CN110349092A - A kind of cloud filtering method and equipment - Google Patents
A kind of cloud filtering method and equipment Download PDFInfo
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- CN110349092A CN110349092A CN201910446996.1A CN201910446996A CN110349092A CN 110349092 A CN110349092 A CN 110349092A CN 201910446996 A CN201910446996 A CN 201910446996A CN 110349092 A CN110349092 A CN 110349092A
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- G06T2207/20024—Filtering details
Abstract
The present invention is suitable for data analysis technique field, provides a kind of cloud filtering method and equipment, comprising: is handled using preset cloth simulation algorithm the point cloud data, determines the first ground point information in the point cloud data；The point cloud data is handled using preset irregular triangle network asymptotic filtering algorithm, determines the second ground point information in the point cloud data；The corresponding height difference in the target area is generated based on the point cloud data and the second ground point information；It determines the corresponding first area of height difference for meeting the first preset condition, and the ground point being in except the first area in first ground point is labeled as third ground point；Based on the point cloud data, second ground point and the third ground point, the ground point information and non-ground points information of the target area are determined.The above method, no setting is required special parameter can distinguish the ground point and non-ground points of a variety of landform without limiting terrain scene.
Description
Technical field
The invention belongs to data analysis technique field more particularly to a kind of cloud filtering method and equipment.
Background technique
Point cloud filtering is the basic step of points cloud processing, is also to discriminate between ground point and non-ground points, with generating precise figures
The committed step of surface model.Existing cloud filtering method is mainly include the following types: surface fitting filtering method, topology filtering
The asymptotic filtering method of method, irregular triangle network, classification and segmentation filtering method, statistical analysis filtering algorithm, multiple dimensioned comparison
Filtering method and filtering method based on machine learning.
But existing several method has the shortcomings that respective, the filtering method of surface fitting cannot preferably retain
Wrong point of some lesser non-ground objects of topographic details and meeting；Topology filtering method due to filter window size limitation,
It is difficult to cope with size more changeable atural object and landform；The asymptotic filtering of irregular triangle network, cannot due to the limitation of parameter setting
Obtain dense ground point cloud；Classification may fail with segmentation filtering method in dense vegetation area, and with set
Parameter variation, classification uncertainty can also increase therewith；Filtering method is statisticallyd analyze in shaped area complicated and changeable
It cannot obtain preferable result；Multiple dimensioned relatively filtering method may be subjected to the limitation of the size of filter window, and increase
The computation complexity of algorithm；Although the method based on machine learning can obtain preferable filter effect, this is big based on having
Amount and the training data of different characteristic in the case where, and need to consume great effort go mark training sample, calculate cost also compared with
Height, therefore do not have preferable applicability.That is, existing cloud filtering method all cannot be the case where cost is relatively low
Under, obtain the variation that dense ground point cloud accurately states variety classes landform.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of cloud filtering method and equipment, it is in the prior art to solve
Point cloud filtering method all cannot obtain dense ground point cloud and come accurately with stating variety classes in the case where cost is relatively low
The problem of variation of shape.
The first aspect of the embodiment of the present invention provides a kind of cloud filtering method, comprising:
Obtain the point cloud data of target area to be detected；
The point cloud data is handled using preset cloth simulation algorithm, filters out in the point cloud data
One ground point information；Wherein, the first ground point information includes the mark and location information of the first ground point；
The point cloud data is handled using preset irregular triangle network asymptotic filtering algorithm, filters out the point
The second ground point information in cloud data；Wherein, the second ground point information includes the mark and position letter of the second ground point
Breath；
The corresponding height difference in the target area is generated based on the point cloud data and the second ground point information；Its
In, the height difference is the point cloud data and the second ground point difference on gravity direction；
It determines the corresponding first area of height difference for meeting the first preset condition, and will be in first ground point
Ground point except the first area is labeled as third ground point；
Based on the point cloud data, second ground point and the third ground point, the ground of the target area is determined
Millet cake information and non-ground points information.
The second aspect of the embodiment of the present invention provides a kind of cloud filter, comprising:
Acquiring unit, for obtaining the point cloud data of target area to be detected；
First screening unit is filtered out for being handled using preset cloth simulation algorithm the point cloud data
The first ground point information in the point cloud data；Wherein, the first ground point information include the first ground point mark and
Location information；
Second screening unit, for being carried out using the asymptotic filtering algorithm of preset irregular triangle network to the point cloud data
Processing, filters out the second ground point information in the point cloud data；Wherein, the second ground point information includes the second ground
The mark and location information of point；
Generation unit, it is corresponding for generating the target area based on the point cloud data and the second ground point information
Height difference；Wherein, the height difference is the point cloud data and the second ground point difference on gravity direction；
First determination unit, for determining the corresponding first area of height difference for meeting the first preset condition, and by institute
The ground point in the first ground point except the first area is stated labeled as third ground point；
Second determination unit is determined for being based on the point cloud data, second ground point and the third ground point
The ground point information and non-ground points information of the target area.
The third aspect of the embodiment of the present invention provides a kind of cloud filter apparatus, including memory, processor and deposits
The computer program that can be run in the memory and on the processor is stored up, the processor executes the computer journey
The step of point cloud filtering method as described in above-mentioned first aspect is realized when sequence.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage
Media storage has computer program, and the point cloud as described in above-mentioned first aspect is realized when the computer program is executed by processor
The step of filtering method.
The embodiment of the present invention obtains the point cloud data of target area to be detected；Using preset cloth simulation algorithm pair
The point cloud data is handled, and determines the first ground point information in the point cloud data；Wherein, the first ground point letter
Breath includes the mark and location information of the first ground point；Using the asymptotic filtering algorithm of preset irregular triangle network to described cloud
Data are handled, and determine the second ground point information in the point cloud data；Wherein, the second ground point information includes the
The mark and location information of two ground points；The target area is generated based on the point cloud data and the second ground point information
Corresponding height difference；Wherein, the height difference is that the point cloud data and second ground point are poor on gravity direction
Value；It determines the corresponding first area of height difference for meeting the first preset condition, and will be in described in first ground point
Ground point except first area is labeled as third ground point；Based on the point cloud data, second ground point and described
Three ground points determine the ground point information and non-ground points information of the target area.The above method, specific ginseng that no setting is required
It counts and does not need to limit terrain scene, still can preferably distinguish the ground point and non-ground points of a variety of landform.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the schematic flow diagram of a kind of cloud filtering method provided in an embodiment of the present invention；
Fig. 2 is the schematic flow diagram that S101 is refined in a kind of cloud filtering method provided in an embodiment of the present invention；
Fig. 3 is the schematic flow diagram that S104 is refined in a kind of cloud filtering method provided in an embodiment of the present invention；
Fig. 4 is the schematic flow diagram of another point cloud filtering method provided in an embodiment of the present invention；
Fig. 5 is the schematic flow diagram of S208 refinement in another point cloud filtering method provided in an embodiment of the present invention；
Fig. 6 is the schematic diagram of a kind of cloud filter provided in an embodiment of the present invention；
Fig. 7 is the schematic diagram of provided in an embodiment of the present invention cloud filter apparatus.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Referring to Figure 1, Fig. 1 is the schematic flow diagram of a kind of cloud filtering method provided in an embodiment of the present invention.This implementation
The executing subject of example midpoint cloud filtering method is point cloud filter apparatus, for example, point cloud filters server.Point cloud as shown in Figure 1
Filtering method can include:
S101: the point cloud data of target area to be detected is obtained.
When beam of laser is irradiated to body surface, the laser reflected can carry the information such as orientation, distance.If by laser
Beam is scanned according to certain track, and the laser point information of reflection will be recorded in scanning, extremely fine due to scanning, then
A large amount of laser point can be obtained, thus laser point cloud can be formed, is i.e. point cloud data.In airborne laser radar equipment operation,
Laser scanning process be it is region-wide, i.e., laser pulse may not only be beaten on the ground, but also may be beaten in building, bridge, electric power
On the man-made features such as line, beacon, vehicle or vegetation.Therefore, existing ground point in the airborne laser radar point cloud data of acquisition,
There is culture point again.The process of topographical surface laser footpoint data subset is isolated from airborne laser radar point cloud data, referred to as
Filtering.
Point cloud filter apparatus obtains the point cloud data of target area to be monitored, wherein target area to be monitored is
Need to distinguish the region of ground point and non-ground points, the point cloud data of target area to be monitored includes target area to be monitored
The ground point and enclave millet cake in domain.
Further, for the erroneous measurements in point cloud data of going out, S101 may include S1011~S1012, such as scheme
Shown in 2, S1011~S1012 is specific as follows:
S1011: the original point cloud data of target area is obtained.
Point cloud filter apparatus obtains the original point cloud data of target area, and specifically details is identical with S101, specifically asks
With reference to S101, details are not described herein again, and the original point cloud data of target area is target area without screening and processing
Point cloud data.
S1012: filtering out the outlier in the original point cloud data, obtains the point cloud data of the target area；Its
In, the outlier is the erroneous measurements in the original point cloud data.
Original point cloud data may include the measured value of some mistakes, these measured values are neither ground point is also not non-
Ground point, in the present embodiment, referred to as outlier.In order to remove outlier from initial data, point cloud filter apparatus can be preparatory
The condition of one screening is set, the outlier in original point cloud data is filtered out, removes the outlier in original point cloud data, obtains
Take the point cloud data of target area.
S102: the point cloud data is handled using preset cloth simulation algorithm, is determined in the point cloud data
The first ground point information；Wherein, the first ground point information includes the mark and location information of the first ground point.
Cloth simulation algorithm is preset in point cloud filter apparatus, cloth simulation filters (colth simulation
Filtering, CSF) algorithm is based on a kind of simple physical process simulations, which assumes one block of virtual cloth by gravity
Effect is fallen on topographical surface, if this block cloth is sufficiently soft, can be attached in landform, and the shape of cloth is exactly DSM.When
When landform is turned over, then the cloth shape fallen on the surface is exactly DEM, and cloth simulation algorithm principle is as follows:
(1) the point cloud for removing outlier is subjected to mirror face turning first.
(2) the calculating point of simulation cloth is generated according to grid resolution ratio set by user.
(3) the calculating point of point cloud data and simulation cloth all projects to two-dimensional surface, in the planes, finds in point cloud data
The nearest corresponding points of the calculating point of range simulation cloth.
(4) height value of corresponding points is determined by the height value that simulation cloth intersects with point cloud data, represents calculating point most
Low approximate altitude value.
(5) the existing height value for calculating point is compared with the size of the height value of intersection, when existing height value is less than or equal to
When intersection height, point will be calculated and be moved to the position of intersection, and set it to fixed point.
(6) repeatedly simulation cloth circulation is carried out, until the maximum value of all height changes for calculating point is set less than user
Threshold value or number realization are more than user's given threshold.
(7) the distance between the calculating point of operation point cloud data and simulation cloth, distinguishes ground point according to distance threshold
With non-ground points.Cloth simulation filtering method has less parameter and is easier to be arranged, but can not remove lower building
Point cloud, and may fail in data boundary, sparse and complicated landform.In the present invention, the resolution ratio of cloth simulation filtering
Parameter is set as identical as the rough resolution ratio of original point cloud data, and distance parameter is set as twice of resolution parameter size.
Point cloud filter apparatus is handled point cloud data using preset cloth simulation algorithm, is determined in point cloud data
Ground point and non-ground points, the ground point in point cloud data is labeled as the first ground point, and obtains the mark of the first ground point
And location information, determine the first ground point information, wherein the first ground point information includes the mark and position letter of the first ground point
Breath.
S103: the point cloud data is handled using preset irregular triangle network asymptotic filtering algorithm, determines institute
State the second ground point information in point cloud data；Wherein, the second ground point information includes mark and the position of the second ground point
Confidence breath.
The asymptotic filtering algorithm of irregular triangle network is preset in point cloud filter apparatus, the asymptotic filtering of irregular triangle network
Algorithm flow is as follows:
(1) point cloud data for removing outlier is projected to after two-dimensional surface and grid is carried out according to the grid size of setting
Change, the minimum point in grid is selected to be considered as seed point.
(2) irregular triangle network is constructed using seed point, ground point is carried out according to the angle and distance threshold that set
It chooses.
(3) (2) process is constantly recycled, until there is no new ground points to be detected in data.This method generates
Although ground point can preferably cover most of region of point cloud data, lesser cloud density can not be retouched accurately
State all featuress of terrain.
Point cloud filter apparatus is handled point cloud data using the asymptotic filtering algorithm of preset irregular triangle network, is determined
Ground point and non-ground points in point cloud data get the ground in point cloud data by the asymptotic filtering algorithm of irregular triangle network
Millet cake is labeled as the second ground point, and obtains the mark and location information of the second ground point, determines the second ground point information,
In, the second ground point information includes the mark and location information of the second ground point.
S104: the corresponding difference in height in the target area is generated based on the point cloud data and the second ground point information
Value；Wherein, the height difference is the point cloud data and the second ground point difference on gravity direction.
Due to obtaining the second ground point using the asymptotic filtering algorithm of irregular triangle network, so the second ground point is diluter
It dredges, but compared with the first ground point got by cloth simulation algorithm, or accurately.In order to remove the first ground
Mistake in millet cake is divided into the non-ground points of ground point, put mark of the cloud filter apparatus based on point cloud data and the second ground point and
Location information obtains the height difference between original point cloud data and the second ground point on gravity direction, i.e. target area pair
The height difference answered.
Further, in order to further accurately get the corresponding height difference in target area, S104 may include
S1041~S1042, as shown in figure 3, S1041~S1042 is specific as follows:
S1041: two-dimensional grid is carried out to the point cloud data and the second ground point information and is formatted processing, the point is obtained
The coordinate information of the coordinate information of cloud data and second ground point.
Point cloud data and the second ground point are carried out two-dimensional grid and formatted processing by point cloud filter apparatus, and rasterizing is by polar plot
Shape is converted into bitmap (grating image), and the three-dimensional scenic of Polygons Representation is rendered into bivariate table by most basic gridding algorithm
Face.After fixed grid size, all point cloud datas and the second ground point are divided in each grid, point cloud data is obtained
The coordinate information of coordinate information and the second ground point.
S1042: the coordinate information of coordinate information and second ground point based on the point cloud data determines the mesh
Mark the corresponding height difference in region.
Point cloud filter apparatus is calculated on the point cloud data gravity direction in each grid based on the coordinate information of point cloud data
Coordinate Z value average value ZRAW, coordinate information based on the second ground point calculates the coordinate Z on the second ground point gravity direction
The average value Z of valueTIN, calculate point cloud data gravity direction on coordinate Z value average value and the second ground point gravity direction on
Difference between the average value of coordinate Z value, is expressed as Δ Z, and the corresponding difference in height in target area can also be determined by crossing Δ Z all
Value, wherein calculation formula is as follows:
Δ Z=ZRAW-ZTIN
S105: the corresponding first area of height difference for meeting the first preset condition is determined, and by first ground point
In ground point except the first area be labeled as third ground point.
Condition is preset in point cloud filter apparatus, it, can be by the way of statistical analysis for filtering out non-ground points
Handle height difference, the mean value and standard deviation of computed altitude difference, preset condition can be that given threshold range is greater than equal
Value, which subtracts the standard deviation of three times and is less than mean value, adds the standard deviations of three times, within this range except height difference representated by area
Domain is denoted as first area, is vegetation or construction zone, as non-ground points region.
In the first region if there is the first ground point, then these points are the non-of the error extraction in the first ground point
Ground point, point cloud filter apparatus obtain the ground point in the first ground point except first area, that is, give up the first ground point
In error extraction non-ground points, by the first ground point be in first area except ground point be labeled as third ground
Point.
S106: it is based on the point cloud data, second ground point and the third ground point, determines the target area
Ground point information and non-ground points information.
Since third ground point is to have passed through the relatively accurate ground point got after screening, then based on point cloud number
According to, the second ground point and third ground point, the ground point and non-ground points of target area can be distinguished.In a kind of embodiment
It can simply be distinguished, i.e., after confirming ground based on the second ground point and third ground point, remove ground in point cloud data
Non-ground points are confirmed after millet cake；In a kind of embodiment, available second ground point and third ground point merge after point cloud
Then it is flat to obtain coordinate Z and fitting of the point cloud data in the grid of center on its gravity direction for the corresponding fit Plane of data
The difference of the Z value of the corresponding key point in face determines the ground point information and non-ground points information of the target area based on the difference.
The embodiment of the present invention obtains the point cloud data of target area to be detected；Using preset cloth simulation algorithm pair
The point cloud data is handled, and determines the first ground point information in the point cloud data；Wherein, the first ground point letter
Breath includes the mark and location information of the first ground point；Using the asymptotic filtering algorithm of preset irregular triangle network to described cloud
Data are handled, and determine the second ground point information in the point cloud data；Wherein, the second ground point information includes the
The mark and location information of two ground points；The target area is generated based on the point cloud data and the second ground point information
Corresponding height difference；Wherein, the height difference is that the point cloud data and second ground point are poor on gravity direction
Value；It determines the corresponding first area of height difference for meeting the first preset condition, and will be in described in first ground point
Ground point except first area is labeled as third ground point；Based on the point cloud data, second ground point and described
Three ground points determine the ground point information and non-ground points information of the target area.The above method, specific ginseng that no setting is required
It counts and does not need to limit terrain scene, still can preferably distinguish the ground point and non-ground points of a variety of landform.
Fig. 4 is referred to, Fig. 4 is the schematic flow diagram of another point cloud filtering method provided in an embodiment of the present invention.This reality
An executing subject for midpoint cloud filtering method is applied for point cloud filter apparatus, for example, point cloud filters server.In order to accurately distinguish
Ground point and non-ground points, the present embodiment and a upper embodiment the difference is that S206~S209, S201~S205 with it is upper
S101~S105 in one embodiment is identical, and details are not described herein again, and S206~S209 is the refinement of S106 in a upper embodiment,
S206~S209 is executed after S201~S205, and S206~S209 is specific as follows:
S206: two-dimensional grid is carried out to the point cloud data and is formatted processing, obtains the point cloud data in target mesh
Coordinate information.
Point cloud filter apparatus formats point cloud data progress two-dimensional grid processing, and rasterizing is to convert bitmap for vector graphics
The three-dimensional scenic of Polygons Representation is rendered into two-dimensional surface by (grating image), most basic gridding algorithm.Fixed grid is big
After small, all point cloud datas are divided in each grid, obtain the coordinate information of point cloud data.
S207: the point cloud data is obtained in gravity direction based on coordinate information of the point cloud data in target mesh
On the first coordinate value.
Point cloud filter apparatus obtains the point cloud data based on coordinate information of the point cloud data in target mesh and exists
The first coordinate value on gravity direction.
S208: determining fit Plane based on second ground point, the third ground point and the target mesh, obtains
Second coordinate value of the key point of the fit Plane on gravity direction.
The fitting of plane, which refers to, generates a smooth plane based on target point, so that target point was generated all in this
In plane, point cloud filter apparatus determines fit Plane based on the second ground point, third ground point and target mesh, and it is flat to obtain fitting
The key point in face, the method that key point is chosen can determine the quantity and each key of key point according to the size of fit Plane
The distance between point.Obtain second coordinate value of the key point on gravity direction.
Further, in order to accurately generate fit Plane, S208 may include S2081~S2082, as shown in figure 5,
S2081~S2082 is specific as follows:
S2081: plane fitting window is determined based on preset geometric dilution of precision, with the central square in the target mesh
Centered on net, fit Plane is determined in the plane fitting window based on second ground point and the third ground point.
In the present embodiment, point cloud filter apparatus preset geometric dilution of precision guarantee plane fitting point selection conjunction
Reason distribution.When by geometric dilution of precision be arranged it is larger when, plane fitting point is distributed in around grid with more dispersed, this
Sample can avoid the occurrence of match point distribution and more concentrate on the situation that a region causes fitting precision not high.Specifically,
The threshold value of a settable geometric dilution of precision judges the geometric accuracy of the plane fitting point distribution in current plane fitting window
Whether the factor is greater than threshold value, if being less than threshold value, then the size of plane fitting window is gradually expanded to obtain distribution and more disperse
Plane fitting point.
Point cloud filter apparatus determines the size of plane fitting window by geometric dilution of precision, with the center in target mesh
Centered on grid, fit Plane is determined in plane fitting window based on the second ground point and third ground point.
S2082: second coordinate value of the fit Plane on gravity direction is obtained.
Detail in S2082 can be refering to S208, and details are not described herein again.
S209: it is based on first coordinate value and second coordinate value, classifies to the point cloud data, determines institute
State the ground point information and non-ground points information of target area.
Point cloud filter apparatus obtains the difference between the first coordinate value and the second coordinate value, retains negative in all differences
It is worth, and all negative values wholes is subjected to signed magnitude arithmetic(al)s and obtain operation result, classification thresholds is arranged based on operation result, are based on dividing
Difference between first coordinate value and the second coordinate value is divided into two classes by class threshold value, and the corresponding point of difference is ground point in two classes
And non-ground points.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
Fig. 6 is referred to, Fig. 6 is the schematic diagram of a kind of cloud filter provided in an embodiment of the present invention.Including each list
Member is for executing each step in the corresponding embodiment of FIG. 1 to FIG. 5, referring specifically in the corresponding embodiment of FIG. 1 to FIG. 5
Associated description.For ease of description, only the parts related to this embodiment are shown.Referring to Fig. 6, puts cloud filter 6 and wrap
It includes:
Acquiring unit 610, for obtaining the point cloud data of target area to be detected；
First screening unit 620 is screened for being handled using preset cloth simulation algorithm the point cloud data
The first ground point information in the point cloud data out；Wherein, the first ground point information includes the mark of the first ground point
And location information；
Second screening unit 630, for using the asymptotic filtering algorithm of preset irregular triangle network to the point cloud data
It is handled, filters out the second ground point information in the point cloud data；Wherein, the second ground point information includes second
The mark and location information of ground point；
Generation unit 640, for generating the target area based on the point cloud data and the second ground point information
Corresponding height difference；Wherein, the height difference is that the point cloud data and second ground point are poor on gravity direction
Value；
First determination unit 650, for determining the corresponding first area of height difference for meeting the first preset condition, and will
Ground point in first ground point except the first area is labeled as third ground point；
Second determination unit 660, for being based on the point cloud data, second ground point and the third ground point,
Determine the ground point information and non-ground points information of the target area.
Further, second determination unit 660, comprising:
First processing units format processing for carrying out two-dimensional grid to the point cloud data, obtain the point cloud data and exist
Coordinate information in target mesh；
The second processing unit, for obtaining described cloud number based on coordinate information of the point cloud data in target mesh
According to the first coordinate value on gravity direction；
Third processing unit, for being determined based on second ground point, the third ground point and the target mesh
Fit Plane obtains second coordinate value of the key point of the fit Plane on gravity direction；
Fourth processing unit, for be based on first coordinate value and second coordinate value, to the point cloud data into
Row classification, determines the ground point information and non-ground points information of the target area.
Further, the third processing unit, is specifically used for:
Plane fitting window is determined based on preset geometric dilution of precision, with the center grid in the target mesh is
The heart determines fit Plane based on second ground point and the third ground point in the plane fitting window；
Obtain second coordinate value of the fit Plane on gravity direction.
Further, the generation unit 640, is specifically used for:
Two-dimensional grid is carried out to the point cloud data and the second ground point information to format processing, obtains the point cloud data
Coordinate information and second ground point coordinate information；
The coordinate information of coordinate information and second ground point based on the point cloud data, determines the target area
Corresponding height difference.
Further, the acquiring unit 610, is specifically used for:
Obtain the original point cloud data of target area；
The outlier in the original point cloud data is filtered out, the point cloud data of the target area is obtained；Wherein, described
Outlier is the erroneous measurements in the original point cloud data.
Fig. 7 is the schematic diagram of provided in an embodiment of the present invention cloud filter apparatus.As shown in fig. 7, the point cloud of the embodiment
Filter apparatus 7 includes: processor 70, memory 71 and is stored in the memory 71 and can transport on the processor 70
Capable computer program 72, such as point cloud filter.The processor 70 is realized above-mentioned when executing the computer program 72
Step in each cloud filtering method embodiment, such as step 101 shown in FIG. 1 is to 106.Alternatively, the processor 70 is held
The function of each module/unit in above-mentioned each Installation practice, such as module shown in Fig. 6 are realized when the row computer program 72
610 to 660 function.
Illustratively, the computer program 72 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 71, and are executed by the processor 70, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 72 in described cloud filter apparatus 7 is described.For example, the computer program 72 can be with
It is divided into acquiring unit, the first screening unit, the second screening unit, generation unit, the first determination unit, the second determining list
Member, each unit concrete function are as follows:
Acquiring unit, for obtaining the point cloud data of target area to be detected；
First screening unit is filtered out for being handled using preset cloth simulation algorithm the point cloud data
The first ground point information in the point cloud data；Wherein, the first ground point information include the first ground point mark and
Location information；
Second screening unit, for being carried out using the asymptotic filtering algorithm of preset irregular triangle network to the point cloud data
Processing, filters out the second ground point information in the point cloud data；Wherein, the second ground point information includes the second ground
The mark and location information of point；
Generation unit, it is corresponding for generating the target area based on the point cloud data and the second ground point information
Height difference；Wherein, the height difference is the point cloud data and the second ground point difference on gravity direction；
First determination unit, for determining the corresponding first area of height difference for meeting the first preset condition, and by institute
The ground point in the first ground point except the first area is stated labeled as third ground point；
Second determination unit is determined for being based on the point cloud data, second ground point and the third ground point
The ground point information and non-ground points information of the target area.
Described cloud filter apparatus may include, but be not limited only to, processor 70, memory 71.Those skilled in the art can
To understand, Fig. 7 is only the example of point cloud filter apparatus 7, is not constituted to a restriction for cloud filter apparatus 7, may include ratio
More or fewer components are illustrated, certain components or different components are perhaps combined, such as described cloud filter apparatus may be used also
To include input-output equipment, network access equipment, bus etc..
Alleged processor 70 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 71 can be the internal storage unit of described cloud filter apparatus 7, such as put cloud filter apparatus 7
Hard disk or memory.The memory 71 is also possible to the External memory equipment of described cloud filter apparatus 7, such as described cloud filter
The plug-in type hard disk being equipped on wave device 7, intelligent memory card (Smart Media Card, SMC), secure digital (Secure
Digital, SD) card, flash card (Flash Card) etc..Further, the memory 71 can also both include described cloud
The internal storage unit of filter apparatus 7 also includes External memory equipment.The memory 71 is for storing the computer program
And other programs and data needed for described cloud filter apparatus.The memory 71 can be also used for temporarily storing
Output or the data that will be exported.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..Computer-readable Jie
Matter may include: can carry the computer program code any entity or device, recording medium, USB flash disk, mobile hard disk,
Magnetic disk, CD, computer storage, read-only memory (Read-Only Memory, ROM), random access memory (Random
Access Memory, RAM), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the meter
The content that calculation machine readable medium includes can carry out increase and decrease appropriate according to the requirement made laws in jurisdiction with patent practice,
It such as does not include electric carrier signal and telecommunications according to legislation and patent practice, computer-readable medium in certain jurisdictions
Signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of cloud filtering method characterized by comprising
Obtain the point cloud data of target area to be detected；
The point cloud data is handled using preset cloth simulation algorithm, determines the first ground in the point cloud data
Point information；Wherein, the first ground point information includes the mark and location information of the first ground point；
The point cloud data is handled using preset irregular triangle network asymptotic filtering algorithm, determines the point cloud data
In the second ground point information；Wherein, the second ground point information includes the mark and location information of the second ground point；
The corresponding height difference in the target area is generated based on the point cloud data and the second ground point information；Wherein,
The height difference is the point cloud data and the second ground point difference on gravity direction；
It determines the corresponding first area of height difference for meeting the first preset condition, and will be in described in first ground point
Ground point except first area is labeled as third ground point；
Based on the point cloud data, second ground point and the third ground point, the ground point of the target area is determined
Information and non-ground points information.
2. point cloud filtering method as described in claim 1, which is characterized in that described to be based on the point cloud data, described second
Ground point and the third ground point determine the ground point information and non-ground points information of the target area, comprising:
Two-dimensional grid is carried out to the point cloud data to format processing, obtains coordinate information of the point cloud data in target mesh；
Coordinate information based on the point cloud data in target mesh obtains first of the point cloud data on gravity direction
Coordinate value；
Fit Plane is determined based on second ground point, the third ground point and the target mesh, obtains the fitting
Second coordinate value of the key point of plane on gravity direction；
Based on first coordinate value and second coordinate value, classify to the point cloud data, determines the target area
The ground point information and non-ground points information in domain.
3. point cloud filtering method as claimed in claim 2, which is characterized in that described to be based on second ground point, institute
It states third ground point and the target mesh determines fit Plane, obtain the key point of the fit Plane on gravity direction
Second coordinate value, comprising:
Plane fitting window is determined based on preset geometric dilution of precision, centered on the center grid in the target mesh,
Fit Plane is determined in the plane fitting window based on second ground point and the third ground point；
Obtain second coordinate value of the fit Plane on gravity direction.
4. point cloud filtering method as described in claim 1, which is characterized in that described to be based on the point cloud data and described second
Ground point information generates the corresponding height difference in the target area, comprising:
Two-dimensional grid is carried out to the point cloud data and the second ground point information to format processing, obtains the seat of the point cloud data
Mark the coordinate information of information and second ground point；
The coordinate information of coordinate information and second ground point based on the point cloud data determines that the target area is corresponding
Height difference.
5. according to any one of claims 1-4 cloud filtering method, which is characterized in that described to obtain target area to be detected
The point cloud data in domain, comprising:
Obtain the original point cloud data of target area；
The outlier in the original point cloud data is filtered out, the point cloud data of the target area is obtained；Wherein, described to peel off
Point is the erroneous measurements in the original point cloud data.
6. a kind of cloud filter characterized by comprising
Acquiring unit, for obtaining the point cloud data of target area to be detected；
First screening unit is filtered out described for being handled using preset cloth simulation algorithm the point cloud data
The first ground point information in point cloud data；Wherein, the first ground point information includes mark and the position of the first ground point
Information；
Second screening unit, for using the asymptotic filtering algorithm of preset irregular triangle network to the point cloud data at
Reason, filters out the second ground point information in the point cloud data；Wherein, the second ground point information includes the second ground point
Mark and location information；
Generation unit, for generating the corresponding height in the target area based on the point cloud data and the second ground point information
Spend difference；Wherein, the height difference is the point cloud data and the second ground point difference on gravity direction；
First determination unit, for determining the corresponding first area of height difference for meeting the first preset condition, and by described the
Ground point in one ground point except the first area is labeled as third ground point；
Second determination unit, described in determining based on the point cloud data, second ground point and the third ground point
The ground point information and non-ground points information of target area.
7. point cloud filter as claimed in claim 6, second determination unit, comprising:
First processing units format processing for carrying out two-dimensional grid to the point cloud data, obtain the point cloud data in target
Coordinate information in grid；
The second processing unit exists for obtaining the point cloud data based on coordinate information of the point cloud data in target mesh
The first coordinate value on gravity direction；
Third processing unit is fitted for being determined based on second ground point, the third ground point and the target mesh
Plane obtains second coordinate value of the key point of the fit Plane on gravity direction；
Fourth processing unit divides the point cloud data for being based on first coordinate value and second coordinate value
Class determines the ground point information and non-ground points information of the target area.
8. point cloud filter, the third processing unit are specifically used for as claimed in claim 7:
Plane fitting window is determined based on preset geometric dilution of precision, centered on the center grid in the target mesh,
Fit Plane is determined in the plane fitting window based on second ground point and the third ground point；
Obtain second coordinate value of the fit Plane on gravity direction.
9. a kind of cloud filter apparatus, including memory, processor and storage are in the memory and can be in the processing
The computer program run on device, which is characterized in that the processor realizes such as claim 1 when executing the computer program
The step of to any one of 5 the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 5 of realization the method.
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