1 in grid merger threshold range above and below power line, remaining grid is assigned a value of
0；
S24, coordinate data is generated based on two-dimentional grid and carries out RANSAC parabolic line drawing to it；1 is assigned a value of by all
Grid coordinate number record, obtain one group of two-dimensional coordinate data, to the coordinate data carry out RANSAC parabola mention
It takes；
S25, according to the grid coordinate of each point on parabola model, in original grid, the grid that extracts grid up and down
Search is assigned a value of 1 grid in net merger threshold range, the parabola original point cloud in grid is extracted, after being layered
Power line point cloud.
Preferably, step S24 is specifically included:
S241, three points are randomly choosed in candidate point as intra-office point, establish parabola model y=aiterationx2+
biterationX+c, (iteration=0,1,2...k), iteration are the number of iterations carried out, and k is to calculate optimal mould
Type wants the frequency threshold value of iteration；
The distance of S242, the other all grids of calculating to the parabola model, according to power line line specificities, set-point
To parabola model distance threshold, if calculated distance meets the point to parabola model distance threshold requirement, this
Point is also as intra-office point；
S243, according to power transmission line corridor point Yun Midu, power line minimal point threshold value is set, if intra-office point number
Meet minimal point threshold value, then uses the least square fitting algorithm evaluation model, error in calculating；
S244, iteration S241-243 step k times, the model for obtaining meeting precision conditions and intra-office is counted most are made
For optimal models, the point on optimal models is extracted and recorded from candidate point；
S243, according to power transmission line corridor point Yun Midu, power line minimal point threshold value is set, if intra-office point number
Meet minimal point threshold value, then uses the least square fitting algorithm evaluation model, error in calculating；
S244, iteration S241-243 step k times, the model for obtaining meeting precision conditions and intra-office is counted most are made
For optimal models, the point on optimal models is extracted and recorded from candidate point；
S245, iteration step is needed to show S241-S244, until the number of iterations reaches the frequency threshold value upper limit or detection not
Meet the point cloud data of optimal models, iteration ends out.
Preferably, step S3 includes:
S31, two points are randomly choosed in all candidate points as intra-office point, establish straight line model y=aiterationx+
biteration, (iteration=0,1,2...k), iteration is the number of iterations carried out, and k is to calculate optimal models to want
The frequency threshold value of iteration；
Other all grids are to the distance of the straight line model in S32, calculating, and according to power line line specificities, set-point is arrived
Straight line model distance threshold, if calculated distance meets point to the requirement of straight line model distance threshold, this point is also used as intra-office
Point；
S33, according to power transmission line corridor point Yun Midu, single power line minimal point threshold value is set, if intra-office point
Number meets minimal point threshold value, then uses the least square fitting algorithm evaluation model, error in calculating；
S34, iteration S31-S33 step k times, obtain meeting precision conditions and intra-office is counted most straight line models
As optimal models, the point in optimal models straight line model is extracted and recorded from candidate point；
S35, iteration step S31-S34, until the number of iterations reaches the frequency threshold value upper limit or inspection does not measure and meets most
The point cloud data of excellent model, iteration ends.
Preferably, the step S4 extracts power line point cloud based on essence and establishes straight line and parabola threedimensional model, respectively
Original transmission of electricity corridor point cloud data is calculated at a distance from every power line straight line model and parabola model, while meeting and a little arriving
The transmission of electricity corridor point cloud that parabola model distance threshold is required with point to straight line model distance threshold is thus on power line point cloud
Point；It is grown by electric power line model, the point cloud data of available complete every power line, completion point cloud cuts and slightly mentions
The point of power line caused by taking cloud is incomplete.
Preferably, the step S5 obtains electric power according to the radical of the power line number of plies and every layer of power line that extract
The general alignment mode of line, and identify lightning conducter and conducting wire.
The present invention is based on single grade of electric power corridor point cloud datas of airborne laser radar measuring system acquisition, propose one kind
Using the fully automatic electric line of force Multi-layer technology method of RANSAC parabolic fit method and RANSAC line fitting method, realize
Power line point cloud automatically extracts.This method parameter setting is simple, suitable for different power line arrangement modes, and is mentioning
The arrangement information of power line point cloud while available power line is taken, there is very high practical value.
Detailed description of the invention
Fig. 1 is the technology of the present invention route flow chart；
Fig. 2 is grid merger schematic diagram of the present invention；
Fig. 3 is that power line of the present invention is layered result schematic diagram；
Fig. 4 is electric power line drawing result schematic diagram of the present invention.
Fig. 5 is the common overhead transmission line conductor arrangement mode of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments,
The present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used to explain this hair
It is bright, it is not intended to limit the present invention.
Embodiment
Refering to what is shown in Fig. 1, the invention discloses a kind of power line fast hierarchical extracting method based on LiDAR point cloud, packet
Include following steps:
S1, local elevation distributional analysis is carried out to power transmission line corridor point cloud as unit of two-dimentional grid, to power line point cloud
Carry out coarse extraction.
S11, in order to adapt to different line specificities, cut out the tower bar point cloud for going to single grade of transmission of electricity corridor both ends respectively to account for span 5%
Data；
Before carrying out the cloud coarse extraction of power line point, in order to avoid the influence of shaft tower point, cuts out go to single grade of electric power corridor first
Both ends respectively account for the shaft tower point cloud data of span 5%.Remaining cloud can be divided into two major classes: 1, Ground Point, i.e., ground, vegetation,
The mixing points such as building, road；2, noise spot, power line point mixing point cloud.According to power grid associated safety provide, power line with
It needs to retain certain safe distance between ground, this section of peace can be identified by the method for local point cloud data Height Analysis
Full distance simultaneously divides Ground Point and noise spot with this.
S12, two-dimentional gridization division is carried out to transmission of electricity corridor point cloud data.When grid size is arranged, need to fully consider
The specification of transmission line of electricity and the influence for putting cloud density, the too big local data that will will increase of the grid of setting is on elevation space
Continuity causes excessive power line point earth's surface to be erroneously interpreted as miscellaneous point and reject, and general grid is dimensioned to 2-4m.
Calculate the most value x of transmission of electricity corridor point cloud data X and Y coordinatesmax, xmin, ymax, ymin, so as to calculate the quantity of grid And the grid number where each pointThe grid where each point is recorded, completes two
Tie up the building of grid.
S13, elevation distribution statistics are carried out to transmission of electricity corridor point cloud data and determine separate layer.It is minimum with power line arc sag
Point arrives the approximation of the distance on ground as threshold value, and the grid that difference is less than threshold value only includes ground point and vegetation point, is not present
Power line point, is rejected；Difference is greater than the grid of threshold value, to wherein all point cloud datas from minimum point according to 0.8~1.5m
Interval height count the point cloud quantity of each wall, if interval is excessive to easily lead to statistics not exclusively, if interval too small,
Calculating speed is influenced, then merges the wall of adjacent not point cloud data, finally, being provided in setting operation of power networks specification
Free height angle value be separate layer height threshold, elevation is minimum and height be greater than separate layer height threshold wall as
Separate layer.In order to preferably count separate layer in each grid, step-length setting wants small as far as possible, generally 0.3m or so.
S14, according to the elevation of the separate layer identified in each grid, reject Ground Point, obtain the power line of coarse extraction
Point cloud.According to the spatial distribution characteristic of transmission of electricity corridor point cloud data, using the elevation of the separate layer identified in each grid,
Most earth's surface points can be rejected, obtain the power line point cloud of coarse extraction.At this point, can also include one in power line point cloud
The noises such as a little high level vegetation points, are predominantly located at immediately below power line；And the ground point as caused by the earth's surface water surface, dell etc.
Cloud cavity and the influence to power line point apart from the dangerous point, noise spot for being less than threshold value, power line can have incompleteness.
S2, Multi-layer technology is carried out to power line point cloud using RANSAC Parabolic Fit algorithm.
By the way that power line is projected into the perpendicular for being parallel to power line trend, the power line point in same layer
Cloud can be overlapped in an a small range, and the Multi-layer technology of power line may be implemented using this feature.
S21, the power line point cloud after coarse extraction is projected in the perpendicular for being parallel to power line trend.
S22, the principal direction that the power line point cloud that coarse extraction obtains is calculated using PCA algorithm, according to principal direction to power line
Point cloud is coordinately transformed, so that power line trend is parallel with X-direction.Power line point cloud is projected in XOZ plane again,
As shown in figure 4, power line shows apparent layered characteristic.
S23, two-dimentional grid and grid merger are carried out to the power line point cloud of coarse extraction.For the power line after projection
Point cloud carries out grid processing, calculates the most value x of point cloud data X and Z coordinatemax, xmin, zmax, zmin, so as to calculate
The quantity of grid And the lattice where each point
Net numberThe grid that will be present a little is assigned a value of
1, there is no the grid of point to be assigned a value of 0.Setting power line standoff height is grid merger threshold value, value about 0.5~1.5m.By
In reasons such as temperature, strong wind, line alignments, the same layer power line after projection can't be completely coincident, but remote there are one
Much smaller than the deviation of interlamellar spacing.Using this feature, can by column to Z-direction spacing be less than the grid of grid merger threshold value into
Row merger, by Z-direction center grid is assigned a value of 1 in grid merger threshold range above and below power line, remaining grid is assigned a value of 0.It is complete
After all layers of grid merger, power line shows apparent parabola form, as shown in Figure 2.
S24, coordinate data is generated based on two-dimentional grid and carries out RANSAC parabolic line drawing to it.It is 1 by all values
The coordinate number of grid is recorded, and one group of two-dimensional coordinate data is obtained, and carries out RANSAC parabolic line drawing to this data.
Steps are as follows:
S241, three points are randomly choosed in all candidate points as intra-office point, establish parabola model y=
aiterationx2+biterationX+c, (iteration=0,1,2...k), iteration are the number of iterations carried out, and k is
Calculating optimal models wants the frequency threshold value of iteration to be usually arranged as 500~1000 times to avoid the occurrence of endless loop；
The distance of S242, the other all grids of calculating to the parabola model, according to power line line specificities, set-point
It is 0.5-1.5m to parabola model distance threshold, if calculated distance meets point and arrives the requirement of parabola model distance threshold,
Then this point also as intra-office point；
S243, according to power transmission line corridor point Yun Midu, power line minimal point threshold value is set, usually 100~200
A, if intra-office point number meets threshold value, the model is just reasonable enough, using the least square fitting algorithm evaluation mould
Type, error in calculating；
S244, iteration S241-243 step k times, the model for obtaining meeting precision conditions and intra-office is counted most are made
For optimal models, meets all intra-office points of the model all points on model thus, the point on this model is mentioned from candidate point
It takes out and records；
S245, since power line has multilayer, iteration step S241-S244 is needed, until the number of iterations reaches number threshold
The value upper limit or inspection do not measure the point cloud data for meeting optimal models, iteration ends.
Point on S25, the parabola extracted is mesh coordinate, needs to pass through using the grid initially generated at this time
The grid that grid merger threshold search value is 1 above and below the grid extracted extracts the original point cloud in grid, is divided
Power line point after layer, layering result are as shown in Figure 4.
S3, smart extraction is carried out to power line point cloud using RANSAC Algorithm of fitting a straight line.
Be layered obtain power line point cloud in, may include a plurality of horizontally arranged power line point cloud, at this point, pass through by
Every layer of power line projects on XOY plane respectively, using RANSAC line fitting method, can fast implement single power line
Extraction.Specific step is as follows:
S31, two points are randomly choosed in all candidate points as intra-office point, establish straight line model y=aiterationx+
biteration, (iteration=0,1,2...k), iteration is the number of iterations carried out, and k is to calculate optimal models to want
The frequency threshold value of iteration, is usually arranged as 500-1000 times, avoids the occurrence of endless loop；
Other all grids are to the distance of the straight line model in S32, calculating, and according to power line line specificities, set-point is arrived
Straight line model distance threshold is 0.5-1.5m, if calculated distance meets point to the requirement of straight line model distance threshold, this point
Also it is used as intra-office point；
S33, according to power transmission line corridor point Yun Midu, single power line minimal point threshold value is set, usually 50~
200 points use the least square fitting algorithm evaluation model if intra-office point number meets minimal point threshold value, calculate
Middle error；
Iteration S31-S33 step k times, obtain the straight line model conduct for meeting precision conditions and intra-office is counted most
Optimal models meet all intra-office points of the straight line model all points on model thus, by the point in this straight line model from candidate
It extracts and records in point；Since every layer there may be a plurality of power line, iteration step S31-S34 is needed, until iteration time
Number reaches the frequency threshold value upper limit or inspection does not measure the point cloud data for meeting optimal models, iteration ends.
S4, model growth is carried out using power line straight line and parabola model, obtains complete power line point cloud.With reference to
Shown in Fig. 5, the single power line point cloud data obtained based on above-mentioned steps establishes straight line and parabola mathematical model respectively, such as
Formula:
For original transmission of electricity corridor point cloud data, itself and every power line straight line and parabolical distance are calculated separately,
Meet simultaneously a little electric thus to parabola model distance threshold and point to the transmission of electricity corridor point cloud of straight line model distance threshold requirement
Point on line of force point cloud.It is grown by electric power line model, the point cloud data of available complete every power line, completion point
Cloud cuts incomplete with power line point cloud caused by coarse extraction.
S5, the arrangement mode that power line is obtained according to the radical of the number of plies of power line and every layer of power line.As shown in figure 5,
The radical of the number of plies and every layer of power line that are extracted according to each shelves of record, can be in a manner of the general alignment of power line.Due to
Lightning conducter generally will much be narrower than conducting wire, by the judgement to power line point cloud density, can identify the lightning conducter in a cloud
And conducting wire.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited to
This, anyone skilled in the art in the technical scope disclosed by the present invention, the variation that can readily occur in or replaces
It changes, should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection of claim
Subject to range.
Claims (7)
1. the power line fast hierarchical extracting method based on LiDAR point cloud, which comprises the following steps:
S1, local elevation distributional analysis is carried out to power transmission line corridor point cloud as unit of two-dimentional grid, to power line point Yun Jinhang
Coarse extraction；
S2, Multi-layer technology is carried out to power line point cloud using RANSAC Parabolic Fit algorithm；
S3, smart extraction, every layer of electric power that Multi-layer technology is obtained are carried out to power line point cloud using RANSAC Algorithm of fitting a straight line
Line point cloud data is projected on XOY plane and is extracted horizontally arranged single power line point using RANSAC Algorithm of fitting a straight line
Cloud；
S4, model growth is carried out using power line straight line and parabola model, obtains complete power line point cloud；
S5, the arrangement mode that power line is obtained according to the radical of the number of plies of power line and every layer of power line.
2. the power line fast hierarchical extracting method based on LiDAR point cloud as described in claim 1, it is characterised in that: step
S1 includes:
S11, the point cloud data for cutting out the tower bar for going to single grade of transmission of electricity corridor both ends respectively to account for span 5%；
S12, two-dimentional gridization division is carried out to transmission of electricity corridor point cloud data；Determine grid size；Calculate transmission of electricity corridor point cloud number
According to the most value of X and Y coordinates；It calculates the quantity of grid and determines the grid number where each cloud；Record each cloud place
Grid, complete the building of two-dimentional grid；
S13, elevation distribution statistics are carried out to transmission of electricity corridor point cloud data and determine separate layer, calculate in grid minimum point to highest
Distance threshold is arranged in the difference of point height, rejects the grid that difference is less than distance threshold；It is greater than the grid of threshold value to difference, it will
Wherein all point cloud datas count the point cloud quantity of each wall from minimum point according to interval height, by adjacent without a cloud
The wall of data merges；It is elevation is minimum and height is greater than separate layer height threshold finally, setting separate layer height threshold
Wall is as separate layer；
S14, according to the elevation of the separate layer identified in each grid, reject Ground Point, obtain the power line point cloud of coarse extraction.
3. the power line fast hierarchical extracting method based on LiDAR point cloud as described in claim 1, it is characterised in that: step
S2 includes:
S21, the power line point cloud after coarse extraction is projected in the perpendicular for being parallel to power line trend；
S22, the principal direction that the power line point cloud that coarse extraction obtains is calculated using PCA algorithm, according to principal direction to power line point cloud
It is coordinately transformed, so that power line trend is parallel with X-direction, then power line point cloud is projected in XOZ plane；
S23, two-dimentional grid and grid merger are carried out to the power line point cloud of coarse extraction, calculates point cloud data X and Z coordinate most
Value；Calculate the quantity of grid and the grid number where each cloud；The grid that a cloud will be present is assigned a value of 1, is not present
The grid of point cloud is assigned a value of 0；Grid merger threshold value is set, and the grid for being less than grid merger threshold value to Z-direction spacing by column carries out
Merger, by Z-direction center grid is assigned a value of 1 in grid merger threshold range above and below power line, remaining grid is assigned a value of 0；
S24, coordinate data is generated based on two-dimentional grid and carries out RANSAC parabolic line drawing to it；By it is all be assigned a value of 1 lattice
The coordinate of net numbers record, obtains one group of two-dimensional coordinate data, carries out RANSAC parabolic line drawing to the coordinate data；
S25, according to the grid coordinate of each point on parabola model, in original grid, grid is returned up and down for the grid that extracts
And search is assigned a value of 1 grid in threshold range, extracts the parabola original point cloud in grid, the power line after being layered
Point cloud.
4. the power line fast hierarchical extracting method according to claim 3 based on LiDAR point cloud, which is characterized in that step
Rapid S24 is specifically included:
S241, three points are randomly choosed in candidate point as intra-office point, establish parabola model y=aiterationx2+
biterationX+c, (iteration=0,1,2...k), iteration are the number of iterations carried out, and k is to calculate optimal models
Want the frequency threshold value of iteration；
The distance of S242, the other all grids of calculating to the parabola model, according to power line line specificities, set-point to parabolic
Line model distance threshold, if calculated distance meets the point to parabola model distance threshold requirement, this point also when
Make intra-office point；
S243, according to power transmission line corridor point Yun Midu, power line minimal point threshold value is set, if intra-office point number meets most
Small point threshold value then uses the least square fitting algorithm evaluation model, error in calculating；
S244, iteration S241-243 step k times are obtained meeting precision conditions and intra-office are counted most models as optimal
Point on optimal models is extracted and is recorded from candidate point by model；
S245, iteration step is needed to show S241-S244, until the number of iterations reaches the frequency threshold value upper limit or inspection does not measure and meets
The point cloud data of optimal models, iteration ends.
5. the power line fast hierarchical extracting method according to claim 3 based on LiDAR point cloud, it is characterised in that: step
Suddenly S3 includes:
S31, two points are randomly choosed in all candidate points as intra-office point, establish straight line model y=aiterationx+
biteration, (iteration=0,1,2...k), iteration is the number of iterations carried out, and k is to calculate optimal models to want
The frequency threshold value of iteration；
In S32, calculating other all grids to the straight line model distance, according to power line line specificities, set-point to straight line
Modal distance threshold value, if calculated distance meets point to the requirement of straight line model distance threshold, this point is also used as intra-office point；
S33, according to power transmission line corridor point Yun Midu, single power line minimal point threshold value is set, if intra-office point number is full
Sufficient minimal point threshold value then uses the least square fitting algorithm evaluation model, error in calculating；
S34, iteration S31-S33 step k times, the straight line model for obtaining meeting precision conditions and intra-office is counted most are used as most
Point in optimal models straight line model is extracted and is recorded from candidate point by excellent model；
S35, iteration step S31-S34, until the number of iterations reaches the frequency threshold value upper limit or inspection does not measure and meets optimal mould
The point cloud data of type, iteration ends.
6. the power line fast hierarchical extracting method according to claim 1 based on LiDAR point cloud, it is characterised in that: institute
Step S4 is stated, power line point cloud is extracted based on essence and establishes straight line and parabola threedimensional model, calculates separately original transmission of electricity corridor point
Cloud data at a distance from every power line straight line model and parabola model, while meet a little to parabola model distance threshold and
The transmission of electricity corridor point cloud that point is required to the straight line model distance threshold point on power line point cloud thus；It is raw by electric power line model
Long, the point cloud data of available complete every power line, completion point cloud cuts residual with power line point cloud caused by coarse extraction
It lacks.
7. the power line fast hierarchical extracting method according to claim 1 based on LiDAR point cloud, it is characterised in that: institute
Step S5 is stated, according to the radical of the power line number of plies and every layer of power line that extract, obtains the general alignment mode of power line, and
Identify lightning conducter and conducting wire.
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110533075A (en) * | 2019-08-01 | 2019-12-03 | 贵州电网有限责任公司输电运行检修分公司 | A kind of multi-model power line dividing method |
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| CN110533075A (en) * | 2019-08-01 | 2019-12-03 | 贵州电网有限责任公司输电运行检修分公司 | A kind of multi-model power line dividing method |
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| CN111859772B (en) * | 2020-07-07 | 2023-11-17 | 河南工程学院 | Power line extraction method and system based on cloth simulation algorithm |
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