利用视觉灭点检测室内机器人偏航角的方法

室内障碍地图在呈现给用户端浏览的同时,也是自主运动视觉机器人路径规划和障碍规避的依据.由于自主运动视觉机器人的起始位姿选择具有随机性,当机器人沿随机方向行走时,往往导致所建室内障碍地图产生偏斜.本文利用单张已标定像片检测视觉正交灭点,结合相机几何透视原理和灭点几何特性,提出了一种室内机器人偏航角的简单快速检测方法,并成...     

基于灭点的单片规则建筑物三维重建方法研究

为快速获取数字城市建设所需的三维信息,文中介绍了利用单张影像中规则几何建筑物在影像中的的灭点信息,在已知内方位元素的情况下,推导出在现有二维GIS数据的辅助下解求影像外方位元素公式,提出从单张影像上量测建筑物高程（或高度）数据的方法,并简要叙述了该方法的应用领域。     

一种基于背景先验的飞机目标检测方法

针对现有高分辨率遥感影像目标检测算法的不足,该文提出了一种基于背景先验的飞机目标检测方法:针对固定设施基本不变的特点,将无飞机的固定设施历史影像与同一地区的待检图进行变化检测,再结合飞机的形状、尺寸信息从变化检测结果中提取飞机目标;为了减小高分辨率遥感图像中噪声的影响,采用对象为基本分析单元;通过Mean Shift分割获取对象,采用TSVM分类方法进行变化检测;为了在滤除噪声时不丢失飞机边缘,采取了双边滤波的滤波方法。实验结果证明该方法具备较高的准确率,适用于固定设施中的目标检测。     

凸壳内缩法进行多密度离散点群边界检测

针对现有离散点群边界检测方法对多密度点群检测结果效果不够理想这一问题,本文提出利用凸壳内缩法检测离散点的边界:先建立离散点群凸壳结构,再定义内缩精度后通过点群凸壳结构特征实现最适内缩精度的识别.该方法对内缩扫描区域面积会随边界点密度不同而变化,因此更加适用于多密度离散点群边界的检测.通过与现有边界检测方法的对比,本文提出的方法在处理多密度离散点群的边界检测问题时具有高效性和普适性.     

基于SSW点云数据的矢量地图平面精度自动校验方法

常规的矢量地图精度校验采用抽样与实地测量,外业工作量大,自动化程度低。针对这一问题,本文提出基于SSW激光点云数据的矢量地图平面精度自动校验方法。首先,使用车载激光扫描器获得道路两侧高精度点云数据,并对点云数据进行滤波、坐标转换和精度检验;其次,基于多特征识别算法,使用SWDY软件提取点云特征点线;最后,利用最近邻法搜索待检矢量图中的同类地物特征点线,并计算匹配点线对的中误差。以兴化城区为试验区,采用该方法检测该地区1：1000比例尺的矢量地图平面精度,试验结果显示,成功匹配了点云数据205个地物特征中的201个,矢量地图的总体中误差为0.26 m,且能够发现待检测矢量地图中的采集丢漏与明显错误。本文方法可以减少现有检测方法的野外实测工作量,增加检测样本数量,降低检测过程中的人为干扰因素,有效提升检测的可靠性与检测效率。     

一种结合已有DOM和DEM的高精度自动刺像控点方法

针对基础地理数据更新需求,为了免去外业布设控制点,减少内业刺点工作量,提高控制点精度、密度,提出了一种基于已有DOM和DEM数据,利用IPS软件和辅助软件,实现高精度自动刺像控点的方法。将已有DOM根据具体匹配需求裁切,裁切后的DOM和像片同时加载到IPS中进行同名像点匹配,根据DOM的地理参考、匹配点像平面坐标、TFW头文件及DEM共同解算出匹配点的物方坐标。通过平差探测和目视检查剔除错误点,改变匹配点属性为控制点,即完成了控制点刺入工作。之后可在IPS中继续完成空三处理、地理信息产品制作等,也可导出、转换为其他软件的文件格式,供后续处理使用。     

一种由粗到精的边坡形变检测方法

现代化工程建设的过程会形成很多边坡,而这些边坡一旦遭到意外破坏,会对人民的生命财产安全造成巨大威胁.因此,对边坡进行持续的形变检测至关重要.地面激光扫描技术(TLS)是一种现代化的边坡检测手段.基于此,本文提出了一种由粗到精的边坡形变检测方法.对于经过良好配准的两期边坡点云,该方法首先计算两期点云的最近匹配点距离,并进...     

Optimal fusion of optical and SAR high-resolution images for semiautomatic building detection

Building detection from different high-resolution aerial and satellite images has been a notable research topic in recent decades. The primary challenges are occlusions, shadows, different roof types, and similar spectral behavior of urban covers. Integration of different data sources is a solution to supplement the input feature space and improve the existing algorithms. Regarding the different nature and unique characteristics of optical and radar images, there are motivations for their fusion. This paper is aimed to identify an optimal fusion of radar and optical images to overcome their individual shortcomings and weaknesses. For this reason, panchromatic, multispectral, and radar images were first classified individually, and their strengths and weaknesses were evaluated. Different feature-level fusions of these data sets were then assessed followed by a decision-level fusion of their results. In both the feature and decision levels of integration, artificial neural networks were applied as the classifiers. Several post-processing methods using normalized different vegetation index, majority filter, and area filter were finally applied to the results. Overall accuracy of 92.8% and building detection accuracy of 89.1% confirmed the ability of the proposed fusion strategy of optical and radar images for building detection purposes.     

基于点云投影线探测的高墩位姿自动检测方法

针对目前超高桥墩垂直度检测方法存在危险系数较高、精度难以保证或自动化程度与工作效率较低的情况,本文提出一种基于三维激光扫描技术的点云数据超高桥墩位姿自动检测方法.该方法首先将海量墩面点云双向分层;然后依条件选择分层文件探测点云投影线并划分桥墩面缓冲区;最后根据缓冲区自动提取墩面点云并进行位姿检测.本文以某山区高速桥梁高...     

一种适用于粗匹配的遥感影像快速变化发现方法

针对遥感影像变化检测过程中影像间相对配准精度对检测结果影响大,易产生细碎图斑和错检冗余等问题,本文提出了一种基于感知哈希算法适用于粗匹配的遥感影像变化发现方法,以待检测影像的光谱信息和纹理特征信息共同作为检测特征集,以分割后的格网作为检测单元,采用基于感知哈希算法的影像相似度比对方法,计算格网内图像相似度,提取变化位置...     

一种适用于航空影像的无参考模糊探测方法

针对侧风、强风、湍流等飞行环境容易造成航空影像运动模糊,严重影响航空影像质量,同时航空影像数据量大,手动挑选模糊影像费时费力的问题,为了提高航摄内业人员的工作效率,该文研究一种适用于航空影像的自动模糊探测方法,以主流的无参考再模糊算法Reblur和无参考结构清晰度算法NRSS为基础,结合航空影像具有丰富地物的特点,对影像进行分块处理,计算所有字块的Reblur和NRSS模糊探测值,最后得到整幅影像的模糊探测值。其中,再模糊算法通过计算待测影像和参考影像的水平和垂直运动方向上的灰度变化来评价图像模糊度;NRSS算法在结构相似度SSIM算法基础上加入梯度信息提取和高斯滤波等改进,通过计算结构相似度评价图像模糊度。实验结果表明,该文研究的无参考模糊影像探测方法适用于航空影像数据,其评价结果与人眼主观评价结果具有较高的一致性,能够准确地缩小模糊影像的查找范围,极大地提高了航摄内业效率。     

变差函数权值估算的移动最小二乘匹配点云粗差剔除

现有密集匹配点云数据已实现了地表3维信息的精细化表达,然而由于误匹配,此类点云往往包含一定数量粗差点并影响后续应用的处理效果。针对此类数据中误匹配所产生粗差点的剔除问题,将变差甬数引入移动最小二乘(MLS)粗差剔除算法。变差函数对MLS拟合区域内点对间的相关性进行估算,以此为依据设置权值对最小二乘的结果进行优化;然后利用MLS局部、分区域地对点云进行曲面拟合;最终根据拟合结果剔除粗差。利用A3数字测图系统生成的城区、山区密集点云数据进行实验,并将处理结果、等权MLS处理结果与人工剔除结果进行对比。实验结果表明该算法可有效对点云中的粗差进行剔除,相较于等权MLS粗差剔除算法,陔算法在城区、山区的误判率分别降低了5.16%和1.31%。     

基于QuickBird影像的城市高大地物阴影检测方法

针对利用高分辨率遥感影像检测阴影时受水体和偏蓝色地物影像的影响问题,提出了一种主成分变换和多波段运算相结合的阴影检测方法。首先,统计、分析了Quick Bird影像中阴影、水体及建筑物等典型地物的光谱特征;然后,基于主成分变换和多波段运算相结合的方法识别阴影区域和非阴影区域,并利用多峰直方图阈值算法对阴影进行自动检测;最后,利用形态学滤波算法对检测结果进行后处理。实验结果表明,该方法对Quick Bird影像中的阴影提取具有较高的精度、效率和普适性。     

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。     

一种机载LiDAR数据漏洞检测方法

获取机载LiDAR数据时易受地形起伏、航摄高度、地物镜面反射等因素的影响,导致LiDAR数据出现漏洞,若对其不进行检测处理,将严重影响LiDAR数据的生产与应用。鉴于此,本文利用点云的位置与属性信息,基于等比例内缩和点云格网化算法,检测机载LiDAR数据中存在的漏洞区域,有效支撑了LiDAR数据的质量检测和补摄工作。试验结果表明,该方法检测到的漏洞区域完整、精确,等比例内缩算法与等值内缩算法相比,减弱了地形起伏对漏洞检测精度的影响,且更科学合理。     

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.     

A method for analyzing the expansion and shrinkage of point pattern

This article proposes a new method for analyzing the spatial expansion and shrinkage of point patterns. Spatial expansions of epidemic diseases and market areas are represented as the expansions of point patterns when disease cases and store customers are represented as points. The spatial expansion and shrinkage have been studied in many scientific fields. Existing analytical methods, however, are not sufficient for treating complicated spatiotemporal patterns. To answer this demand, this article develops a new method for analyzing the expansion and shrinkage of points. Three vector measures evaluate the degree and direction of expansion and shrinkage as functions of location and time. They are visualized as vector maps, which are valid for capturing the global spatiotemporal pattern as well as for discussing the local variation. Summary measures of these vectors allow us to grasp the overall spatiotemporal pattern efficiently. To test the validity of the proposed method, this article applies it to the analysis of visitors to Shinjuku and Ginza in Tokyo. The proposed measures permitted us to evaluate the spatiotemporal pattern of the visitors in detail and to consider its underlying structure from various perspectives, which indicated the soundness of the technique.     

面向对象和GURLS结合的高空间分辨率遥感数据云检测

遥感信息获取过程中云是重要的干扰因素,随着国产高空间分辨率卫星数据的应用,实现数据的准确云检测对有效获取地面信息具有重要意义。本文以高分一号、高分二号多光谱影像为数据源,利用图像分割获取了同质对象,基于对象光谱、纹理和几何8种属性特征建立了规则集,以规则集为输入,利用阈值法和GURLS分类器结合进行了云检测。针对不同时相和场景的高分数据,将该方法与基于像素的最大似然法和SVM法进行了对比,结果表明该方法云提取精度均在95%以上,Kappa系数在0.9以上。     

基于比值法的多源多时相数据城区变化检测

针对中、低分辨率影像采用常规分类方法进行变化检测无法取得理想效果的问题,本文提出了一种基于比值法的雷达数据和光学影像相结合的城市变化检测方法。该方法综合雷达数据和光学影像的优势,以赣州定南县为研究对象,首先利用比值法分别对两种数据源进行城市变化检测,然后通过分析城区地物目标散射特性,对多个时相变化情况进行真彩色合成,最后结合城市建设规划进行分析验证,从而完成城市实时动态变化检测。试验结果表明,利用多源多时相数据进行比值法可成功地提取出试验区域的变化信息,在城区建筑变化检测中,纹理信息更清晰,准确性更高。     

一种改进的超体素与区域生长点云分割方法

点云分割作为识别地理场景的空间特征、探索和记录空间信息的关键处理步骤,其分割精度直接影响后续三维场景重建、地物特征提取等应用的效果。针对传统区域生长点云分割算法的不稳定等问题,本文结合超体素和区域生长算法对点云数据进行分割,并利用点云自身的色彩信息进一步改进分割结果。试验结果表明,相较于传统的区域生长和已有的结合超体素与区域生长的分割算法,本文算法对点云数据分割的效果更好,且其精确率与召回率均有提高。