平面约束条件在LIDAR点云滤波中的应用

介绍了一种利用平面约束条件对LIDAR点云数据进行滤波的方法,利用每个数据点的邻域点拟合平面,根据平面约束条件和平面点分类方法得到地面点,最后利用地面点内插该区域的DTM.     

一种基于平面拟合的LIDAR点云滤波方法

LIDAR点云滤波是将LIDAR点云数据中的地面点和非地面点分离的过程。根据在较小区域内可以近似认为地面为一平面,本文提出了一种应用平面拟合的方法,首先在一个局部区域内拟合出一个近似平面,通过判断LIDAR点是否属于该平面来获取平面点,并通过分类处理从平面点中得到地面点,最后用得到的地面点内插出DEM。滤波前,需要剔除高程异常点,本文应用了高程差约束算法抑制高程异常点,从而较好地保持了原始数据的局部细节信息。     

关键点检测的复杂建筑物模型自动重建

利用机载LiDAR点云数据进行建筑物重建是当今摄影测量与遥感领域的一个热点问题,特别是复杂形状建筑物模型的精确自动构建一直是一个难题。本文提出一种基于关键点检测的复杂建筑物模型自动重建方法,采用RANSAC法与距离法相结合的分割方法自动提取建筑物屋顶各个平面的点云,并利用Alpha Shape算法提取出各个平面的精确轮廓,根据屋顶平面之间的空间拓扑关系分析建筑物的公共交线特征,在此特征约束下对提取的初始关键点进行修正,最终重建出精确的建筑物3维模型。选取不同类型复杂建筑物与包含复杂建筑物的城市区域点云进行实验,结果表明该算法具有较强实用价值。     

Automated Detection of 3D Roof Planes from Lidar Data

The purpose of this study is to derive vectoral 3D roof planes from the LIDAR point cloud of the detected buildings. For segmentation of the LIDAR point cloud, the RANSAC algorithm has been used. Because the RANSAC algorithm is sensitive to the used parameters, and results in over- or under-segmentation of the clusters, a refinement method has been proposed. The detection of roof planes has been improved with use of the refinement method. Therefore, similar plane surfaces have been combined, followed by the region-growing algorithm, to split the under-segmented plane surfaces. The digitization of the roof boundaries is performed using the alpha-shapes algorithm, followed by line fitting to generalize the roof edges. The quality assessment has been done using the reference vector dataset with comparison using four different criteria.     

基于LIDAR数据的建筑物轮廓提取

建筑物轮廓的准确提取是建筑物三维重建中最重要的一步。本文在研究已有建筑物轮廓提取方法的基础上,针对LIDAR离散的点云数据,提出了一种自动快速提取建筑物轮廓信息的方法。首先通过点云数据生成城市的数字表面模型(DSM)和数字地面模型(DTM)相减计算得出规则化的数字表面模型(nDSM),进而将地面点和非地面点进行分类;其次,考虑到地物的几何特性,提出一种8邻域搜索的方法对非地面点点云进行分割,得到建筑物表面点云;最后运用基于梯度图的边界跟踪的方法来获取建筑物的轮廓信息。实验表明:该方法能有效地提取建筑物轮廓。     

A global optimization approach to roof segmentation from airborne lidar point clouds

This paper presents a global plane fitting approach for roof segmentation from lidar point clouds. Starting with a conventional plane fitting approach (e.g., plane fitting based on region growing), an initial segmentation is first derived from roof lidar points. Such initial segmentation is then optimized by minimizing a global energy function consisting of the distances of lidar points to initial planes (labels), spatial smoothness between data points, and the number of planes. As a global solution, the proposed approach can determine multiple roof planes simultaneously. Two lidar data sets of Indianapolis (USA) and Vaihingen (Germany) are used in the study. Experimental results show that the completeness and correctness are increased from 80.1% to 92.3%, and 93.0% to 100%, respectively; and the detection cross-lap rate and reference cross-lap rate are reduced from 11.9% to 2.2%, and 24.6% to 5.8%, respectively. As a result, the incorrect segmentation that often occurs at plane transitions is satisfactorily resolved; and the topological consistency among segmented planes is correctly retained even for complex roof structures.     

Segmentation of Airborne Point Cloud Data for Automatic Building Roof Extraction

Roof plane segmentation is a complex task since point cloud data carry no connection information and do not provide any semantic characteristics of the underlying scanned surfaces. Point cloud density, complex roof profiles, and occlusion add another layer of complexity which often encounter in practice. In this article, we present a new technique that provides a better interpolation of roof regions where multiple surfaces intersect creating non-manifold points. As a result, these geometric features are preserved to achieve automated identification and segmentation of the roof planes from unstructured laser data. The proposed technique has been tested using the International Society for Photogrammetry and Remote Sensing benchmark and three Australian datasets, which differ in terrain, point density, building sizes, and vegetation. The qualitative and quantitative results show the robustness of the methodology and indicate that the proposed technique can eliminate vegetation and extract buildings as well as their non-occluding parts from the complex scenes at a high success rate for building detection (between 83.9% and 100% per-object completeness) and roof plane extraction (between 73.9% and 96% per-object completeness). The proposed method works more robustly than some existing methods in the presence of occlusion and low point sampling as indicated by the correctness of above 95% for all the datasets.     

结合强度信息的LIDAR数据滤波方法

机载激光扫描系统可以直接生成扫描区域的数字表面模型,但是为了提取数字地面模型还须对LIDAR数据进行滤波处理。本文分析了用坡度法对机载LIDAR数据进行滤波的不足,并结合LIDAR数据中的强度信息,提出了一种结合强度信息的LIDAR数据滤波方法。与坡度法相比,该方法提高了滤波的精度和效率。试验结果表明该方法计算速度快,并能够有效地滤除LIDAR数据中的地物。     

多级移动曲面拟合LIDAR数据滤波算法

为提高城市区LIDAR数据滤波精度, 提出了一种多级移动曲面拟合滤波方法。建立区块网格搜寻及索引机制完成对离散LIDAR点云的标示; 通过建立二次多项式完成参考曲面的拟合, 不同窗口大小获得不同层次的拟合曲面; 设置自适应阈值, 完成地面点与非地面点的判断。精度评价结果表明, 该滤波算法误差在1m以内, 能够满足实际应用的需求。     

激光雷达点云平面拟合过滤算法

在分析激光雷达点云空间分布特征的基础上,提出了基于斜率的激光点云平面拟合过滤算法,并利用该算法对机载激光雷达点云的特征提取进行了实验研究.结果表明,此算法能有效地拟合激光点云的连续平滑的水平平面、倾斜平面和垂直平面,在DTM、建筑屋顶和垂直墙壁等特征提取中具有较好的效果.     

Multiple-entity based classification of airborne laser scanning data in urban areas

There are two main challenges when it comes to classifying airborne laser scanning (ALS) data. The first challenge is to find suitable attributes to distinguish classes of interest. The second is to define proper entities to calculate the attributes. In most cases, efforts are made to find suitable attributes and less attention is paid to defining an entity. It is our hypothesis that, with the same defined attributes and classifier, accuracy will improve if multiple entities are used for classification. To verify this hypothesis, we propose a multiple-entity based classification method to classify seven classes: ground, water, vegetation, roof, wall, roof element, and undefined object. We also compared the performance of the multiple-entity based method to the single-entity based method.Features have been extracted, in most previous work, from a single entity in ALS data; either from a point or from grouped points. In our method, we extract features from three different entities: points, planar segments, and segments derived by mean shift. Features extracted from these entities are inputted into a four-step classification strategy. After ALS data are filtered into ground and non-ground points. Features generalised from planar segments are used to classify points into the following: water, ground, roof, vegetation, and undefined objects. This is followed by point-wise identification of the walls and roof elements using the contextual information of a building. During the contextual reasoning, the portion of the vegetation extending above the roofs is classified as a roof element. This portion of points is eventually re-segmented by the mean shift method and then reclassified.Five supervised classifiers are applied to classify the features extracted from planar segments and mean shift segments. The experiments demonstrate that a multiple-entity strategy achieves slightly higher overall accuracy and achieves much higher accuracy for vegetation, in comparison to the single-entity strategy (using only point features and planar segment features). Although the multiple-entity method obtains nearly the same overall accuracy as the planar-segment method, the accuracy of vegetation improves by 3.3% with the rule-based classifier. The multiple-entity method obtains much higher overall accuracy and higher accuracy in vegetation in comparison to using only the point-wise classification method for all five classifiers.Meanwhile, we compared the performances of five classifiers. The rule-based method provides the highest overall accuracy at 97.0%. The rule-based method provides over 99.0% accuracy for the ground and roof classes, and a minimum accuracy of 90.0% for the water, vegetation, wall and undefined object classes. Notably, the accuracy of the roof element class is only 70% with the rule-based method, or even lower with other classifiers. Most roof elements have been assigned to the roof class, as shown in the confusion matrix. These erroneous assignments are not fatal errors because both a roof and a roof element are part of a building. In addition, a new feature which indicates the average point space within the planar segment is generalised to distinguish vegetation from other classes. Its performance is compared to the percentage of points with multiple pulse count in planar segments. Using the feature computed with only average point space, the detection rate of vegetation in a rule-based classifier is 85.5%, which is 6% lower than that with pulse count information.     

利用目标区域拓扑关系图提取建筑物点云

建筑物提取一直是机载激光点云数据处理研究的热点,其中建筑物和其他地物之间的区分是研究的核心和难点。为提高建筑物与其他地物在机载激光点云中的区分能力,提出了一种建筑物点云层次提取方法。首先,在点云滤波后,从非地面点云中提取建筑物候选区域;然后,通过形态学重建和点云平面分割方法对建筑物候选区域构建多尺度空间,并建立目标区域的拓扑关系图;最后,在拓扑关系图基础上,利用5种特征量对目标区域分类,并精确提取建筑物点云。为了测试算法的有效性和可靠性,利用国际摄影测量与遥感学会（International Society for Photogrammetry and Remote Sensing,ISPRS）提供的Vaihingen和Toronto两组测试数据集进行实验,并由ISPRS对结果进行评估,其中基于面积和目标的完整度、正确率和提取质量分别都大于87.8%、94.7%、87.3%。与其他建筑物提取方法相比,该方法在基于面积和目标的质量指标方面最为稳定。实验结果表明,在不同的城市场景下,该算法能够稳健地提取建筑物,并保持很高的正确率。     

基于三维TIN的非地面点云剔除方法研究

三维激光扫描仪对地面进行扫描时,会产生很多非地面点,即噪声点,对后续研究带来很多不便.针对这一问题,提出两种基于三维TIN的非地面点云剔除方法,分别是根据判断相邻三角形法向量的夹角以及构建局部平面的方法,介绍两种剔除方法的原理及实现过程,以拟合局部平面的方法进行实例分析,得出剔除结果.     

密集低矮植被区LiDAR点云地面滤波算法

针对地形复杂且低矮植被茂密的矿区LiDAR点云特点,本文提出了一种基于坡度信息并结合平面拟合的地面滤波算法。该方法采用二级格网法逐级选取地面种子点,在每个一级格网中,利用地面种子点通过最小二乘拟合法进行平面拟合并构建地面模型,最后达到区分地面点和非地面点的效果。与传统坡度法和布料模拟法的对比试验表明,该方法能够有效滤除密集低矮灌木,以及较好地保留较大坡度地形。     

基于LIDAR数据的建筑物自动化重建

对基于LIDAR数据的建筑物重建进行研究,提出了一种自动化的建筑物重建方法。根据建筑物的边缘线通常互相垂直或平行这一特点对提取的轮廓线进行规则化。然后在屋顶三角网中随机选取种子三角形进行区域生长,将屋顶分割成不同的平面,通过平面相交得到建筑物的屋脊线。最后通过搜索离建筑物轮廓点最近的LIDAR点云,将搜索到的LIDAR点云高程值赋给该轮廓点。实验结果表明:利用该方法进行建筑物重建具有较高的精度。     

Processing of Laser Scanner Data and Extraction of Structure Lines Using Methods of the Image Processing

激光扫描数据提供了一种新的手段用于获取高精度的数字地形表面模型. 原始的航空激光扫描数据表达的是一些非规则分布的"点云", 这些非规则分布的点需要进行有效的事后处理. 这种事后处理有2个目的:一是将那些分布在地表面上的点(即地面点)与分布在非地表面上的点(譬如树木、房屋或汽车上的点, 即非地面点)进行有效的分离;二是从分离后的地面点中提取结构线, 用于建立高精度的数字地面模型. 作者发展了一系列的基于数字形态学理论和稳健参数估计理论的方法用于分离和探测地面点. 这里所介绍和开发的提取结构线的算法建立在数字图像处理和表面曲率理论的基础上. 这些算法同样可以扩展地用于其他领域. 所介绍的基于数字图像处理理论处理原始的航空激光扫瞄数据和提取结构线的方法取得了很好的结果. 这一结论可以在本文中通过一系列的插图得到有力的证明.     

Automatic detection of residential buildings using LIDAR data and multispectral imagery

This paper presents an automatic building detection technique using LIDAR data and multispectral imagery. Two masks are obtained from the LIDAR data: a ‘primary building mask’ and a ‘secondary building mask’. The primary building mask indicates the void areas where the laser does not reach below a certain height threshold. The secondary building mask indicates the filled areas, from where the laser reflects, above the same threshold. Line segments are extracted from around the void areas in the primary building mask. Line segments around trees are removed using the normalized difference vegetation index derived from the orthorectified multispectral images. The initial building positions are obtained based on the remaining line segments. The complete buildings are detected from their initial positions using the two masks and multispectral images in the YIQ colour system. It is experimentally shown that the proposed technique can successfully detect urban residential buildings, when assessed in terms of 15 indices including completeness, correctness and quality.     

一种基于分割的机载LiDAR点云数据滤波

针对当前滤波算法在处理地形不连续区域或存在复杂建筑物区域时容易过分＂腐蚀＂地形并难以去除一些低矮植被的不足,提出了一种基于分割的机载LiDAR点云滤波算法。首先,对原始点云基于地表连续性进行分割;然后,在移除点数目较小的粗差点集之后采用对分割点集建立缓冲区的方法,区分地面和非地面点集;在较大地物经过迭代分割基本移除之后,使用约束平面的方法移除高度较小的地表附着物以实现滤波。实验结果表明,与经典滤波算法相比,该算法提高了地面点的分类精度,在滤除地物信息的同时能有效地保留地形特征。     

空间域分割的机载LiDAR数据输电线快速提取

机载LiDAR具有快速、直接获取地物3维坐标的能力,在电网高压输电线路安全巡检中具有较大的应用前景。论文针对机载LiDAR输电线智能巡检的需求,提出并实现了一种基于空间域分割的LiDAR点云数据输电线自动提取方法。该方法首先利用高程直方图统计法去除地面点,再次利用点云密度差异剔除杆塔,根据相邻线之间的距离差和相邻层的高程差进行单根输电线分离。最后,采用多项式模型在3维空间中重构每根输电线空间坐标。实验结果表明该方法能够快速自动地提取多个杆塔之间的多根输电线数据,具有一定的工程应用价值。     

基于Car(p,q)模型和数学形态学理论的LiDAR点云数据滤波

在分析现有的LiDAR点云数据后处理方法的基础上,本文提出了一种点云数据“分步”滤波方法。首先对LiDAR点云数据进行数学形态学“粗”滤波,得到“地面点假设”和“非地面点假设”。然后引入顾及因果关系的自回归模型（car）对两类点云数据假设进行模型化处理和假设检验,根据假设检验的结果判断地面点和非地面点,最终得到可靠的分类结果。与单纯的“最小二乘拟合预测法”或“数学形态学”方法相比,这种“分步”处理的思想用于LiDAR点云数据分类处理的结果更可靠。