CN106204547A - The method automatically extracting shaft-like atural object locus from Vehicle-borne Laser Scanning point cloud - Google Patents
The method automatically extracting shaft-like atural object locus from Vehicle-borne Laser Scanning point cloud Download PDFInfo
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- CN106204547A CN106204547A CN201610504709.4A CN201610504709A CN106204547A CN 106204547 A CN106204547 A CN 106204547A CN 201610504709 A CN201610504709 A CN 201610504709A CN 106204547 A CN106204547 A CN 106204547A
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Abstract
The invention discloses a kind of method automatically extracting shaft-like atural object locus from Vehicle-borne Laser Scanning point cloud, it is first from Vehicle-borne Laser Scanning point cloud, optimal spatial demixing point cloud plane projection image；The optimal spatial demixing point cloud plane projection image generated is carried out Threshold segmentation, removes the point that brightness is low；Plane projection image after Threshold segmentation is carried out straight-line detection, removes the data with line feature；Image is extracted further, removes the data division not meeting shaft-like atural object characteristics of diameters, obtain shaft-like atural object projection picture；Last from shaft-like atural object projection picture, take the geometric center of each shaft-like ground object area, as the locus anchor point of shaft-like atural object, and by its relative position recovering to three-dimensional point cloud.The inventive method is susceptible to the impact of data noise point, and automaticity is high, takes full advantage of the morphological characteristic of cloud data to a greater extent, has reached preferable extraction effect.
Description
Technical field
The invention belongs to Vehicle-borne Laser Scanning Point Cloud Processing technical field.
Background technology
Vehicle-mounted mobile laser measurement system is as the measurement means of a kind of advanced person, the application in the three dimensional data collection of city
Increasingly wider, system acquisition to three-dimensional information include the building of road both sides, trees, electric light bar, electric lines of force, bridge and
Pavement of road etc..Shaft-like atural object is facility the most universal in Municipal Component, along with the fast development of smart city, is badly in need of obtaining
The most shaft-like atural object spatial positional information.Currently for the research of Objects extraction shaft-like in laser point cloud, main
Clustering procedure to be had and projected density method, both approaches is all based on the cloud data of entirety, easily by noise spot in cloud data
Impact, method applicability is the highest.The most preferably excavate the morphological characteristic of cloud data, improve shaft-like atural object locus and extract
Precision and efficiency, remain one of current Research Challenges.
Summary of the invention
For above-mentioned technical problem, the present invention by research point Vehicle-borne Laser Scanning data genaration based on the plane counted
Projection picture, uses the mode of image procossing, in conjunction with geometric shape and the feature of shaft-like atural object, it is proposed that a kind of vehicle-mounted laser is swept
The method that in described point cloud, shaft-like atural object spatial positional information automatically extracts, extracts shaft-like atural object, it is possible to from massive point cloud
Data are extracted shaft-like atural object spatial positional information fast and automatically.
To achieve these goals, the present invention adopts the following technical scheme that
A kind of method automatically extracting shaft-like atural object locus from Vehicle-borne Laser Scanning point cloud, comprises the steps:
The first step, from Vehicle-borne Laser Scanning point cloud, the space of shaft-like atural object in the vertical direction in acquisition subrange
Layering cloud data, carries out plane projection to space delamination point cloud, according to scope and the plane coordinates of space delamination point cloud, and will be from
The laser point cloud dissipated projects in plane, with the brightness value of unit picture element point cloud quantity definition pixel, is converted into the figure of two dimension
As data, and automatically obtain optimal spatial demixing point cloud plane projection image；
Second step, carries out Threshold segmentation to the optimal spatial demixing point cloud plane projection image generated, removes brightness low
Point, the less laser spots of sustained height number of ranges will remove in cloud data；
3rd step, carries out straight-line detection to the plane projection image after Threshold segmentation, removes the data with line feature, i.e.
The wall data of building in cloud data is removed；
4th step, extracts further to image, removes the data division not meeting shaft-like atural object characteristics of diameters, obtains
Shaft-like atural object projection picture；
5th step, from shaft-like atural object projection picture, takes the geometric center of each shaft-like ground object area, as shaft-like atural object
Locus anchor point, and by its relative position recovering to three-dimensional point cloud.
The invention have the advantage that
The present invention, according to laser point cloud data, automatically obtains space delamination data, and automatically chooses optimal spatial hierarchy number
According to carrying out plane projection, by analyzing the feature of shaft-like atural object, carry out shaft-like atural object to based on the plane projection image counted
Extracting, be susceptible to the impact of data noise point, automaticity is high, and the form taking full advantage of cloud data to a greater extent is special
Levy, reached preferable extraction effect.
Accompanying drawing explanation
Fig. 1 is the flow chart that the present invention implements；
Fig. 2 is automatically to obtain optimal spatial demixing point cloud projection picture；
Fig. 3 is the demixing point cloud projection picture having more different high-rise point；
Fig. 4 is demixing point cloud projection picture after filtering；
Fig. 5 is the locus projection picture of shaft-like atural object.
The projection of Fig. 2-Fig. 5 seems to be inverted, by white with black dot image, the white with black dot image obtained.
Detailed description of the invention
The present invention, according to the flow chart accompanying drawing 1 of summary of the invention and enforcement, can be implemented by those skilled in the art.For
Convenient to carry out, below each step in summary of the invention is described in further detail, during detailed description, gives Fig. 2-Fig. 5
Instantiation, example is only as a example by the extraction of other two the shaft-like object coordinates locus of building.
One, the detailed description to summary of the invention first step:
1, vertical direction space delamination point cloud automatically extracts
Being distributed according to actual building space height, be first layered a cloud according to vertical direction entirety, every 2m divides one
Point cloud layer, in acquisition subrange, a series of space delamination cloud datas of in the vertical direction, are set to l1, l2, l3……lN；
2, successively each some cloud layer is carried out plane projection
With x/y plane as perspective plane, the negative direction in z direction is projecting direction, projects laser point cloud, by building,
Road, shaft-like atural object etc. project under projected coordinate system；
3, generate based on the plane projection image counted
According to current some cloud scope, the cloud coordinate that sets up an office is (X, Y, Z), and some cloud scope is { Xmin, Ymin,Zmin, Xmax, Ymax,
Zmax, the pixel coordinate of image is that (x, y), scaling precision is s, then (x, y) difference of some cloud coordinate (X, Y, Z) correspondence image
It is: x=(X-Xmin) × s, y=(Y-Ymin)×s；
In unit picture element, the brightness of point is the brightness superposition falling and putting cloud number in unit picture element, if often there being a some cloud to turn
Change into (x, y), this brightness value increase by 30%；
Travel through all cloud datas, calculate the plane projection image coordinate of its correspondence, and carry out brightness superposition, obtain optimum
There is a cloud layer in space based on the plane projection image counted, thus generates N number of plane projection image:
4, optimal spatial demixing point cloud is automatically obtained
The N number of plane projection image generated is carried out rough boxed area circumscribed circle detection, calculates circumscribed circle diameter, choosing
Take the more diameter plane projection image close to actual shaft-like atural object diameter, as optimal spatial demixing point cloud projection picture,
Carry out next step shaft-like Objects extraction.
Fig. 2 is shown in which an optimal spatial demixing point cloud projection picture, containing multiple shaft-like culture point clouds in image
Projection picture, wherein has P1 and P2 from the shaft-like atural object pixel that top building is nearest.
In order to prove the accuracy of the present invention, project to P1 and P2 learn under projected coordinate system, P1 coordinate
(509170.2306,3985536.5028,75.0464), P2 coordinate (509173.3905,3985537.3584,74.6881),
Being converted into plane projection image recoil and being designated as P1 ' coordinate is (293,161), and P2 ' coordinate is (354,181).
Two, the detailed description to summary of the invention second step:
By the method for existing adaptive threshold, optimal spatial demixing point cloud projection picture as shown in Figure 2 is carried out threshold value to divide
Cut, i.e. by calculating the weighted average of pixel peripheral region, then deduct a constant to obtain adaptive threshold, to obtaining
Plane projection image carry out Threshold segmentation, obtain the region that brightness is bigger.
As it is shown on figure 3, P1 ' and the brightness of P2 ' position are relatively big, therefore it is effectively maintained.This subregion
There are the data of more different high-rise point in i.e. corresponding point cloud being perpendicular to the unit range of x/y plane, meet shaft-like atural object Vertical Square
Upwards there is the feature of relatively multiple spot.
Three, the detailed description to summary of the invention third step:
Image after Threshold segmentation is carried out straight-line detection, removes the part of obvious wired characteristic in image, by these portions
Split as background colour, the impact on shaft-like Objects extraction result such as building walls in actual three dimensional point cloud.
As shown in Figure 4, after the image shown in Fig. 3 is excluded building walls impact, so that it may obtain figure as shown in Figure 4
Picture.
Four, the detailed description to summary of the invention the 4th step:
The part that brightness in image after excluding building walls impact is big is carried out regional area growth, extracts every
These regions are filtered by the region that one Block Brightness is big: first extract monolithic zone boundary, if this zone boundary circularity
Less than 0.2, then the inclined linear in this region, do not meet the feature of shaft-like atural object, get rid of；Extract monolithic region again, calculate outside minimum
Connecing diameter of a circle, the distance being converted in cloud data, if these data are much smaller than or are much larger than actual shaft-like atural object diameter, then
Do not meet the feature of shaft-like atural object, got rid of；Judge whether the distance of n adjacent rod atural object meets actual shaft-like atural object again
Spacing, meet, retain, otherwise delete.
As it is shown in figure 5, by after image filtering as shown in Figure 4, finally give shaft-like atural object projection picture shown in Fig. 5.
Five, the detailed description to summary of the invention the 5th step:
1, shaft-like atural object central point is calculated
For shaft-like atural object projection as remaining region, extract the border in region, ask the center of circle of its minimum circumscribed circle, make
Central point for shaft-like atural object；
2, shaft-like atural object center point coordinate is converted into a cloud coordinate
Shaft-like culture point coordinate is set to that (x, y), then corresponding some cloud coordinate (X, Y, Z) is: X=x/s+Xmin, Y=y/s+
Ymin, Z-direction coordinate takes the intermediate value of Z-direction when a cloud carries out space delamination；(X, Y, the Z) that obtain is shaft-like atural object
Locus.
As it is shown in figure 5, by P1 and P2 center point coordinate P1 ' (293,162) in image shown in Fig. 4 and P2 ' (354,179),
It is converted into a cloud coordinate as follows:
P1’(509170.2535,3985536.5059,75.0235)；
P2’(509173.2149,3985537.4218,75.0235)。
The above-mentioned some cloud coordinate being converted into and the coordinate projecting in projected coordinate system, both are basically identical, it was demonstrated that this
Bright method may apply to the extraction of actual shaft-like atural object.
Claims (6)
1. the method automatically extracting shaft-like atural object locus from Vehicle-borne Laser Scanning point cloud, it is characterised in that include
Following steps:
The first step, from Vehicle-borne Laser Scanning point cloud, the space delamination of shaft-like atural object in the vertical direction in acquisition subrange
Cloud data, carries out plane projection to space delamination point cloud, according to scope and the plane coordinates of space delamination point cloud, by discrete
Laser point cloud projects in plane, with the brightness value of unit picture element point cloud quantity definition pixel, is converted into the picture number of two dimension
According to, and automatically obtain optimal spatial demixing point cloud plane projection image；
Second step, carries out Threshold segmentation to the optimal spatial demixing point cloud plane projection image generated, removes the point that brightness is low, i.e.
The less laser spots of sustained height number of ranges in cloud data is removed；
3rd step, carries out straight-line detection to the plane projection image after Threshold segmentation, removes the data with line feature, Ji Jiangdian
In cloud data, the wall data of building removes；
4th step, extracts further to image, removes the data division not meeting shaft-like atural object characteristics of diameters, obtains shaft-like
Atural object projection picture；
5th step, from shaft-like atural object projection picture, takes the geometric center of each shaft-like ground object area, as the sky of shaft-like atural object
Between position anchor point, and by its relative position recovering to three-dimensional point cloud.
2. the method for claim 1, it is characterised in that the detailed step of the described first step is:
1.1, vertical direction space delamination point cloud automatically extracts
Being distributed according to actual building space height, be first layered a cloud according to vertical direction entirety, every 2m divides a some cloud
Layer, in acquisition subrange, a series of space delamination cloud datas of in the vertical direction, are set to l1, l2, l3……lN；
1.2, successively each some cloud layer is carried out plane projection
With x/y plane as perspective plane, the negative direction in z direction is projecting direction, projects laser point cloud, by building, road
Road, shaft-like atural object project under projected coordinate system；
1.3, generate based on the plane projection image counted
According to current some cloud scope, the cloud coordinate that sets up an office is (X, Y, Z), and some cloud scope is { Xmin, Ymin,Zmin, Xmax, Ymax, Zmax,
The pixel coordinate of image be (x, y), scaling precision is s, then some cloud coordinate (X, Y, Z) correspondence image (x, y) respectively: x=
(X-Xmin) × s, y=(Y-Ymin)×s；
In unit picture element, the brightness of point is the brightness superposition falling and putting cloud number in unit picture element, if often there being a some cloud to be converted into
(x, y), this brightness value increases by 30% to pixel；
Travel through all cloud datas, calculate the plane projection image coordinate of its correspondence, and carry out brightness superposition, obtain optimal spatial
There is a cloud layer based on the plane projection image counted, thus generated N number of plane projection image；
1.4, optimal spatial demixing point cloud is automatically obtained
The N number of plane projection image generated is carried out rough boxed area circumscribed circle detection, calculates circumscribed circle diameter, chosen
More diameter, close to the plane projection image of actual shaft-like atural object diameter, as optimal spatial demixing point cloud projection picture, is carried out
Next step shaft-like Objects extraction.
3. the method for claim 1, it is characterised in that the detailed step of described second step is:
During Threshold segmentation, by the method for adaptive threshold, optimal spatial demixing point cloud projection picture is carried out image segmentation, the most logical
Cross the weighted average calculating pixel peripheral region, then deduct a constant to obtain adaptive threshold, to the plane obtained
Projection picture carries out Threshold segmentation, obtains the region that brightness is bigger；This subregion i.e. corresponding point cloud is perpendicular to x/y plane
There are the data of more different high-rise point in unit range, meet the feature having relatively multiple spot in shaft-like atural object vertical direction.
4. method as claimed in claim 1, it is characterised in that the detailed step of described 3rd step is:
Image after Threshold segmentation is carried out straight-line detection, removes the part of obvious wired characteristic in image, these parts are put
For background colour, the impact on shaft-like Objects extraction result of the building walls in actual three dimensional point cloud can be excluded.
5. the method for claim 1, it is characterised in that the detailed step of described 4th step is:
The part that brightness in image is big is carried out regional area growth, extracts the region that each Block Brightness is big, to these regions
It is filtered: first extract monolithic zone boundary, if < 0.2, then the inclined linear in this region, is not inconsistent this zone boundary circularity
Close the feature of shaft-like atural object, get rid of；Extract monolithic region again, calculate the diameter of minimum circumscribed circle, be converted in cloud data
Distance, if these data are much smaller than or much larger than actual shaft-like atural object diameter, then do not meet the feature of shaft-like atural object, arranged
Remove；Obtain shaft-like atural object projection picture.
6. the method for claim 1, it is characterised in that the detailed step of described 5th step is:
5.1, shaft-like atural object central point is calculated
For remaining region, extract monolithic zone boundary, ask the center of circle of its minimum circumscribed circle, as the center of shaft-like atural object
Point；
5.2, shaft-like atural object center point coordinate is converted into a cloud coordinate
Shaft-like atural object center point coordinate is set to that (x, y), then corresponding some cloud coordinate (X, Y, Z) is: X=x/s+Xmin, Y=y/s+
Ymin, Z-direction takes the intermediate value of Z-direction when a cloud carries out space delamination；
(X, Y, the Z) that obtain is the locus of shaft-like atural object.
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