CN112085672A - Point cloud data filtering method considering pile body prior geometric form parameters - Google Patents
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Abstract
A point cloud data filtering method considering pile body prior geometric form parameters comprises the steps of taking the pile body geometric parameters as constraints, constructing a fitting model by using point cloud data, and resolving the model by means of least square; and then, taking the constructed pile body model as reference, eliminating abnormal point cloud far away from the pile body by adopting a statistical filtering method, realizing point cloud data filtering, and finally determining the center coordinates of the top surface of the pile and the distance between the piles which meet the precision requirement. The method adopts the prior form information of the pile body as constraint, realizes filtering by fitting a form curved surface, improves the efficiency and the precision of pile body point cloud data filtering, and has important practical significance for high-precision pile body form restoration and pile body positioning.
Description
Technical Field
The invention relates to the technical field of point cloud data processing, in particular to a point cloud data filtering method considering pile body prior geometric form parameters.
Background
In the construction of offshore wind power, offshore bridges and other marine engineering, pile piles need to be driven into the sea bottom to form a basic engineering supporting structure, and two sections of pile bodies need to be connected underwater for pile sleeving in a deeper water area. Therefore, the position precision of the pile body after piling is directly related to the engineering implementation and the safety thereof. The underwater pile body construction site is far away from the land, the water depth value of the top surface of the pile body is still large, most of the pile body is buried by seawater, the pile body is difficult to be accurately positioned by the aid of the conventional ground electromagnetic wave measurement principle, a point cloud is obtained by means of an underwater sound wave positioning technology, the shape of the pile body is recovered, and then the pile body is measured and positioned.
At present, a statistical analysis method is mostly adopted for filtering pile body point cloud, namely, according to the consistency of point cloud data on a pile body surface, the elimination of abnormal points is realized by the aid of the statistical analysis method; firstly, framing all sounding points in a certain neighborhood range (such as 3x3 or 5x5) around a detected point; then calculating the average value of the sounding points, and subtracting the average elevation from the depth values of the sounding points in the neighborhood to obtain the depth deviation of all the sounding points in the neighborhood; then, the depth deviation of the points is utilized to obtain a root mean square error; for the detected point, subtracting the average value from the depth measurement value of the point to obtain the point deviation; if the deviation of the detected point is larger than 2 times or 3 times of the root mean square error, the detected point is filtered. The method does not consider the actual situation of the pile body, only carries out filtering according to the consistency of the point cloud data, necessarily keeps some point cloud data which accord with the data statistics characteristics but do not meet the shape characteristics of the pile body, and also necessarily brings larger errors to the shape recovery and the pile body positioning of the pile body.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art, and provides a point cloud data filtering method which is accurate and efficient, can solve the problem of filtering the pile body point cloud data and improve the quality of the point cloud data and takes into account the pile body prior geometric form parameters.
The technical problem to be solved by the present invention is achieved by the following technical means. The invention relates to a point cloud data filtering method considering pile body prior geometric form parameters, which comprises the steps of taking the pile body geometric parameters as constraints, constructing a fitting model by using point cloud data, and resolving the model by means of least square; and then, taking the constructed pile body model as a reference, and eliminating abnormal point cloud far away from the pile body by adopting a statistical filtering method to realize point cloud data filtering.
The technical problem to be solved by the invention can be further realized by the following technical scheme, and for the point cloud data filtering method taking into account the pile body prior geometric form parameters, the method comprises the following specific steps:
(1) obtaining 7 parameters of the fitted cylinder surface by least squares programming, i.e.
(x0,y0,z0) Is a point on the cylinder axis L;
(L, m, n) is the direction vector of the cylinder axis L;
r is the radius of the cylinder;
these seven parameters may determine a cylinder equation:
(x-x0)2+(y-y0)2+(z-z0)2-r2＝(l(x-x0)+m(y-y0)+n(z-z0))2
the upper and lower bottom surfaces of the cylinder are represented by the normal of the plane equation:
ax+by+cz+d＝0
in the formula, (a, b and c) are normal vectors of the plane, d is the distance from the origin to the plane, and the four parameters can determine the plane;
(2) fitting the cylindrical surface of the pile body by using an intersection method or a center method:
the intersection method is to obtain the center point of the upper bottom surface of the cylinder, namely the intersection point of the axis of the cylinder and the plane of the upper bottom surface, and comprises the following steps:
t＝(-d-ax0-by0-cz0)/(l*a+m*b+n*c)
x＝x0+t*l
y＝y0+t*m
z＝z0+t*n
where t is the value of the parameter for the intersection in the axis equation,
(x, y, z) is the intersection coordinate;
the center method is to fully consider point cloud data of each column top surface, adopt an averaging method and the like to perform fitting positioning on the column top surface center, and establish the following formula:
in the formula (x)0，y0，z0) Representing the coordinate of the solved circle center; (x)i，yi，zi) Is a top surface point cloud coordinate; n is the number of point clouds on the top surface of the column;
(3) filtering the point cloud data according to the pile body cylindrical surface fitted in the step (2):
firstly, randomly selecting some points from an input point cloud data set, calculating parameters of a model given by a user, setting a distance threshold value for all the points in the data set, classifying the points into local interior points if the distance from the points to the model is within the range of the distance threshold value according to the given threshold value, and gradually expanding the interior point set if the distance from the points to the model is not within the range of the distance threshold value;
secondly, recalculating the model parameters by using the interior points in the interior point set;
then, iteration is carried out until the iteration times reach a limit value or the inner point is not changed;
finally, C is the minimum to obtain the best model parameters, and the formula is as follows:
C＝∑p(ei)
in the formula, eiIs the distance difference between the ith data point and the model, p (e)i) And C is the integral error value of the model of all the point pairs, T is a set distance threshold value, and C is a constant.
The technical problem to be solved by the present invention can be further solved by the following technical solution, wherein for the above-mentioned point cloud data filtering method taking into account the prior geometric configuration parameters of the pile body, different weights are given to the interior points according to the distance difference between the interior points and the model, the influence of different interior points on the model is further defined, and further the optimal solution of the model parameters is obtained, as shown in the following formula:
C＝∑p(ei)
in this case, the constant c must be greater than the distance threshold parameter T.
The technical problem to be solved by the invention can be further realized by the following technical scheme that for the point cloud data filtering method taking into account the prior geometric form parameters of the pile body, the radius parameters of the fitted cylindrical surface of the pile body need to meet the following requirements:
k＝modelc.Radius-r
where k is a program determination condition parameter, modelc.
The technical problem to be solved by the invention can be further realized by the following technical scheme that for the point cloud data filtering method considering the prior geometric form parameters of the pile body, when the pile body is fitted and positioned by adopting a center method, the point cloud data of the top surface of the column body needs to be selected, the radius of a circle is limited, and the formula is as follows;
k＜r+ks
wherein k is the point cloud (x)i，yi，zi) And (x)0，y0，z0) The distance of (d); r is the known prior cylinder radius; ks is a small constant, associated with a point cloud measurement errorThe difference is relevant.
Compared with the prior art, the invention has the beneficial effects that:
1. the removal of abnormal point clouds on the pile body can be realized, and the accurate restoration of the underwater pile body is facilitated;
2. the algorithm is convenient and quick to use, time consumption for implementation is reduced, and calculation efficiency is improved;
3. the accuracy of the filtering algorithm is higher, and the positioning precision of the pile body is improved;
4. the filtering algorithm provides a low-cost and high-efficiency operation method for determining the pile body based on a large amount of real point clouds, and has high economic benefit.
Drawings
FIG. 1 is a graph of the model effect of the present invention;
FIG. 2 is a plot of point cloud data on the top of a cylinder with a survey line of the invention directly above the cylinder;
FIG. 3 is a schematic diagram of the algorithmic filtering of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, a point cloud data filtering method taking into account pile body prior geometric form parameters is used for positioning an underwater pile body, solving the problem of filtering pile body point cloud data, improving the quality of the point cloud data, facilitating the subsequent pile body shape restoration and pile body position determination based on the pile body point cloud data, and has the advantages of accuracy, high efficiency and the like compared with the traditional point cloud data filtering method;
the method mainly comprises the following steps:
firstly, taking geometric parameters of a pile body as constraint, constructing a fitting model by using point cloud data, and resolving the model by means of least square;
secondly, determining parameters of the pile body, taking the constructed pile body model as a reference, eliminating abnormal point clouds far away from the pile body by adopting a statistical filtering method, realizing point cloud data filtering, and finally determining the center coordinates of the top surface of the pile and the distance between the piles which meet the precision requirement.
The coordinates of the circle centers of the column top surfaces and the column spacing are pile body information parameters concerned in practical engineering production, and therefore a center method for fitting cloud data of the column top surfaces with center dots and an intersection point method for determining the center points of the column top circular surfaces by the intersected top surfaces of the cylindrical axes can be considered. The intersection point method is a method for fitting a cylindrical surface according to point cloud data of the cylindrical surface, wherein the intersection point of the central axis of the cylindrical surface and the plane of the top surface is the center of the top surface of the cylindrical surface;
the method comprises the following specific processes:
obtaining 7 parameters of the fitted cylinder surface by least squares programming, i.e.
(x0,y0,z0) Is a point on the cylinder axis L;
(L, m, n) is the direction vector of the cylinder axis L;
r is the radius of the cylinder;
these seven parameters may determine a cylinder equation:
(x-x0)2+(y-y0)2+(z-z0)2-r2＝(l(x-x0)+m(y-y0)+n(z-z0))2 (1)
the upper and lower bottom surfaces of the cylinder are represented by the normal of the plane equation:
ax+by+cz+d＝0 (2)
in the formula, (a, b and c) are normal vectors of the plane, d is the distance from the origin to the plane, and the four parameters can determine the plane; the center point (circle center) of the upper bottom surface of the cylinder is the intersection point of the axis of the cylinder and the plane of the upper bottom surface, and the method comprises the following steps:
t＝(-d-ax0-by0-cz0)/(l*a+m*b+n*c) (3)
x＝x0+t*l
y＝y0+t*m (4)
z＝z0+t*n
where t is the value of the parameter for the intersection in the axis equation,
(x, y, z) is the intersection coordinate found.
In the multi-beam actual measurement data, when a survey line passes through the right upper part of the cylinder and the cylinder is scanned by using a central beam, the obtained point cloud data is basically on the top surface of the cylinder and rarely covers the side surface of the cylinder, the cylinder surface fitting modeling in the intersection point method is difficult at the moment, and the accuracy is poor even if the parameter is obtained reluctantly; the cloud distribution of the points on the top surface of the obtained column is uniform, the shape of the obtained column is circular, and the solution positioning can be directly carried out by adopting a center method.
The center method is to fully consider the point cloud data of each column top surface, and adopt the mean value method and the like to perform fitting positioning on the center of the column top surface, so that the following formula is established:
in the formula (x)0，y0，z0) Representing the coordinate of the solved circle center;
(xi，yi，zi) Is a top surface point cloud coordinate;
and n is the number of point clouds on the top surface of the column.
The fitting positioning needs to further select a certain range of the point cloud data of the top surface of the cylinder, such as setting a circumferential radius range, removing gross errors and the like; the radius of the circle is defined by the following formula;
k＜r+ks (6)
wherein k is the point cloud (x)i，yi，zi) And (x)0，y0，z0) The distance of (a) to (b),
r is the known prior cylinder radius;
ks is a small constant related to the point cloud measurement error.
The intersection point method is characterized in that a modeling cylindrical surface is fitted, point cloud data are filtered by the cylindrical surface, and the basic idea is as follows:
firstly, randomly selecting some points from an input point cloud data set, calculating parameters of a model given by a user, setting a distance threshold value for all the points in the data set, classifying the points into local interior points if the distance from the points to the model is within the range of the distance threshold value according to the given threshold value, and gradually expanding the interior point set if the distance from the points to the model is not within the range of the distance threshold value;
secondly, recalculating the model parameters by using the interior points in the interior point set;
then, iteration is carried out until the iteration times reach a limit value or the inner point is not changed;
finally, C is required to be minimum, and the optimal model parameters are obtained.
The formula is as follows:
C＝∑p(ei)(8)
in the formula, eiIs the distance difference between the ith data point and the model, p (e)i) And C is the integral error value of the model of all the point pairs, T is a set distance threshold value, and C is a constant.
Based on RANSAC algorithm, the MSAC algorithm gives different weights to the interior points according to the distance difference between the interior points and the model, further determines the influence of the different interior points on the model, and further obtains the optimal solution of the model parameters, as shown in the following formula:
C＝∑p(ei) (10)
in this case, the constant c must be greater than the distance threshold parameter T.
In modeling, the pile body radius is taken into consideration as a prior geometric parameter of the pile body, the range of the cylindrical surface radius parameter can be limited in the parameter of the model, and the pile body parameter information conforming to the actual condition is obtained; adding a limiting condition to the cylinder radius parameter obtained by the MSAC algorithm:
k＝modelc.Radius-r (11)
wherein k is a program determination condition parameter,
radius is the calculated cylinder radius parameter
r is a known cylinder prior radius parameter.
The invention has the advantages that:
1. the removal of abnormal point clouds on the pile body can be realized, and the accurate restoration of the underwater pile body is facilitated;
2. the algorithm is convenient and quick to use, time consumption for implementation is reduced, and calculation efficiency is improved;
3. the accuracy of the filtering algorithm is higher, and the positioning precision of the pile body is improved;
4. the filtering algorithm provides a low-cost and high-efficiency operation method for determining the pile body based on a large amount of real point clouds, and has high economic benefit.
Claims (5)
1. A point cloud data filtering method considering pile body prior geometric form parameters is characterized in that: firstly, taking geometric parameters of a pile body as constraint, constructing a fitting model by using point cloud data, and resolving the model by means of least square; and then, taking the constructed pile body model as a reference, and eliminating abnormal point cloud far away from the pile body by adopting a statistical filtering method to realize point cloud data filtering.
2. The point cloud data filtering method taking into account the pile body prior geometric shape parameters according to claim 1, characterized in that: the method comprises the following specific steps:
(1) obtaining 7 parameters of the fitted cylinder surface by least squares programming, i.e.
(x0，y0，z0) Is a point on the cylinder axis L;
(L, m, n) is the direction vector of the cylinder axis L;
r is the radius of the cylinder;
these seven parameters may determine a cylinder equation:
(x-x0)2+(y-y0)2+(z-z0)2-r2＝(l(x-x0)+m(y-y0)+n(z-z0))2
the upper and lower bottom surfaces of the cylinder are represented by the normal of the plane equation:
ax+by+cz+d＝0
in the formula, (a, b and c) are normal vectors of the plane, d is the distance from the origin to the plane, and the four parameters can determine the plane;
(2) fitting the cylindrical surface of the pile body by using an intersection method or a center method:
the intersection method is to obtain the center point of the upper bottom surface of the cylinder, namely the intersection point of the axis of the cylinder and the plane of the upper bottom surface, and comprises the following steps:
t＝(-d-ax0-by0-cz0)/(l*a+m*b+n*c)
x＝x0+t*l
y＝y0+t*m
z＝z0+t*n
where t is the value of the parameter for the intersection in the axis equation,
(x, y, z) is the intersection coordinate;
the center method is to fully consider point cloud data of each column top surface, adopt an averaging method and the like to perform fitting positioning on the column top surface center, and establish the following formula:
in the formula (x)0，y0，z0) Representing the coordinate of the solved circle center; (x)i，yi，zi) Is a top surface point cloud coordinate;n is the number of point clouds on the top surface of the column;
(3) filtering the point cloud data according to the pile body cylindrical surface fitted in the step (2):
firstly, randomly selecting some points from an input point cloud data set, calculating parameters of a model given by a user, setting a distance threshold value for all the points in the data set, classifying the points into local interior points if the distance from the points to the model is within the range of the distance threshold value according to the given threshold value, and gradually expanding the interior point set if the distance from the points to the model is not within the range of the distance threshold value;
secondly, recalculating the model parameters by using the interior points in the interior point set;
then, iteration is carried out until the iteration times reach a limit value or the inner point is not changed;
finally, C is the minimum to obtain the best model parameters, and the formula is as follows:
C＝∑p(ei)
in the formula, eiIs the distance difference between the ith data point and the model, p (e)i) And C is the integral error value of the model of all the point pairs, T is a set distance threshold value, and C is a constant.
3. The point cloud data filtering method taking into account the pile body prior geometric shape parameters according to claim 2, characterized in that: according to the distance difference between the interior point and the model, different weights of the interior point are given, the influence of different interior points on the model is further determined, and further the optimal solution of the model parameters is obtained, which is shown as the following formula:
C＝∑p(ei)
in this case, the constant c must be greater than the distance threshold parameter T.
4. The point cloud data filtering method considering the pile body prior geometric shape parameters according to claim 2 or 3, characterized in that: the radius parameter of the fitted cylindrical surface of the pile body needs to satisfy the following conditions:
k＝modelc.Radius-r
where k is a program determination condition parameter, modelc.
5. The point cloud data filtering method taking into account the pile body prior geometric shape parameters according to claim 2, characterized in that: when the pile body is positioned by fitting by adopting a center method, point cloud data of the top surface of the pile body needs to be selected, the radius of a circle is limited, and the formula is as follows;
k＜r+ks
wherein k is the point cloud (x)i，yi，zi) And (x)0，y0，z0) The distance of (d); r is the known prior cylinder radius; ks is a small constant related to the point cloud measurement error.
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