CN106767438B - 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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- CN106767438B CN106767438B CN201710064346.1A CN201710064346A CN106767438B CN 106767438 B CN106767438 B CN 106767438B CN 201710064346 A CN201710064346 A CN 201710064346A CN 106767438 B CN106767438 B CN 106767438B
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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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 include: obtain target area GPS data and point cloud data and convert to unified reference coordinate system, the point cloud data is obtained by Three Dimensional Ground laser scanner；Invariant feature point outside slip mass is chosen in GPS data, and using invariant feature point outside the slip mass as reference data, piecemeal is carried out according to pre-set dimension to the point cloud data of contemporaneity after conversion；Extract piecemeal after each piece ground point cloud and estimate that each piece of ground represents a little；It extracts each piece of tree point cloud after piecemeal and estimates each piece of trees center point；Point and trees center point are represented according to the ground of each piece of different times, obtains each piece of comprehensive landslide amount.The present invention can obtain more comprehensively landslide quantized data based on the point cloud data of Three Dimensional Ground laser scanner technique, as a result more comprehensively scientific.
Description
Technical field
The present invention relates to Surveying and mapping technical field more particularly to a kind of massifs based on Three Dimensional Ground laser scanner technique
Measure acquisition methods and device in landslide.
Background technique
In Surveying and mapping technical field, monitoring and analysis to landslide massif help to be best understood from grasp landslide amount and
Landslide Features, are more conducive to be monitored landslide and early warning.Utilize traditional measurement means, such as total station and global location
System GPS can only obtain limited discrete point coordinate, lack comprehensive estimated data to entire slip mass；Meanwhile it is 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 coordinate, be convenient for frame station, be suitble to area
The fine measurement in little region.Vehicle-mounted three-dimensional laser scanning technique point coordinate precision is limited, and in regions such as massifs, acquires data
It is difficult.Airborne three-dimensional laser scanning technique wide coverage, but acquisition point cloud density is diluter, precision is not high, tends not to full
Sufficient Landslide Monitoring required precision.Therefore, there is vegetative coverage and the ground region measurement more demanding to scanning accuracy in massif etc.,
Three Dimensional Ground laser scanner technique becomes one of technological means the strongest.
Although the high-precision position coordinate of the available magnanimity of Three Dimensional Ground laser scanner technique, due to its acquisition
The discreteness of point cloud data, putting cloud and the one-to-one relationship on testee surface not can determine that, and between different moments point cloud
One-to-one relationship can not also directly obtain, which results in landslide quantized data can not be directly acquired from cloud.
It needs to solve at present in consideration of it, how to become based on Three Dimensional Ground laser scanner technique acquisition landslide quantized data
Certainly the technical issues of.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of landslide based on Three Dimensional Ground laser scanner technique
Acquisition methods and device are measured, more comprehensively landslide can be obtained based on the point cloud data of Three Dimensional Ground laser scanner technique
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,
Include:
The GPS data and point cloud data of acquisition target area are simultaneously converted to unified reference coordinate system, described cloud number
According to being obtained by Three Dimensional Ground laser scanner；
Invariant feature point outside slip mass is chosen in GPS data, using invariant feature point outside the slip mass as reference data,
Piecemeal is carried out according to pre-set dimension to the point cloud data of contemporaneity after conversion；
Extract piecemeal after each piece ground point cloud and estimate that each piece of ground represents a little；
It extracts each piece of tree point cloud after piecemeal and estimates each piece of trees center point；
Point and trees center point are represented according to the ground of each piece of different times, it is sliding to obtain each piece of comprehensive massif
Slope amount.
Optionally, it is described extract piecemeal after each piece ground point cloud and estimate that each piece of ground represents a little, comprising:
It is divided into multiple small piecemeals for each of after piecemeal pieces, extracts the elevation minimum point in each small piecemeal, in each piece
The elevation minimum point of all small piecemeals forms each piece of ground point cloud；
The representative point of plane, represents a little using the representative point as the ground of the block where estimating each piece of ground point cloud.
Optionally, the representative point of plane where the ground point cloud of each piece of the estimation, comprising:
Using singular value decomposition algorithm, the normal vector of plane is several to the ground point cloud where the ground point cloud of each piece of estimation
The distance of what central point, and then the representative point of the plane is calculated.
Optionally, multiple small piecemeals piece are divided into each of after described by piecemeal, extract elevation in each small piecemeal most
Low spot, after the elevation minimum point of all small piecemeals forms each piece of ground point cloud in each piece, in each piece of the estimation
Ground point cloud where plane representative point before, the method also includes:
If the quantity of the elevation minimum point of composition ground point cloud is greater than preset threshold in some block, random sampling one is utilized
Cause property algorithm carries out noise rejecting to the ground point cloud of the block；
Correspondingly, the representative point of plane where the ground point cloud of each piece of the estimation, using the representative point as the block
Ground represents a little, comprising:
The representative point of plane where estimating the ground point cloud after each piece of noise is rejected, using the representative point as the ground of the block
Face represents a little.
Optionally, described to extract each piece of tree point cloud after piecemeal and estimate each piece of trees center point, packet
It includes:
It is divided into multiple fritters for each of after piecemeal pieces, extracts the point that each fritter inner height is greater than preset height, each
The point that all fritter inner heights are greater than preset height in block forms the tree point cloud of the block, and the preset height is that massif trees are high
Degree；
Count quantity of each fritter inner height greater than the point of preset height；
The most fritter of the quantity that each piece of inner height is greater than the point of preset height takes this as trees Position Approximate
Fritter inner height is greater than trees center point of the average value of the point of preset height as the block.
Optionally, the ground according to each piece of different times represents point and trees center point, obtains each piece
Comprehensive landslide amount, comprising:
The coordinate shift that point is represented according to the ground of each piece of different times obtains each piece of mountain that point is represented based on ground
Body landslide amount；
According to the coordinate shift of the trees center point of each piece of different times, obtains each piece and be based on trees centre bit
Set landslide amount a little；
The each piece of landslide amount based on ground representative point and the landslide amount based on trees center point are compared,
Obtain each piece of comprehensive landslide amount.
Second aspect, the present invention provide a kind of landslide amount acquisition device based on Three Dimensional Ground laser scanner technique,
Include:
Conversion module, for obtaining the GPS data of target area and point cloud data and converting to unified reference frame
System, the point cloud data is obtained by Three Dimensional Ground laser scanner；
Divide module, for choosing invariant feature point outside slip mass in GPS data, with invariant feature outside the slip mass
Point is reference data, carries out piecemeal according to pre-set dimension to the point cloud data of contemporaneity after conversion；
First extraction module, for extracting each piece of ground point cloud after piecemeal and estimating that each piece of ground represents a little；
Second extraction module, for extracting each piece of tree point cloud after piecemeal and estimating each piece of trees center
Point；
Module is obtained, point and trees center point is represented for the ground according to each piece of different times, obtains each
It measures comprehensive landslide of block.
Optionally, first extraction module, comprising:
Extraction unit, for being divided into multiple small piecemeals for each of after piecemeal pieces, the elevation in each small piecemeal of extraction is most
Low spot, the elevation minimum point of all small piecemeals forms each piece of ground point cloud in each piece；
Estimation unit, the representative point of the ground point cloud place plane for estimating each piece, using the representative point as the block
Ground represent a little.
Optionally, second extraction module, is specifically used for
It is divided into multiple fritters for each of after piecemeal pieces, extracts the point that each fritter inner height is greater than preset height, each
The point that all fritter inner heights are greater than preset height in block forms the tree point cloud of the block, and the preset height is that massif trees are high
Degree；
Count quantity of each fritter inner height greater than the point of preset height；
The most fritter of the quantity that each piece of inner height is greater than the point of preset height takes this as trees Position Approximate
Fritter inner height is greater than trees center point of the average value of the point of preset height as the block.
Optionally, the acquisition module, is specifically used for
The coordinate shift that point is represented according to the ground of each piece of different times obtains each piece of mountain that point is represented based on ground
Body landslide amount；
According to the coordinate shift of the trees center point of each piece of different times, obtains each piece and be based on trees centre bit
Set landslide amount a little；
The each piece of landslide amount based on ground representative point and the landslide amount based on trees center point are compared,
Obtain each piece of comprehensive landslide amount.
As shown from the above technical solution, acquisition side is measured in the landslide of the invention based on Three Dimensional Ground laser scanner technique
Method and device, by obtaining the GPS data of target area and point cloud data and converting to unified reference coordinate system, the point
Cloud data are obtained by Three Dimensional Ground laser scanner, choose invariant feature point outside slip mass, in GPS data with described
The outer invariant feature point of slip mass is reference data, carries out piecemeal according to pre-set dimension to the point cloud data of contemporaneity after conversion,
It extracts each piece of ground point cloud after piecemeal and estimates that each piece of ground represents a little, extract each piece after piecemeal of tree point cloud
And estimate each piece of trees center point, point and trees center point are represented according to the ground of each piece of different times,
Each piece of comprehensive landslide amount is obtained, thereby, it is possible to the point cloud datas based on Three Dimensional Ground laser scanner technique to obtain more
It is as a result more comprehensively scientific for comprehensive landslide quantized data.
Detailed description of the invention
Fig. 1 is that a kind of landslide amount based on Three Dimensional Ground laser scanner technique that one embodiment of the invention provides obtains
The flow diagram of method；
Fig. 2 is that a kind of landslide amount based on Three Dimensional Ground laser scanner technique that one embodiment of the invention provides obtains
The structural schematic diagram of device.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiment of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
The landslide amount based on Three Dimensional Ground laser scanner technique that Fig. 1 shows one embodiment of the invention offer obtains
The flow diagram of method, as shown in Figure 1, the landslide based on Three Dimensional Ground laser scanner technique of the present embodiment is measured and obtained
Method is as described below.
101, it obtains the GPS data of target area and point cloud data and converts 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 point cloud data can be converted to GPS reference frame
System.
102, invariant feature point (i.e. in Rock mass stability region selected characteristic point) outside slip mass is chosen in GPS data, with
The outer invariant feature point of the slip mass is reference data, is divided according to pre-set dimension the point cloud data of contemporaneity after conversion
Block.
It is understood that the point cloud data of different times is with invariant feature point outside slip mass selected by step 102
For reference data.
It is understood that each point in point cloud data is uniquely divided into each piece after piecemeal；Pass through a cloud minute
It cuts, point cloud data is subjected to piecemeal according to pre-set dimension, is that mass data is subjected to fast decoupled, the meter of later data can be improved
Calculate rate.
103, extract piecemeal after each piece ground point cloud and estimate that each piece of ground represents a little.
In a particular application, the step 103 may include the step 103a and 103b being not shown in the figure:
103a, each of after piecemeal pieces is divided into multiple small piecemeals, extracts the elevation minimum point in each small piecemeal, each
The elevation minimum point of all small piecemeals forms each piece of ground point cloud in block.
103b, estimate each piece of ground point cloud where plane representative point, using the representative point as the ground generation of the block
Table point.
Specifically, the step 103b can use singular value decomposition algorithm, put down where the ground point cloud of each piece of estimation
To the distance of the ground point cloud geometric center point and then the representative point of the plane is calculated in the normal vector in face, this is represented a little
Ground as the block represents a little.
Further, between the step 103a and 103b, the method can also include:
If the quantity of the elevation minimum point of composition ground point cloud is greater than preset threshold in some block, random sampling one is utilized
Cause property algorithm carries out noise rejecting to the ground point cloud of the block；
Correspondingly, the step 103b, can specifically include:
The representative point of plane where estimating the ground point cloud after each piece of noise is rejected, using the representative point as the ground of the block
Face represents a little.
It is understood that the noise in ground point cloud other than ground is removed by Detection of Gross Errors and elimination method, it can
Improve the precision that ground represents point estimation.
It is understood that since the local scan data that step 103 vegetative coverages such as is set on ground is very few or does not have
Have, will cause place data missing.In order to obtain more comprehensively landslide amount, propose behind the present embodiment based on tree
Measure calculation method in the landslide of center point.
104, it extracts each piece of tree point cloud after piecemeal and estimates each piece of trees center point.
In a particular application, the step 104 may include the step 104a-104c being not shown in the figure:
104a, it is divided into multiple fritters for each of after piecemeal pieces, extracts the point that each fritter inner height is greater than preset height,
The point that all fritter inner heights are greater than preset height in each piece forms the tree point cloud of the block, and the preset height is massif tree
The wooden height.
It is understood that trees are often the most significant characteristic body in massif surface, so the present embodiment is to cut with trees
Access point.
104b, each fritter inner height of statistics are greater than the quantity of the point of preset height.
104c, each piece of inner height is greater than to the most fritter of quantity of the point of preset height as trees Position Approximate,
And take trees center point of the fritter inner height greater than the average value of the point of preset height as the block.
It is understood that because the trunk part elevation highest of general trees, and often branches and leaves are most around trunk part
Luxuriant, that is, the point cloud density that the part obtains is maximum, therefore, with each piece of midpoint cloud number, at most (i.e. point cloud density is most
Small piecemeal greatly) is averaged the partial dot and can get tree center as trees Position Approximate.
105, point and trees center point are represented according to the ground of each piece of different times, obtains each piece of comprehensive mountain
Body landslide amount.
In a particular application, the step 105 may include the step 105a-105c being not shown in the figure:
105a, the coordinate shift that point is represented according to the ground of each piece of different times, are obtained each piece and are represented based on ground
The landslide amount of point.
105b, the coordinate shift according to the trees center points of each piece of different times obtain each piece and are based on trees
It measures the landslide of center point.
In a particular application, in order to calculate the slip values of tree positions, can be with a certain period tree center position coordinates
With reference to another period, same small piecemeal and its correspondence trees for closing on piecemeal being searched for, if it is found, then calculating different moments tree
Center slippage；If can not find, give up the trees.By the coordinate for calculating the trees center point of different times
Offset, it can be deduced that the landslide amount based on trees center point.
105c, each piece of landslide for representing point based on ground of comparison is measured and the massif based on trees center point is slided
Slope amount obtains each piece of comprehensive landslide amount.
Acquisition methods are measured in the landslide based on Three Dimensional Ground laser scanner technique of the present embodiment, by obtaining target area
The GPS data and point cloud data in domain are simultaneously converted to unified reference coordinate system, and the point cloud data is swashed by Three Dimensional Ground
What photoscanner obtained, invariant feature point outside slip mass is chosen in GPS data, is ginseng with invariant feature point outside the slip mass
Benchmark is examined, piecemeal is carried out according to pre-set dimension to the point cloud data of contemporaneity after conversion, extracts each piece after piecemeal of ground
Point cloud simultaneously estimate each piece of ground represent a little extract piecemeal after each piece tree point cloud and estimate each piece of trees center
Location point represents point and trees center point according to the ground of each piece of different times, it is sliding to obtain each piece of comprehensive massif
Slope amount, combined ground represents two kinds of complementary methods of point and trees center point as a result, can be based on Three Dimensional Ground laser
The point cloud data of scanning technique obtains more fully with objective landslide quantized data, as a result more comprehensively scientific, Neng Gouwei
The quantization monitoring and early warning of landslide massif provide data and support.
It measures and obtains Fig. 2 shows the landslide based on Three Dimensional Ground laser scanner technique that one embodiment of the invention provides
The structural schematic diagram of device, as shown in Fig. 2, the landslide based on Three Dimensional Ground laser scanner technique of the present embodiment is measured and obtained
Device, comprising: conversion module 21, segmentation module 22, the first extraction module 23, the second extraction module 24 and acquisition module 25；Its
In:
Conversion module 21, for obtaining the GPS data of target area and point cloud data and converting to unified reference coordinate
System, the point cloud data are obtained by Three Dimensional Ground laser scanner；
Divide module 22, it is special with the landslide stabilization in vitro for choosing invariant feature point outside slip mass in GPS data
Sign point is reference data, carries out piecemeal according to pre-set dimension to the point cloud data of contemporaneity after conversion；
First extraction module 23, for extracting each piece of ground point cloud after piecemeal and estimating that each piece of ground represents
Point；
Second extraction module 24, for extracting each piece of tree point cloud after piecemeal and estimating each piece of trees centre bit
It sets a little；
Module 25 is obtained, point and trees center point is represented for the ground according to each piece of different times, obtains every
It measures comprehensive landslide of a block.
In a particular application, first extraction module 23 may include:
Extraction unit, for being divided into multiple small piecemeals for each of after piecemeal pieces, the elevation in each small piecemeal of extraction is most
Low spot, the elevation minimum point of all small piecemeals forms each piece of ground point cloud in each piece；
Estimation unit, the representative point of the ground point cloud place plane for estimating each piece, using the representative point as the block
Ground represent a little.
Specifically, the estimation unit can be specifically used for
Using singular value decomposition algorithm, the normal vector of plane is several to the ground point cloud where the ground point cloud of each piece of estimation
The distance of what central point, and then the representative point of the plane is calculated, it is represented a little using the representative point as the ground of the block.
Further, first extraction module 23 can also include:
Unit is denoised, if the quantity of the elevation minimum point for forming ground point cloud in some block is greater than preset threshold,
Using RANSAC algorithm, noise rejecting is carried out to the ground point cloud of the block；
Correspondingly, the estimation unit can be specifically used for
The representative point of plane where estimating the ground point cloud after each piece of noise is rejected, 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 used for
It is divided into multiple fritters for each of after piecemeal pieces, extracts the point that each fritter inner height is greater than preset height, each
The point that all fritter inner heights are greater than preset height in block forms the tree point cloud of the block, and the preset height is that massif trees are high
Degree；
Count quantity of each fritter inner height greater than the point of preset height；
The most fritter of the quantity that each piece of inner height is greater than the point of preset height takes this as trees Position Approximate
Fritter inner height is greater than trees center point of the average value of the point of preset height as the block.
In a particular application, the acquisition module 25, can be specifically used for
The coordinate shift that point is represented according to the ground of each piece of different times obtains each piece of mountain that point is represented based on ground
Body landslide amount；
According to the coordinate shift of the trees center point of each piece of different times, obtains each piece and be based on trees centre bit
Set landslide amount a little；
The each piece of landslide amount based on ground representative point and the landslide amount based on trees center point are compared,
Obtain each piece of comprehensive landslide amount.
Acquisition device is measured in the landslide based on Three Dimensional Ground laser scanner technique of the present embodiment, and combined ground represents a little
With two kinds of complementary methods of trees center point, can be obtained more based on the point cloud data of Three Dimensional Ground laser scanner technique
It is as a result more comprehensively scientific for comprehensive and objective landslide quantized data, it can be the quantization monitoring and early warning of landslide massif
Data are provided to support.
Acquisition device is measured in the landslide based on Three Dimensional Ground laser scanner technique of the present embodiment, before can be used for execution
The technical solution of embodiment of the method is stated, it is similar that the realization principle and technical effect are similar, and details are not described herein again.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.Term " on ", "lower" etc. refer to
The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplifies
Description, rather than the device or element of indication or suggestion meaning must have a particular orientation, constructed and grasped with specific orientation
Make, therefore is not considered as limiting the invention.Unless otherwise clearly defined and limited, term " installation ", " connected ",
" connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be
Mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary
Connection inside element.For the ordinary skill in the art, above-mentioned term can be understood at this as the case may be
Concrete meaning in invention.
In specification of the invention, numerous specific details are set forth.Although it is understood that the embodiment of the present invention can
To practice without these specific details.In some instances, well known method, structure and skill is not been shown in detail
Art, so as not to obscure the understanding of this specification.Similarly, it should be understood that disclose in order to simplify the present invention and helps to understand respectively
One or more of a inventive aspect, in the above description of the exemplary embodiment of the present invention, each spy of the invention
Sign is grouped together into a single embodiment, figure, or description thereof sometimes.However, should not be by the method solution of the disclosure
Release is in reflect an intention that i.e. the claimed invention requires more than feature expressly recited in each claim
More 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,
It is wherein each that the claims themselves are regarded as separate embodiments of the invention.It should be noted that in the absence of conflict, this
The feature in embodiment and embodiment in application can be combined with each other.The invention is not limited to any single aspect,
It is not limited to any single embodiment, is also not limited to any combination and/or displacement of these aspects and/or embodiment.And
And can be used alone each aspect and/or embodiment of the invention or with other one or more aspects and/or its implementation
Example is used in combination.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme should all cover within the scope of the claims and the description of the invention.
Claims (8)
1. acquisition methods are measured in a kind of landslide based on Three Dimensional Ground laser scanner technique characterized by comprising
The GPS data and point cloud data of acquisition target area are simultaneously converted to unified reference coordinate system, and the point cloud data is
It is obtained by Three Dimensional Ground laser scanner；
In GPS data choose slip mass outside invariant feature point, using invariant feature point outside the slip mass as reference data, to turn
The point cloud data for changing rear contemporaneity carries out piecemeal according to pre-set dimension；
Extract piecemeal after each piece ground point cloud and estimate that each piece of ground represents a little, comprising: by each of after piecemeal pieces
It is divided into multiple small piecemeals, extracts the elevation minimum point in each small piecemeal, the elevation minimum point group of all small piecemeals in each piece
At each piece of ground point cloud；The representative point of plane where estimating each piece of ground point cloud, using the representative point as the block
Ground represents a little；
It extracts each piece of tree point cloud after piecemeal and estimates each piece of trees center point；
Point and trees center point are represented according to the ground of each piece of different times, obtains each piece of comprehensive landslide
Amount.
2. the method according to claim 1, wherein the generation of plane where the ground point cloud of each piece of the estimation
Table point, comprising:
Using singular value decomposition algorithm, the normal vector of plane is into the ground point cloud geometry where the ground point cloud of each piece of estimation
The distance of heart point, and then the representative point of the plane is calculated.
3. the method according to claim 1, wherein it is described by piecemeal after each of piece be divided into multiple small points
Block extracts the elevation minimum point in each small piecemeal, and the elevation minimum point of all small piecemeals forms each piece of ground in each piece
After millet cake cloud, before the representative point of plane where the ground point cloud of each piece of the estimation, the method also includes:
If the quantity of the elevation minimum point of composition ground point cloud is greater than preset threshold in some block, random sampling consistency is utilized
Algorithm carries out noise rejecting to the ground point cloud of the block；
Correspondingly, the representative point of plane where the ground point cloud of each piece of the estimation, using the representative point as the ground of the block
It represents a little, comprising:
The representative point of plane where estimating the ground point cloud after each piece of noise is rejected, using the representative point as the ground generation of the block
Table point.
4. the method according to claim 1, wherein each piece of tree point cloud and estimation after the extraction piecemeal
Each piece of trees center point, comprising:
It is divided into multiple fritters for each of after piecemeal pieces, the point that each fritter inner height is greater than preset height is extracted, in each piece
The point that all fritter inner heights are greater than preset height forms the tree point cloud of the block, and the preset height is massif trees height；
Count quantity of each fritter inner height greater than the point of preset height；
The most fritter of the quantity that each piece of inner height is greater than the point of preset height takes the fritter as trees Position Approximate
Inner height is greater than trees center point of the average value of the point of preset height as the block.
5. the method according to claim 1, wherein the ground according to each piece of different times represent point and
Trees center point obtains each piece of comprehensive landslide amount, comprising:
The coordinate shift of point is represented according to the ground of each piece of different times, and it is sliding to obtain each piece of massif based on ground representative point
Slope amount；
According to the coordinate shift of the trees center point of each piece of different times, obtains each piece and be based on trees center point
Landslide amount；
The each piece of landslide amount based on ground representative point and the landslide amount based on trees center point are compared, is obtained
Each piece of comprehensive landslide amount.
6. acquisition device is measured in a kind of landslide based on Three Dimensional Ground laser scanner technique characterized by comprising
Conversion module, for obtaining the GPS data of target area and point cloud data and converting to unified reference coordinate system, institute
Stating point cloud data is obtained by Three Dimensional Ground laser scanner；
Divide module, for choosing invariant feature point outside slip mass in GPS data, is with invariant feature point outside the slip mass
Reference data carries out piecemeal according to pre-set dimension to the point cloud data of contemporaneity after conversion；
First extraction module, for extracting each piece of ground point cloud after piecemeal and estimating that each piece of ground represents a little；
Second extraction module, for extracting each piece of tree point cloud after piecemeal and estimating each piece of trees center point；
Module is obtained, point and trees center point is represented for the ground according to each piece of different times, obtains each piece
Comprehensive landslide amount；
Wherein, first extraction module, comprising: extraction unit is mentioned for being divided into multiple small piecemeals for each of after piecemeal pieces
The elevation minimum point in each small piecemeal is taken, the elevation minimum point of all small piecemeals forms each piece of ground point in each piece
Cloud；Estimation unit, the representative point of the ground point cloud place plane for estimating each piece, using the representative point as the ground of the block
It represents a little.
7. device according to claim 6, which is characterized in that second extraction module is specifically used for
It is divided into multiple fritters for each of after piecemeal pieces, the point that each fritter inner height is greater than preset height is extracted, in each piece
The point that all fritter inner heights are greater than preset height forms the tree point cloud of the block, and the preset height is massif trees height；
Count quantity of each fritter inner height greater than the point of preset height；
The most fritter of the quantity that each piece of inner height is greater than the point of preset height takes the fritter as trees Position Approximate
Inner height is greater than trees center point of the average value of the point of preset height as the block.
8. device according to claim 6, which is characterized in that the acquisition module is specifically used for
The coordinate shift of point is represented according to the ground of each piece of different times, and it is sliding to obtain each piece of massif based on ground representative point
Slope amount；
According to the coordinate shift of the trees center point of each piece of different times, obtains each piece and be based on trees center point
Landslide amount；
The each piece of landslide amount based on ground representative point and the landslide amount based on trees center point are compared, is obtained
Each piece of comprehensive landslide amount.
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| CN110232329B (en) * | 2019-05-23 | 2023-04-18 | 星际空间（天津）科技发展有限公司 | Point cloud classification method and device based on deep learning, storage medium and equipment |
| CN111623711B (en) * | 2020-05-14 | 2021-06-01 | 深圳市地质环境研究院有限公司 | Landslide area detection method and device |
| CN114820747A (en) * | 2022-06-28 | 2022-07-29 | 安徽继远软件有限公司 | Air route planning method, device, equipment and medium based on point cloud and live-action model |
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