| 分段能量函数优化的复杂场景点云滤波 |
| |
| 引用本文： | 闫利,刘畅,谢洪,唐长增,李毅.分段能量函数优化的复杂场景点云滤波[J].测绘科学,2021,46(1):84-92. |
| |
| 作者姓名： | 闫利 刘畅 谢洪 唐长增 李毅 |
| |
| 作者单位： | 武汉大学测绘学院,武汉430079;武汉大学测绘学院,武汉430079;武汉大学测绘学院,武汉430079;广西壮族自治区自然资源调查监测院,南宁530023;广西壮族自治区自然资源调查监测院,南宁530023 |
| |
| 基金项目： | 国家重点研发计划项目;第四批"广西自然资源监测与地理信息应用技术研究院士工作站"项目 |
| |
| 摘 要： | 为了提高复杂场景点云滤波的精度与效率,该文提出一种基于分段能量函数优化的滤波方法。剔除噪声并将点云格网化,设计分段能量函数,利用能量最小化求取每个格网对应的地面高程。若格网内最低点高程与该高程值差距在量化误差范围内,则将该点设为地面种子点。根据种子点构造狄洛尼三角网,取与其距离在阈值范围内的点为地面点。通过多种地形场景下的点云滤波实验验证,滤波的总体误差为3%,低于gLiDAR,且具有参数设置简单、同时兼顾精度与效率的优势。
|
| 关 键 词： | 点云 能量函数 复杂场景 地面滤波 |
A point cloud filtering method in complex scene based on piecewise energy function optimization |
| |
| YAN Li,LIU Chang,XIE Hong,TANG Changzeng,LI Yi.A point cloud filtering method in complex scene based on piecewise energy function optimization[J].Science of Surveying and Mapping,2021,46(1):84-92. |
| |
| Authors: | YAN Li LIU Chang XIE Hong TANG Changzeng LI Yi |
| |
| Institution: | (School of Geodesy and Geomatics,Wuhan University,Wuhan 430079,China;Guangxi Institute of Natural Resources Survey and Monitoring,Nanning 530023,China) |
| |
| Abstract: | To improve the accuracy and efficiency of point cloud being filtered,a filtering method based on energy optimization was proposed.With handling outliers and rasterizing the point cloud,the ground elevation of each grid was calculated by piecewise energy function minimization.The lowest point of each grid was a ground seed if its elevation was within the quantization error range.The ground seeds were used to construct a Delaunay triangulated irregular network,the points that were closed enough to which were classified as ground points.The results of experiments on various terrain scenes proved that the total error of the filtering method was 3%lower than gLiDAR and it had the advantages of simple parameter setting and considering both accuracy and efficiency. |
| |
| Keywords: | point cloud energy function complex scene ground filtering |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
