一种由粗到精的地面激光点云多层级配准方法

提出了一种综合利用快速点特征直方图(FPFH)描述符和同名点引导ICP优化的地面激光扫描(TLS)点云配准方法。该方法包括3个步骤:1)点云金字塔构建;2)基于FPFH的粗配准;3)同名点引导的ICP精配准。首先使用体素网格滤波器构造点云的金字塔结构,在粗配准时,FPFH描述符用于金字塔顶层上点云的鲁棒匹配,在此基础上,再进行两层级同名点引导的ICP精配准优化,使用3组典型TLS点云对进行实验,结果表明本文方法可以高效地完成TLS点云的配准。     

Application of multispectral LiDAR to automated virtual outcrop geology

Terrestrial laser scanning (TLS) is a valuable tool for creating virtual 3D models of geological outcrops to enable enhanced modeling and analysis of geologic strata. Application of TLS data is typically limited to the geometric point cloud that is used to create the 3D structure of the outcrop model. Digital photography can then be draped onto the 3D model, allowing visual identification and manual spatial delineation of different rock layers. Automation of the rock type identification and delineation is desirable, and recent work has investigated the use of terrestrial hyperspectral photography for this purpose. However, passive photography, whether visible or hyperspectral, presents several complexities, including accurate spatial registration with the TLS point cloud data, reliance on sunlight for illumination, and radiometric calibration to properly extract spectral signatures of the different rock types. As an active remote sensing method, a radiometrically calibrated TLS system offers the potential to directly provide spectral information for each recorded 3D point, independent of solar illumination. Therefore, the practical application of three radiometrically calibrated TLS systems with differing laser wavelengths, thereby achieving a multispectral dataset in conjunction with 3D point cloud data, is investigated using commercially available hardware and software. The radiometric calibration of the TLS intensity values is investigated and the classification performance of the multispectral TLS intensity and calibrated reflectance datasets evaluated and compared to classification performed with passive visible wavelength imagery. Results indicate that rock types can be successfully identified with radiometrically calibrated multispectral TLS data, with enhanced classification performance when fused with passive visible imagery.     

地面点云处理系统集成研究与实现

地面点云数据后处理及软件研制是制约地面三维激光扫描技术进一步发展的关键因素。本文集成Oracle存储、PCL模块点云算法、OpenGL三维显示技术,初步研发了一套集点云存储、处理、显示、查询功能于一体的地面点云处理系统。通过RIEGL VZ-400扫描的雕像测试点云,验证了本文提出的三种技术集成开发地面点云处理系统的可行性和系统功能的稳健性。为进一步研究地面点云数据处理系统提供有益的参考。     

融合语义特征与GPS位置的地面激光点云拼接方法

拼接是地面激光点云数据处理的必要步骤,但基于同名点的点云拼接方式已成为阻碍点云处理效率提升的长期瓶颈,而直接匹配点云识别同名特征的方法亦对点云重叠区域具有较高的要求。本文提出一种融合语义特征与GPS位置的地面激光点云拼接方法,通过语义知识自动识别出原始三维点云中所包含的地面特征与建筑物立面特征,并使用这两种面状特征结合点云测站中心的GPS位置作为同名标靶进行点云初始拼接,随后使用点到面最小距离约束下的ICP进行点云精确拼接。实验表明,本方法可以有效提高地面激光点云拼接的整体效率,尤其对于包含平面结构（如马路、建筑物）的场景具有良好的拼接效果。     

植被稀疏地区沟蚀变化的地面激光扫描监测与沟蚀量估算

针对传统沟蚀监测手段劳作强度大,且数据采集的完整性、代表性受切沟复杂地形制约等问题,提出了一种针对植被稀疏地区沟蚀变化的地面激光扫描（terrestrial laser scanning,TLS）监测方法,形成了一套数据处理与侵蚀量计算技术流程。以河北省官厅水库东岸某大型切沟为例,利用高精度TLS进行两年3期野外监测与点云数据分析。通过点云配准、滤波、重采样及曲面拟合等预处理,生成不同采样分辨率下3期切沟表面模型,并提取地形信息;采用杨赤中滤波推估法计算并比较不同点云重采样分辨率下的沟蚀量。结果表明:（1）当点云重采样分辨率与切沟表面凹凸微结构暨石块粒径（2~6cm）接近时,沟蚀量估算值趋于稳定、结果可靠;（2）经侵蚀作用,切沟外壁表面高程整体降低2~20 cm;（3）切沟内壁侵蚀量不均衡,坡度较大处侵蚀最为显著。     

A Hybrid Spatial Index for Massive Point Cloud Data Management and Visualization

With the wide use of laser scanning technology, point cloud data collected from airborne sensors and terrestrial sensors are often integrated to depict a complete scenario from the top and ground views, even though points from different platforms and sensors have quite different densities. These massive point clouds with various structures create many problems for both data management and visualization. In this article, a hybrid spatial index method is proposed and implemented to manage and visualize integrated point cloud data from airborne and terrestrial scanners. This hybrid spatial index structure combines an extended quad‐tree model at the global level to manage large area airborne sensor data, with a 3‐D R‐tree to organize high density local area terrestrial point clouds. These massive point clouds from different platforms have diverse densities, but this hybrid spatial index system has the capability to organize the data adaptively and query efficiently, satisfying the requirements for fast visualization. Experiments using point cloud data collected from the Dunhuang area were conducted to evaluate the efficiency of our proposed method.     

融合遗传算法和ICP的地面与车载激光点云配准

车载激光扫描可快速获取大场景点云,由于存在视场限制和遮挡,需地面激光点云作补充。车载与地面点云分别位于大地坐标和局部坐标系统,本文提出结合遗传算法（genetic algorithm,GA）和（iterative closed point,ICP）的自动点云配准方法以统一基准。ICP采用局部优化,效率较高,但依赖初始解;GA为全局优化方法,但效率低。融合策略为当GA配准趋于局部搜索时,采用ICP完成配准。GA配准以地面激光扫描仪内置GPS测量粗略位置限定优化搜索空间。为提高GA配准精度,提出了最大化归一化匹配分数之和（normalized sum of matching scores,NSMS）配准模型。实测数据试验验证了NSMS模型的有效性,GA配准均方根误差（root mean square error,RMSE）为1~5 cm;融合配准比GA配准效率高约50%。     

UAV航测结合三维激光扫描的古栈道测绘建模

针对古栈道遗址的精密测绘与三维建模的需求,该文采用无人机倾斜航空摄影测量的方法获取山崖航摄影像并生成点云,采用地面三维激光扫描的方法获取栈孔数据并生成点云,将两种点云数据利用最近点迭代算法相融合,获得融合点云并生成三角网模型,附上纹理贴图,便得到了遗址现状的三维数字模型,并利用该模型完成了虚拟复原。本次古栈道精密测绘及复原在国内尚属首次,为相关研究提供了新方法。     

一种基于最小广义方差估计的TLS点云抗差法向量求解方法

针对地面激光扫描点云中的粗差与不均匀采样对法向量计算的影响,基于最小广义方差估计与局部平面拟合原理提出了一种抗差法向量求解方法。首先通过快速近似最近邻居搜索算法得到最近k邻居点集,然后由确定型最小广义方差估计方法和多元马氏距离得到邻居点集协方差矩阵的抗差估计,最后根据主成分分析法（principal component analysis,PCA）计算得到抗差法向量。通过构造的模拟地面激光扫描（terrestrial laser scanning,TLS）点云数据将提出的方法分别与基于PCA、鲁棒PCA和随机抽样一致的法向量求解方法进行实验比较。结果表明,所提方法的抗差性能优异,且并行优化改进后可以满足大规模TLS点云的计算需求。将该方法应用于实际野外地形TLS点云数据,由求解的抗差法向量重建的泊松表面更符合实际地形,表明了该方法在实际应用中的有效性。     

一种闭合条件约束的全局最优多视点云配准方法

针对已有多视点云配准存在的问题,提出了一种严密的闭合条件约束配准方法。该方法首先采用"点-切平面"迭代最近点算法分别求解各对应点云间的坐标转换参数;再以单站点云为配准单元,并将转换参数视为随机观测值构建条件方程,采用条件平差方法对转换参数作改正以达到全局最优。通过地面三维激光扫描仪实测两组点云数据进行试验,验证了该方法有效且可行。试验结果表明,对采样间隔为毫米级和厘米级的点云,增加扫描重叠度能够提高配准精度和可靠性。     

3D change detection at street level using mobile laser scanning point clouds and terrestrial images

Automatic change detection and geo-database updating in the urban environment are difficult tasks. There has been much research on detecting changes with satellite and aerial images, but studies have rarely been performed at the street level, which is complex in its 3D geometry. Contemporary geo-databases include 3D street-level objects, which demand frequent data updating. Terrestrial images provides rich texture information for change detection, but the change detection with terrestrial images from different epochs sometimes faces problems with illumination changes, perspective distortions and unreliable 3D geometry caused by the lack of performance of automatic image matchers, while mobile laser scanning (MLS) data acquired from different epochs provides accurate 3D geometry for change detection, but is very expensive for periodical acquisition. This paper proposes a new method for change detection at street level by using combination of MLS point clouds and terrestrial images: the accurate but expensive MLS data acquired from an early epoch serves as the reference, and terrestrial images or photogrammetric images captured from an image-based mobile mapping system (MMS) at a later epoch are used to detect the geometrical changes between different epochs. The method will automatically mark the possible changes in each view, which provides a cost-efficient method for frequent data updating. The methodology is divided into several steps. In the first step, the point clouds are recorded by the MLS system and processed, with data cleaned and classified by semi-automatic means. In the second step, terrestrial images or mobile mapping images at a later epoch are taken and registered to the point cloud, and then point clouds are projected on each image by a weighted window based z-buffering method for view dependent 2D triangulation. In the next step, stereo pairs of the terrestrial images are rectified and re-projected between each other to check the geometrical consistency between point clouds and stereo images. Finally, an over-segmentation based graph cut optimization is carried out, taking into account the color, depth and class information to compute the changed area in the image space. The proposed method is invariant to light changes, robust to small co-registration errors between images and point clouds, and can be applied straightforwardly to 3D polyhedral models. This method can be used for 3D street data updating, city infrastructure management and damage monitoring in complex urban scenes.     

徕卡RTC360三维激光扫描仪在建筑立面改造中的应用

徕卡RTC360极速三维激光扫描仪作为徕卡一款新型设备,不仅操作简单、扫描速度快,可在尽可能短的时间内完成海量丰富点云和高清影像的采集,数据全面,细节丰富,极大地提高了外业的工作效率;而且非常智能。本文采用VIS视觉追踪技术,通过对扫描仪位置进行跟踪定位,在采集过程中进行点云的实时拼接,无需标靶、公共点和人工干预;现场实时查看点云预拼接,极大减少了内业工作量;后期搭配Cyclone Register360智能拼接软件,点云无需人工干预,可实现自动智能拼接处理,以及外业采集及内业数据处理的简单高效。     

基于球面投影的单站地面激光点云直线段提取方法

由于激光点云离散分布于三维空间,导致特征计算困难,目前针对地面激光扫描点云的直线提取方法普遍存在计算量大、提取错误、或适应性不足等问题。本文提出了一种基于球面投影的单站地面激光点云直线段提取方法:首先将三维点云投影到球面上,球面投影后的三维点云保持了正确的邻接关系,同时也解决了三维数据计算量大的问题;然后,利用球面霍夫变换,正确提取球面投影后点云中的直线段特征;最后,利用稳健的直线拟合算法计算点云中的三维直线段参数。通过对室内室外场景数据的直线段提取试验及与商业软件Geomagic Studio等方法的对比试验,验证了本方法的正确性、适用性和准确性。     

基于三维激光扫描的地铁隧道连续形变监测数据处理软件系统

利用地基三维激光扫描技术所具有的“形测量”特点,结合高精度、高空间分辨率的多时相点云数据,实现地铁隧道连续形变监测数据处理的软件系统。系统的主要功能包括：点云拼接、隧道中轴线拟合、断面连续截取、形变分析以及成果输出等。结合对上海某地铁隧道的多期激光扫描数据的处理,展示软件的主要功能和技术流程,最后对系统的应用前景进行阐述。     

多回波点云数据解算单株木叶面积指数

以行道树无患子为研究目标,采用地面激光扫描(TLS)技术提取单木分回波点云数据。获取全波形数据、单目标数据、首次回波数据、其余次回波数据,建立基于多回波点云的算法,利用消光系数法提取不同投影分辨率0.01 m、0.02 m和0.03 m的的单株树叶面积指数(LAI)。利用2维影像数据数字半球影像(DHP)和LAI2200提取对应单株树的叶面积指数,进行比较分析,以检验其精度。结果表明:点云投影的分辨率与激光回波都对LAI有极显著影响,其中分辨率为0.02 m和0.03 m的估算结果与LAI2200所得估算结果相近,且差异不显著;单目标回波数据用于LAI的解算,可以同LAI2200的2维影像数据结果进行相互验证。使用单目标回波数据,0.02 m投影分辨率可以最大程度的保证单株LAI的精度,其与LAI2200测定的数据进行截距为0的线性回归,斜率达到0.827。本研究所做多回波地面激光数据计算叶面积指数的算法拓展了地面激光扫描的应用领域,为立木生长量信息准确提取和树木精确建模提供了重要的技术参考。     

基于密集匹配点云的DEM生产可行性研究

无人机倾斜摄影直接生产的成果通常包括三维模型、TDOM、DSM等,然而规划设计通常不能直接利用倾斜数据输出的DEM,需要辅以人工编辑。作为倾斜摄影影像处理的过程成果,密集匹配点云未得到充分利用。其与激光雷达点云具备相似的结构,且点云密度可自由选择,在不考虑数据量的情况下,密集匹配点云的点密度可数倍于激光雷达点云。此外,密集匹配点云无需单独赋色,即具有纹理信息,对人工目视编辑自动分类后的地面点具有一定的辅助作用。本文对比分析了同一测区的密集匹配点云与激光雷达点云,验证了密集匹配点云用于房屋建筑区及稀疏林区地面点滤波并生产DEM的可行性。     

Examining high-resolution survey methods for monitoring cliff erosion at an operational scale

This paper aims to compare models from terrestrial laser scanning (TLS), terrestrial photogrammetry (TP), and unmanned aerial vehicle photogrammetry (UAVP) surveys to evaluate their potential in cliff erosion monitoring. TLS has commonly been used to monitor cliff-face erosion (monitoring since 2010 in Normandy) because it guarantees results of high precision. Due to some uncertainties and limitations of TLS, TP and UAVP can be seen as alternative methods. First, the texture quality of the photogrammetry models is better than that of TLS which could be useful for analysis and interpretation. Second, a comparison between the TLS model and UAV or TP models shows that the mean error value is mainly from 0.013 to 0.03 m, which meets the precision requirements for monitoring cliff erosion by rock falls and debris falls. However, TP is more sensitive to roughness than UAVP, which increases the data standard deviation. Thus, UAVP appears to be more reliable in our study and provides a larger spatial coverage, enabling a larger cliff-face section to be monitored with a regular resolution. Nevertheless, the method remains dependent on the weather conditions and the number of operators is not reduced. Third, even though UAVP has more advantages than TP, the methods could be interchangeable when no pilot is available, when weather conditions are bad or when high reactivity is needed.     

基于探测球的固定式扫描海量点云自动定向方法

地面固定式扫描点云首先要将自由坐标系的点云纳入国家坐标系,而单站扫描的点云数据量极大,无法在可视环境下进行拼接。针对现有方法对海量点云拼接的不足,提出一种基于探测球的固定式扫描海量点云自动定向方法,该方法通过数据关联技术读取海量点云、建立标靶搜索环、球拟合确定标靶候选点、全组合距离匹配法确定同名点及坐标转换参数解算等,完成点云的自动定向过程。通过实验验证文中算法的有效性及可行性。     

Feature Extraction of Laser Scan Data Based on Geometric Properties

Terrestrial Laser Scanner (TLS) is an important device to provide three-dimensional geometric information with respect to known reference coordinates system. The data from TLS are often called point clouds due to their high density. They are unstructured and do not have any explicit information about the object, except 3D positional and intensity information to each point. Data segmentation and feature extraction are fundamental problems in the point cloud processing step. These are important prerequisites for object recognition and environment understanding. This paper describes a methodology to use the geometrical information of the scanned object, such as a normal vector to extract and segment object edges. The edge based segmentation technique will be studied and improved. The proposed method is programmed and used to extract different region boundaries for two real TLS data, and the quality of the results shows the effectiveness of the proposed algorithm.     

三维激光扫描技术用于老旧小区改造中二维信息提取与平面制图

在老旧小区改造过程中,需要对小区建筑的外部、内部结构面等信息数据进行提取。针对传统测绘方法工作量大、成本高、周期长等问题,本文以云南省红河州某海关住宿楼老旧小区改造项目为例,基于三维激光扫描技术获取的点云数据,对建筑物的外立面、楼梯内部结构和楼顶面进行了扫描。基于Leica Cyclone软件进行了点云数据配准、滤波去噪、数据分层管理等试验研究,整合点云数据后采用CAD软件绘制了该老旧建筑的外立面、剖面和平面的图,并使用全站仪、测距仪等传统测量手段对本次扫描成果的测量精度和准确性进行了检查评价,二维制图的平均精度可以达到1.54 cm。试验结果表明,三维激光扫描技术可以得到现场的三维点云数据,通过高密度、高精度、高质量的点云数据可完整地记录现场所有数据形态,其对于后续老旧小区改造项目的数据获取及成图拥有完整的解决方案。