CN106767438A - Landslide amount acquisition methods and device based on Three Dimensional Ground laser scanner technique - Google Patents
Landslide amount acquisition methods and device based on Three Dimensional Ground laser scanner technique Download PDFInfo
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- CN106767438A CN106767438A CN201710064346.1A CN201710064346A CN106767438A CN 106767438 A CN106767438 A CN 106767438A CN 201710064346 A CN201710064346 A CN 201710064346A CN 106767438 A CN106767438 A CN 106767438A
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The present invention provides a kind of landslide amount acquisition methods and device based on Three Dimensional Ground laser scanner technique, wherein, method includes：Obtain the gps data and cloud data of target area and change to unified reference coordinate system, the cloud data is obtained by Three Dimensional Ground laser scanner；The external invariant feature point in landslide is chosen in gps data, with the external invariant feature point in the landslide as reference data, the cloud data to contemporaneity after conversion carries out piecemeal according to pre-set dimension；Extract piecemeal after each block ground point cloud and estimate that the ground of each block represents a little；Extract after piecemeal the tree point cloud of each block and estimate the trees center point of each block；Ground according to each block different times represents point and trees center point, obtains comprehensive landslide amount of each block.The cloud data that the present invention can be based on Three Dimensional Ground laser scanner technique obtains more comprehensively landslide quantized data, as a result more comprehensively science.
Description
Technical field
The present invention relates to Surveying and mapping technical field, more particularly to a kind of massif based on Three Dimensional Ground laser scanner technique
Measure acquisition methods and device in landslide.
Background technology
In Surveying and mapping technical field, the monitoring and analysis of the massif that comes down are helped to be best understood to grasp landslide amount and
Landslide Features, are more conducive to be monitored and early warning landslide.Using traditional measurement means, such as total powerstation and global location
System GPS, can only obtain limited discrete point coordinates, lack the comprehensive estimated data to whole slip mass；Meanwhile, if crucial
Landslide point is missed, and will mislead Landslide Monitoring result serious distortion.
Three Dimensional Ground laser scanner technique can obtain high density, high-precision 3D position coordinates, be easy to frame station, be adapted to area
The fine measurement in little region.Vehicle-mounted three-dimensional laser scanning technique point coordinates limited precision, and in the regions such as massif, gathered data
It is difficult.Airborne three-dimensional laser scanning technique wide coverage, but acquisition point cloud density is diluter, and precision is not high, tends not to full
Sufficient Landslide Monitoring required precision.Therefore, there is vegetative coverage and the ground region measurement higher to scanning accuracy requirement in massif etc.,
Three Dimensional Ground laser scanner technique turns into one of technological means the strongest.
Although Three Dimensional Ground laser scanner technique can obtain the high accuracy position coordinate of magnanimity, due to its acquisition
The discreteness of cloud data, puts cloud and not can determine that with the one-to-one relationship on testee surface, and between different moment point clouds
One-to-one relationship cannot also directly obtain, which results in cannot direct access landslide quantized data from a cloud.
In consideration of it, how to obtain landslide quantized data based on Three Dimensional Ground laser scanner technique needs solution as current
Technical problem certainly.
The content of the invention
To solve above-mentioned technical problem, the present invention provides a kind of landslide based on Three Dimensional Ground laser scanner technique
Amount acquisition methods and device, the cloud data that can be based on Three Dimensional Ground laser scanner technique obtain more comprehensively landslide
Quantized data.
In a first aspect, the present invention provides a kind of landslide amount acquisition methods based on Three Dimensional Ground laser scanner technique,
Including：
Obtain the gps data and cloud data of target area and change to unified reference coordinate system, described cloud number
Obtained according to by Three Dimensional Ground laser scanner；
The external invariant feature point in landslide is chosen in gps data, with the external invariant feature point in landslide as reference data,
Cloud data to contemporaneity after conversion carries out piecemeal according to pre-set dimension；
Extract piecemeal after each block ground point cloud and estimate that the ground of each block represents a little；
Extract after piecemeal the tree point cloud of each block and estimate the trees center point of each block；
Ground according to each block different times represents point and trees center point, and the comprehensive massif for obtaining each block is slided
Measure on slope.
Alternatively, it is described extract piecemeal after each block ground point cloud and estimate that the ground of each block represents a little, including：
Each block after piecemeal is divided into multiple small piecemeals, the elevation minimum point in each small piecemeal is extracted, in each block
The elevation minimum point of all small piecemeals constitutes the ground point cloud of each block；
Estimate the representative point of plane where the ground point cloud of each block, the representative point is represented a little as the ground of the block.
Alternatively, the representative point of plane where the ground point cloud for estimating each block, including：
Using singular value decomposition algorithm, estimate that the normal vector of plane where the ground point cloud of each block is several to the ground point cloud
The distance of what central point, and then it is calculated the representative point of the plane.
Alternatively, it is divided into multiple small piecemeals in described each block by after piecemeal, extracts elevation in each small piecemeal most
Low spot, after the elevation minimum point of all small piecemeals constitutes the ground point cloud of each block in each block, each block is estimated described
Ground point cloud where plane representative point before, methods described also includes：
If the quantity of the elevation minimum point of composition ground point cloud is more than predetermined threshold value in certain block, using random sampling one
Cause property algorithm, the ground point cloud to the block carries out noise rejecting；
Correspondingly, the representative point of plane where the ground point cloud for estimating each block, using the representative point as the block
Ground represents a little, including：
The representative point of plane where the ground point cloud after the rejecting of each block noise is estimated, using the representative point as the ground of the block
Face represents a little.
Alternatively, it is described to extract after piecemeal the tree point cloud of each block and estimate the trees center point of each block, bag
Include：
Each block after piecemeal is divided into multiple fritters, point of each fritter inner height more than preset height is extracted, each
All fritter inner heights constitute the tree point cloud of the block more than the point of preset height in block, and the preset height is that massif trees are high
Degree；
Count quantity of each fritter inner height more than the point of preset height；
Using each block inner height fritter most more than the quantity of the point of preset height as trees Position Approximate, and take this
Fritter inner height is more than the average value of the point of preset height as the trees center point of the block.
Alternatively, it is described that point and trees center point are represented according to the ground of each block different times, obtain each block
Comprehensive landslide amount, including：
Ground according to each block different times represents the coordinate offset of point, obtains each block and is based on the mountain that ground represents point
Measure on body landslide；
The coordinate offset of the trees center point according to each block different times, obtains each block and is based on trees centre bit
Put landslide amount a little；
Contrast each block and be based on landslide amount and the amount of the landslide based on trees center point that ground represents point,
Obtain comprehensive landslide amount of each block.
Second aspect, the present invention provides a kind of landslide amount acquisition device based on Three Dimensional Ground laser scanner technique,
Including：
Modular converter, for obtaining the gps data and cloud data of target area and changing to unified reference frame
System, the cloud data is obtained by Three Dimensional Ground laser scanner；
Segmentation module, for choosing the external invariant feature point in landslide in gps data, with the external invariant feature in landslide
Point is reference data, and the cloud data to contemporaneity after conversion carries out piecemeal according to pre-set dimension；
First extraction module, for extracting after piecemeal the ground point cloud of each block and estimating that the ground of each block represents a little；
Second extraction module, for extracting the tree point cloud of each block after piecemeal and estimating the trees center of each block
Point；
Acquisition module, for representing point and trees center point according to the ground of each block different times, obtains each
Comprehensive landslide amount of block.
Alternatively, first extraction module, including：
Extraction unit, for each block after piecemeal to be divided into multiple small piecemeals, extracts elevation in each small piecemeal most
Low spot, the elevation minimum point of all small piecemeals constitutes the ground point cloud of each block in each block；
Estimation unit, for the representative point of plane where the ground point cloud for estimating each block, using the representative point as the block
Ground represent a little.
Alternatively, second extraction module, specifically for
Each block after piecemeal is divided into multiple fritters, point of each fritter inner height more than preset height is extracted, each
All fritter inner heights constitute the tree point cloud of the block more than the point of preset height in block, and the preset height is that massif trees are high
Degree；
Count quantity of each fritter inner height more than the point of preset height；
Using each block inner height fritter most more than the quantity of the point of preset height as trees Position Approximate, and take this
Fritter inner height is more than the average value of the point of preset height as the trees center point of the block.
Alternatively, the acquisition module, specifically for
Ground according to each block different times represents the coordinate offset of point, obtains each block and is based on the mountain that ground represents point
Measure on body landslide；
The coordinate offset of the trees center point according to each block different times, obtains each block and is based on trees centre bit
Put landslide amount a little；
Contrast each block and be based on landslide amount and the amount of the landslide based on trees center point that ground represents point,
Obtain comprehensive landslide amount of each block.
As shown from the above technical solution, the landslide amount acquisition side based on Three Dimensional Ground laser scanner technique of the invention
Method and device, by obtaining the gps data and cloud data of target area and changing to unified reference coordinate system, the point
Cloud data are obtained by Three Dimensional Ground laser scanner, the external invariant feature point in landslide are chosen in gps data, with described
The external invariant feature point that comes down is reference data, and the cloud data to contemporaneity after conversion carries out piecemeal according to pre-set dimension,
Extract piecemeal after each block ground point cloud and estimate each block ground represent a little, extract piecemeal after each block tree point cloud
And estimate the trees center point of each block, the ground according to each block different times represents point and trees center point,
Comprehensive landslide amount of each block is obtained, the cloud data thereby, it is possible to be based on Three Dimensional Ground laser scanner technique is obtained more
It is comprehensive landslide quantized data, as a result more comprehensively science.
Brief description of the drawings
Fig. 1 measures acquisition for a kind of landslide based on Three Dimensional Ground laser scanner technique that one embodiment of the invention is provided
The schematic flow sheet of method；
Fig. 2 measures acquisition for a kind of landslide based on Three Dimensional Ground laser scanner technique that one embodiment of the invention is provided
The structural representation of device.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, clear, complete description is carried out to the technical scheme in the embodiment of the present invention, it is clear that described embodiment is only
Only it is a part of embodiment of the invention, rather than whole embodiments.Based on embodiments of the invention, ordinary skill people
The every other embodiment that member is obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Fig. 1 shows that the amount of the landslide based on Three Dimensional Ground laser scanner technique that one embodiment of the invention is provided is obtained
The schematic flow sheet of method, as shown in figure 1, the amount of the landslide based on Three Dimensional Ground laser scanner technique of the present embodiment is obtained
Method is as described below.
101st, the gps data and cloud data of target area are obtained and is changed to unified reference coordinate system, the point
Cloud data are obtained by Three Dimensional Ground laser scanner.
In a particular application, the gps data of target area and cloud data can be changed to GPS reference frames
System.
102nd, the external invariant feature point in landslide (i.e. Rock mass stability region selected characteristic point) is chosen in gps data, with
The external invariant feature point in landslide is reference data, and the cloud data to contemporaneity after conversion is divided according to pre-set dimension
Block.
It is understood that the cloud data of different times is with the external invariant feature point in landslide selected by step 102
It is reference data.
It is understood that after piecemeal, each point in cloud data is uniquely divided into each block；By a cloud minute
Cut, cloud data is carried out into piecemeal according to pre-set dimension, be that mass data is carried out into fast decoupled, the meter of later data can be improved
Calculate speed.
103rd, extract piecemeal after each block ground point cloud and estimate that the ground of each block represents a little.
In a particular application, the step 103, can include 103a and 103b the step of not shown in figure：
103a, each block after piecemeal is divided into multiple small piecemeals, extracts the elevation minimum point in each small piecemeal, each
The elevation minimum point of all small piecemeals constitutes the ground point cloud of each block in block.
103b, the representative point for estimating plane where the ground point cloud of each block, using the representative point as the block ground generation
Table point.
Specifically, the step 103b can utilize singular value decomposition algorithm, estimate to be put down where the ground point cloud of each block
The normal vector in face and then is calculated the representative point of the plane to the distance of the ground point cloud geometric center point, and this is represented a little
Represented a little as the ground of the block.
Further, between the step 103a and 103b, methods described can also include：
If the quantity of the elevation minimum point of composition ground point cloud is more than predetermined threshold value in certain block, using random sampling one
Cause property algorithm, the ground point cloud to the block carries out noise rejecting；
Correspondingly, the step 103b, can specifically include：
The representative point of plane where the ground point cloud after the rejecting of each block noise is estimated, using the representative point as the ground of the block
Face represents a little.
It is understood that by Detection of Gross Errors and elimination method, the noise in removal ground point cloud beyond ground can
Improve the precision that ground represents point estimation.
It is understood that because step 103 is very few in the local scan data that the vegetative coverage such as is set in ground or does not have
Have, the place data can be caused to lack.In order to obtain more comprehensively landslide amount, proposed behind the present embodiment based on tree
The landslide amount computational methods of center point.
104th, extract after piecemeal the tree point cloud of each block and estimate the trees center point of each block.
In a particular application, the step 104, can include 104a-104c the step of not shown in figure：
104a, each block after piecemeal is divided into multiple fritters, extracts point of each fritter inner height more than preset height,
All fritter inner heights constitute the tree point cloud of the block more than the point of preset height in each block, and the preset height is massif tree
Wooden height.
It is understood that trees are often the most significant characteristic body in massif surface, so the present embodiment is with trees to cut
Access point.
104b, count each fritter inner height more than preset height point quantity.
104c, the most fritter of quantity using each block inner height more than the point of preset height as trees Position Approximate,
And take the fritter inner height more than preset height point average value as the block trees center point.
It is understood that because the trunk part elevation highest of general trees, and often branches and leaves are most around trunk part
It is luxuriant, that is, the point cloud density maximum that the part obtains, therefore, cloud density at most (is put most with each block point cloud number
Small piecemeal greatly) as trees Position Approximate, and the partial dot is averaged can obtain tree center.
105th, the ground according to each block different times represents point and trees center point, obtains comprehensive mountain of each block
Measure on body landslide.
In a particular application, the step 105, can include 105a-105c the step of not shown in figure：
105a, the coordinate offset that point is represented according to the ground of each block different times, are obtained each block and are represented based on ground
The landslide amount of point.
105b, the coordinate offset according to the trees center point of each block different times, obtain each block and are based on trees
The landslide amount of center point.
In a particular application, in order to calculate the slip value of tree positions, can be with a certain period tree center position coordinates
With reference to searching for another period, same small piecemeal and its close on the corresponding trees of piecemeal, if it is found, then calculate not setting in the same time
Center slippage；If can not find, give up the trees.By the coordinate for calculating the trees center point of different times
Skew, it can be deduced that the landslide amount based on trees center point.
105c, contrast each block and be based on ground and represent the landslide amount and massif based on trees center point of point sliding
Slope is measured, and obtains comprehensive landslide amount of each block.
Landslide based on the Three Dimensional Ground laser scanner technique amount acquisition methods of the present embodiment, by obtaining target area
The gps data and cloud data in domain are simultaneously changed to unified reference coordinate system, and the cloud data is swashed by Three Dimensional Ground
What photoscanner was obtained, the external invariant feature point in landslide is chosen in gps data, it is ginseng with the external invariant feature point in landslide
Benchmark is examined, the cloud data to contemporaneity after conversion carries out piecemeal according to pre-set dimension, extracts the ground of each block after piecemeal
Point cloud simultaneously estimates that the ground of each block represents a little, extracts after piecemeal the tree point cloud of each block and estimates the trees center of each block
Location point, the ground according to each block different times represents point and trees center point, and the comprehensive massif for obtaining each block is slided
Slope is measured, and thus, combined ground represents two kinds of methods of complementation of point and trees center point, can be based on Three Dimensional Ground laser
The cloud data of scanning technique obtain more fully with objective landslide quantized data, as a result more comprehensively science, Neng Gouwei
The quantization monitoring and early warning of landslide massif provide data and support.
Fig. 2 shows that the amount of the landslide based on Three Dimensional Ground laser scanner technique that one embodiment of the invention is provided is obtained
The structural representation of device, as shown in Fig. 2 the amount of the landslide based on Three Dimensional Ground laser scanner technique of the present embodiment is obtained
Device, including：Modular converter 21, segmentation module 22, the first extraction module 23, the second extraction module 24 and acquisition module 25；Its
In：
Modular converter 21, for obtaining the gps data and cloud data of target area and changing to unified reference coordinate
System, the cloud data is obtained by Three Dimensional Ground laser scanner；
Segmentation module 22, it is special with the landslide stabilization in vitro for choosing the external invariant feature point in landslide in gps data
It is a little reference data to levy, and the cloud data to contemporaneity after conversion carries out piecemeal according to pre-set dimension；
First extraction module 23, for extracting after piecemeal the ground point cloud of each block and estimating that the ground of each block represents
Point；
Second extraction module 24, for extracting the tree point cloud of each block after piecemeal and estimating the trees centre bit of each block
Put a little；
Acquisition module 25, for representing point and trees center point according to the ground of each block different times, obtains every
Comprehensive landslide amount of individual block.
In a particular application, first extraction module 23, can include：
Extraction unit, for each block after piecemeal to be divided into multiple small piecemeals, extracts elevation in each small piecemeal most
Low spot, the elevation minimum point of all small piecemeals constitutes the ground point cloud of each block in each block；
Estimation unit, for the representative point of plane where the ground point cloud for estimating each block, using the representative point as the block
Ground represent a little.
Specifically, the estimation unit, can be specifically for
Using singular value decomposition algorithm, estimate that the normal vector of plane where the ground point cloud of each block is several to the ground point cloud
The distance of what central point, and then the representative point of the plane is calculated, the representative point is represented a little as the ground of the block.
Further, first extraction module 23 can also include：
Denoising unit, if the quantity of the elevation minimum point for constituting ground point cloud in certain block is more than predetermined threshold value,
Using RANSAC algorithm, the ground point cloud to the block carries out noise rejecting；
Correspondingly, the estimation unit, can be specifically for
The representative point of plane where the ground point cloud after the rejecting of each block noise is estimated, using the representative point as the ground of the block
Face represents a little.
In a particular application, second extraction module 24, can be specifically for
Each block after piecemeal is divided into multiple fritters, point of each fritter inner height more than preset height is extracted, each
All fritter inner heights constitute the tree point cloud of the block more than the point of preset height in block, and the preset height is that massif trees are high
Degree；
Count quantity of each fritter inner height more than the point of preset height；
Using each block inner height fritter most more than the quantity of the point of preset height as trees Position Approximate, and take this
Fritter inner height is more than the average value of the point of preset height as the trees center point of the block.
In a particular application, the acquisition module 25, can be specifically for
Ground according to each block different times represents the coordinate offset of point, obtains each block and is based on the mountain that ground represents point
Measure on body landslide；
The coordinate offset of the trees center point according to each block different times, obtains each block and is based on trees centre bit
Put landslide amount a little；
Contrast each block and be based on landslide amount and the amount of the landslide based on trees center point that ground represents point,
Obtain comprehensive landslide amount of each block.
Landslide based on the Three Dimensional Ground laser scanner technique amount acquisition device of the present embodiment, combined ground is represented a little
With two kinds of methods of complementation of trees center point, the cloud data acquisition of Three Dimensional Ground laser scanner technique can be based on more
It is comprehensive and objective landslide quantized data, as a result more comprehensively science, can be the quantization monitoring and early warning of landslide massif
Data are provided to support.
Landslide based on the Three Dimensional Ground laser scanner technique amount acquisition device of the present embodiment, before can be used for performing
The technical scheme of embodiment of the method is stated, its realization principle is similar with technique effect, and here is omitted.
It should be understood by those skilled in the art that, embodiments herein can be provided as method, system or computer program
Product.Therefore, the application can be using the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.And, the application can be used and wherein include the computer of computer usable program code at one or more
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) is produced
The form of product.
The application is the flow with reference to method, equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram are described.It should be understood that every first-class during flow chart and/or block diagram can be realized by computer program instructions
The combination of flow and/or square frame in journey and/or square frame and flow chart and/or block diagram.These computer programs can be provided
The processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced for reality by the instruction of computer or the computing device of other programmable data processing devices
The device of the function of being specified in present one flow of flow chart or multiple one square frame of flow and/or block diagram or multiple square frames.
These computer program instructions may be alternatively stored in can guide computer or other programmable data processing devices with spy
In determining the computer-readable memory that mode works so that instruction of the storage in the computer-readable memory is produced and include finger
Make the manufacture of device, the command device realize in one flow of flow chart or multiple one square frame of flow and/or block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented treatment, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or deposited between operating
In any this actual relation or order.And, term " including ", "comprising" or its any other variant be intended to
Nonexcludability is included, so that process, method, article or equipment including a series of key elements not only will including those
Element, but also other key elements including being not expressly set out, or also include being this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Also there is other identical element in process, method, article or equipment including the key element.Term " on ", D score etc. refers to
The orientation or position relationship for showing are, based on orientation shown in the drawings or position relationship, to be for only for ease of the description present invention and simplify
Description, must be with specific orientation, with specific azimuth configuration and behaviour rather than the device or element for indicating or imply meaning
Make, therefore be not considered as limiting the invention.Unless otherwise clearly defined and limited, term " installation ", " connected ",
" connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can be
Mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, can be two
The connection of element internal.For the ordinary skill in the art, can as the case may be understand above-mentioned term at this
Concrete meaning in invention.
In specification of the invention, numerous specific details are set forth.Although it is understood that, embodiments of the invention can
Put into practice with the case of without these details.In some instances, known method, structure and skill is not been shown in detail
Art, so as not to obscure the understanding of this description.Similarly, it will be appreciated that disclose and help understand each to simplify the present invention
One or more in individual inventive aspect, in above to the description of exemplary embodiment of the invention, of the invention each is special
Levying in be grouped together into sometimes single embodiment, figure or descriptions thereof.However, should not be by the method solution of the disclosure
Release and be intended in reflection is following：The feature that i.e. the present invention for required protection requirement ratio is expressly recited in each claim is more
Many features.More precisely, as the following claims reflect, inventive aspect is less than single reality disclosed above
Apply all features of example.Therefore, it then follows thus claims of specific embodiment are expressly incorporated in the specific embodiment,
Wherein each claim is in itself as separate embodiments of the invention.It should be noted that in the case where not conflicting, this
The feature in embodiment and embodiment in application can be mutually combined.The invention is not limited in any single aspect,
Any single embodiment is not limited to, any combination and/or the displacement of these aspects and/or embodiment is also not limited to.And
And, can be used alone it is of the invention each aspect and/or embodiment or with it is one or more other aspect and/or its implementation
Example is used in combination.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme, it all should cover in the middle of the scope of claim of the invention and specification.
Claims (10)
1. acquisition methods are measured in a kind of landslide based on Three Dimensional Ground laser scanner technique, it is characterised in that including：
Obtain the gps data and cloud data of target area and change to unified reference coordinate system, the cloud data is
Obtained by Three Dimensional Ground laser scanner；
The external invariant feature point in landslide is chosen in gps data, with the external invariant feature point in landslide as reference data, to turning
The cloud data for changing rear contemporaneity carries out piecemeal according to pre-set dimension；
Extract piecemeal after each block ground point cloud and estimate that the ground of each block represents a little；
Extract after piecemeal the tree point cloud of each block and estimate the trees center point of each block；
Ground according to each block different times represents point and trees center point, obtains comprehensive landslide of each block
Amount.
2. method according to claim 1, it is characterised in that the ground point cloud of each block and estimate after the extraction piecemeal
The ground of each block represents a little, including：
Each block after piecemeal is divided into multiple small piecemeals, the elevation minimum point in each small piecemeal is extracted, owned in each block
The elevation minimum point of small piecemeal constitutes the ground point cloud of each block；
Estimate the representative point of plane where the ground point cloud of each block, the representative point is represented a little as the ground of the block.
3. method according to claim 2, it is characterised in that the generation of plane where the ground point cloud of each block of estimation
Table point, including：
Using singular value decomposition algorithm, estimate the normal vector of plane where the ground point cloud of each block in the ground point cloud geometry
The distance of heart point, and then it is calculated the representative point of the plane.
4. method according to claim 2, it is characterised in that be divided into multiple small point in described each block by after piecemeal
Block, extracts the elevation minimum point in each small piecemeal, and the elevation minimum point of all small piecemeals constitutes the ground of each block in each block
After millet cake cloud, before the representative point of plane where the ground point cloud of each block of estimation, methods described also includes：
If the quantity of the elevation minimum point of composition ground point cloud is more than predetermined threshold value in certain block, using random sampling uniformity
Algorithm, the ground point cloud to the block carries out noise rejecting；
Correspondingly, the representative point of plane where the ground point cloud for estimating each block, using the representative point as the ground of the block
Represent a little, including：
Estimate each block noise reject after ground point cloud where plane representative point, using the representative point as the block ground generation
Table point.
5. method according to claim 1, it is characterised in that the tree point cloud of each block and estimate after the extraction piecemeal
The trees center point of each block, including：
Each block after piecemeal is divided into multiple fritters, point of each fritter inner height more than preset height is extracted, in each block
All fritter inner heights more than preset height point constitute the block tree point cloud, the preset height be massif trees highly；
Count quantity of each fritter inner height more than the point of preset height；
Using each block inner height fritter most more than the quantity of the point of preset height as trees Position Approximate, and take the fritter
Inner height is more than the average value of the point of preset height as the trees center point of the block.
6. method according to claim 1, it is characterised in that it is described according to the ground of each block different times represent point and
Trees center point, obtains comprehensive landslide amount of each block, including：
Ground according to each block different times represents the coordinate offset of point, obtains each block and is slided based on the massif that ground represents point
Measure on slope；
The coordinate offset of the trees center point according to each block different times, obtains each block and is based on trees center point
Landslide amount；
Contrast each block and be based on landslide amount and the amount of the landslide based on trees center point that ground represents point, obtain
Comprehensive landslide amount of each block.
7. acquisition device is measured in a kind of landslide based on Three Dimensional Ground laser scanner technique, it is characterised in that including：
Modular converter, for obtaining the gps data and cloud data of target area and changing to unified reference coordinate system, institute
Cloud data is stated to be obtained by Three Dimensional Ground laser scanner；
Segmentation module, for choosing the external invariant feature point in landslide in gps data, be with the external invariant feature point in landslide
Reference data, the cloud data to contemporaneity after conversion carries out piecemeal according to pre-set dimension；
First extraction module, for extracting after piecemeal the ground point cloud of each block and estimating that the ground of each block represents a little；
Second extraction module, for extracting the tree point cloud of each block after piecemeal and estimating the trees center point of each block；
Acquisition module, for representing point and trees center point according to the ground of each block different times, obtains each block
Comprehensive landslide amount.
8. device according to claim 7, it is characterised in that first extraction module, including：
Extraction unit, for each block after piecemeal to be divided into multiple small piecemeals, extracts the elevation minimum point in each small piecemeal,
The elevation minimum point of all small piecemeals constitutes the ground point cloud of each block in each block；
Estimation unit, for the representative point of plane where the ground point cloud for estimating each block, using the representative point as the ground of the block
Face represents a little.
9. device according to claim 7, it is characterised in that second extraction module, specifically for
Each block after piecemeal is divided into multiple fritters, point of each fritter inner height more than preset height is extracted, in each block
All fritter inner heights more than preset height point constitute the block tree point cloud, the preset height be massif trees highly；
Count quantity of each fritter inner height more than the point of preset height；
Using each block inner height fritter most more than the quantity of the point of preset height as trees Position Approximate, and take the fritter
Inner height is more than the average value of the point of preset height as the trees center point of the block.
10. device according to claim 7, it is characterised in that the acquisition module, specifically for
Ground according to each block different times represents the coordinate offset of point, obtains each block and is slided based on the massif that ground represents point
Measure on slope；
The coordinate offset of the trees center point according to each block different times, obtains each block and is based on trees center point
Landslide amount；
Contrast each block and be based on landslide amount and the amount of the landslide based on trees center point that ground represents point, obtain
Comprehensive landslide amount of each block.
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