CN110335209A - A kind of phase type three-dimensional laser point cloud noise filtering method - Google Patents
A kind of phase type three-dimensional laser point cloud noise filtering method Download PDFInfo
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Abstract
The invention discloses a kind of phase type three-dimensional laser point cloud noise filtering methods, and specific steps include the following: step 1: the original point cloud data obtained by existing phase type ground laser three-dimensional scanning equipment；Step 2: reading point cloud data according to array, calculate consecutive points incident angle θ and scanning element space D；Step 3: carrying out noise processed as unit of array, noise spot is calculated.A kind of phase type three-dimensional laser point cloud noise filtering method, it proposes using boundary point angle as threshold value, judge scanning boundary bring error, this part can be effectively removed " erroneous point cloud ", simultaneously with the scanning boundary point spacing of phase type point cloud and reflected intensity variation for foundation, the erroneous point for removing phase type three-dimensional laser scanner, is effectively improved point Yun Zhiliang, pushes the fast development of 3-D technology.
Description
Technical field
The present invention relates to a cloud noise management technique field, more particularly to a kind of phase type three-dimensional laser point cloud
Noise filtering method.
Background technique
Earth station based on phase shift rangefinder principle carries three-dimensional laser scanner to be had in terms of a wide range of three dimensional data collection
There are the characteristics such as speed is fast, precision is high, is widely applied and three-dimensional measurement, modeling, Heritage reservation, building construction measurement and other spaces
In the relevant application field of information.However point cloud data volume itself is huge, inside includes noise and environmental data, is easy to measurement
Target interferes and directly to carry out three-dimensional measuring precision by a point cloud low and be easy to appear three-dimensional deviation.Current noise filtering
Algorithm leads to a cloud mainly for surface floating-point in dispersion point cloud (because material and environment cause), isolated point set and stitching error etc.
" thickeing " and the error dot etc. generated, and the noise of phase type spatial digitizer is mainly due to laser scanning to object boundary production
Raw noise, this kind of point belong to a cloud internal error, be easy to cause object boundary details smear and distortion, need specific algorithm
To correct.
Existing method mainly for cloud normal noise, and the present invention for point cloud noise at the boundary, be a kind of phase
Formula scanner is since the error generated when scanning to boundary is larger, or even the point of mistake, and it is noise that these, which are put, but again and certain
A little scanning targets are easy to be mingled in complex scene without significant difference, cause three-dimensional measuring and the error of modeling to increase, give data
Processing brings larger problem.In the prior art, can be used for the method that a cloud three-dimensional noise filters out has very much, includes:
1. being based on densimetry.The method is come generally using spacing as criterion according to range sweep central point spacing difference
Estimated noise point is determined as noise spot when cloud spacing is greater than threshold value.Of the invention meaning noise profile and point spacing with just
Often point cloud is close, is difficult to filter out by such method.
2. being based on surface fitting.This noise like is directed to surface floating-point caused by unlike material, especially antiradar reflectivity material
(salt-pepper noise) and other effects preferably, but needs to be fitted local surface, and consuming time is long.Meaning noise and object boundary of the invention
It is continuously distributed, noise can not be filtered out by such method.
3. being based on image boundary method.Such method generally projects a cloud according to certain viewing angles, passes through projection ash
Degree image procossing obtains the noise for being detached from main body point cloud, is not suitable for the signified noise of the processing present invention.
Therefore, how a kind of raising point Yun Zhiliang is provided, the erroneous point of phase type three-dimensional laser scanner can be removed
The problem of three-dimensional laser point cloud noise filtering method is those skilled in the art's urgent need to resolve.
Summary of the invention
In view of this, proposing to use boundary the present invention provides a kind of phase type three-dimensional laser point cloud noise filtering method
Point angle judges scanning boundary bring error, can effectively remove this part as threshold value " erroneous point cloud ", while with phase
Scanning boundary point spacing and the reflected intensity variation of formula point cloud are foundation, remove the erroneous point of phase type three-dimensional laser scanner,
It is effectively improved point Yun Zhiliang, pushes the fast development of 3-D technology.
To achieve the goals above, the invention provides the following technical scheme:
A kind of phase type three-dimensional laser point cloud noise filtering method, specific steps include the following:
Step 1: the original point cloud data obtained by existing phase type ground laser three-dimensional scanning equipment sets phase type
Laser scanner limit ranging S (m), scanning density are m row n column；
Step 2: reading point cloud data according to array, calculate consecutive points incident angle θ and scanning element space D；
Step 3: noise processed is carried out as unit of array, laser point incident angle threshold value is set as θthr, consecutive points line
Vector angle change be d θ, angle change threshold value be d θt, the threshold value of grey scale change dI is dIt, scanning element spacing variation dD's
Threshold value dDt, noise spot is calculated.
Preferably, in a kind of above-mentioned phase type three-dimensional laser point cloud noise filtering method, in the step 2, specifically
Step includes:
S21: reading in point cloud data by array, reads in the reflected intensity that information includes point cloud three-dimensional coordinate P (x, y, z) and point
Information；
S22: consecutive points incident angle θ is calculated, it is assumed that current point P0, consecutive points P1, scan origin O, then consecutive points
Line P0P1The vector V of composition1With current point to scanner ray O P0The vector V of composition2Incidence of the angle theta as current point
Angle calculates as follows:
S23: calculate scanning element space D, for judge point distribution, to boundary after dot density can be thinning, than normal scan point
Spacing distribution is compared.Current point is set to the distance at scanner center as S, Current Scan mathematical point spacing is set as D0(scanner
Point spacing of the laser signal vertical scanning to target surface current location), when local surfaces incident angle and laser scanning ray
When angle is θ, scanning element spacing are as follows:
Preferably, in a kind of above-mentioned phase type three-dimensional laser point cloud noise filtering method, in the step 3, specifically
Step includes:
S31: judge current point PiIncident angle θ meets θ < θthr, when meeting, calculate entering for k point before current point
Firing angle degree mean valueAnd gray averageWherein, (2,5) k ∈；
S32: three criterions are calculated:
1) incident angle difference is calculatedJudge whether to meet d θ > d θt；
2) it calculatesJudge whether current point grey scale change dI meets dI > dIt；
3) scanning standard point is calculated away from D0With current point away from DiDeviation dD=| Di-D0|, judge whether dD > dDt；
Wherein, 1) be necessary condition, on this basis, 2) or 3) meeting one can determine whether current point PiFor noise at the boundary
Point；
S33: current point PiIt is determined as noise spot, then the variable angle of consecutive points incidence thereafter d θ < θthr, it is determined as noise
Point, otherwise repeatedly step S31；
S34: circulation step S31 to step S33) is disposed until all the points cloud；
S35: output non-noise point.
It can be seen via above technical scheme that compared with prior art, it is three-dimensional that the present disclosure provides a kind of phase types
Laser point cloud noise filtering method proposes to judge scanning boundary bring error, Neng Gouyou as threshold value using boundary point angle
Effect removes this part " erroneous point cloud ", while being foundation according to the critical distance of phase type point cloud, for scanning element cloud tomography point
Cloth feature removes the erroneous point of phase type three-dimensional laser scanner, is effectively improved point Yun Zhiliang, pushes the quick hair of 3-D technology
Exhibition.Technology proposed by the present invention has the following advantages: one is directly carrying out noise filtering from original point cloud, speed is fast；Its
Second is that carrying out noise filtering for scanning boundary, error larger data can be effectively removed, point Yun Jingdu is improved, makes invocation point cloud side
Boundary understands, improves the quality of data；The third is effectively reducing data volume, preferably modeling and metrology operation experience are provided for user.
It uses by the method for the invention, can solve phase type scanner scanning data boundary noise problem, it is multiple that scanning can be effectively removed
Boundary " smear " problem of miscellaneous target point cloud improves point Yun Zhiliang, pushes the technology fast-developing.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 attached drawing is flow chart of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a kind of phase type three-dimensional laser point cloud noise filtering method, propose to press from both sides using boundary point
Angle judges scanning boundary bring error, can effectively remove this part as threshold value " erroneous point cloud ", while according to phase type
The critical distance of point cloud is foundation, for scanning element cloud tomography distribution characteristics, removes the mistake of phase type three-dimensional laser scanner
Point is effectively improved point Yun Zhiliang, pushes the fast development of 3-D technology.
A kind of phase type three-dimensional laser point cloud noise filtering method, specific steps include the following:
Step 1: the original point cloud data obtained by existing phase type ground laser three-dimensional scanning equipment sets phase type
Laser scanner limit ranging S (m), retains maximum distance S1, and scanning density is m row n column；
Step 2: reading point cloud data according to array, calculate consecutive points incident angle θ and scanning element space D；
Step 3: noise processed is carried out as unit of array, laser point incident angle threshold value is set as θthr, consecutive points line
Vector angle change be d θ, angle change threshold value be d θt, the threshold value of grey scale change dI is dIt, scanning element spacing variation dD's
Threshold value dDt, noise spot is calculated.
In another embodiment, in the step 2, specific steps include:
S21: reading in point cloud data by array, reads in the reflected intensity that information includes point cloud three-dimensional coordinate P (x, y, z) and point
Information；
S22: consecutive points incident angle θ is calculated, it is assumed that current point P0, consecutive points P1, scan origin O, then consecutive points
Line P0P1The vector V of composition1With current point to scanner ray O P0The vector V of composition2Incidence of the angle theta as current point
Angle calculates as follows:
S23: scanning element space D is calculated, sets current point to the distance at scanner center as S, between Current Scan mathematical point
Away from being set as D0, when local surfaces incident angle and laser scanning ray angle are θ, scanning element spacing are as follows:
In another embodiment, in the step 3, specific steps include:
S31: judge current point PiIncident angle θ meets θ < θthr, when meeting, calculate entering for n point before current point
Firing angle degree mean valueAnd gray averageWherein, (2,5) n ∈；
S32: three criterions are calculated:
1) incident angle difference is calculatedJudge whether to meet d θ > d θt；
2) it calculatesJudge whether current point grey scale change dI meets dI > dIt；
3) scanning standard point is calculated away from D0With current point away from DiDeviation dD=| Di-D0|, judge whether dD > dDt；
Wherein, 1) be necessary condition, on this basis, 2) or 3) meeting one can determine whether current point PiFor noise at the boundary
Point；
S33: current point PiIt is determined as noise spot, then the variable angle of consecutive points incidence thereafter d θ < θthr, it is determined as noise
Point, otherwise repeatedly step S31；
S34: circulation step S31 to step S33) is disposed until all the points cloud；
S35: output non-noise point.
As shown in Figure 1, the original point cloud data obtained by existing phase type ground laser three-dimensional scanning equipment, by array
It reads point cloud data and calculates point cloud incident angle and consecutive points spacing；Judge current point PiIncident angle θ meets θ < θthr；It is full
When sufficient, the incident angle mean value of n point before current point is calculatedAnd gray averageThen judge d θ < d θtIf being unsatisfactory for
Then return to the incident angle mean value of n point before calculating current pointAnd gray averageDI < dI is further judged if meetingt
Or dD < dDt；Then it is labeled as noise spot；Current point PiIt is determined as noise spot, then the variable angle of consecutive points incidence thereafter d θ < θthr,
It is determined as noise spot, otherwise repeatedly step S31；Circulation step S31 to step S33) is disposed until all the points cloud；It exports non-
Noise spot.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (3)
1. a kind of phase type three-dimensional laser point cloud noise filtering method, which is characterized in that specific steps include the following:
Step 1: the original point cloud data obtained by existing phase type ground laser three-dimensional scanning equipment sets phase type laser
Scanner limit ranging S (m), scanning density are m row n column；
Step 2: reading point cloud data according to array, calculate consecutive points incident angle θ and scanning element space D；
Step 3: noise processed is carried out as unit of array, according to laser point incident angle θ, the vector angle of consecutive points line becomes
Change d θ, grey scale change dI, scanning element spacing changes dD, carries out judgement calculating to noise spot, and export non-noise point.
2. a kind of phase type three-dimensional laser point cloud noise filtering method according to claim 1, which is characterized in that the step
In rapid 2, specific steps include:
S21: reading in point cloud data by array, reads in the reflected intensity letter that information includes point cloud three-dimensional coordinate P (x, y, z) and point
Breath；
S22: consecutive points incident angle θ is calculated, it is assumed that current point P0, consecutive points P1, scan origin O, then consecutive points line
P0 P1The vector V of composition1With current point to scanner ray O P0The vector V of composition2Incidence angle of the angle theta as current point
Degree calculates as follows:
S23: scanning element space D is calculated, sets current point to the distance at scanner center as S, Current Scan mathematical point spacing is set
For D0, when local surfaces incident angle and laser scanning ray angle are θ, scanning element spacing are as follows:
3. a kind of phase type three-dimensional laser point cloud noise filtering method according to claim 1, which is characterized in that the step
In rapid 3, specific steps include:
S31: judge current point PiIncident angle θ meets θ < θthr, when meeting, calculate the incident angle of k point before current point
Mean valueAnd gray averageWherein, (2,5) k ∈；
S32: three criterions are calculated:
1) incident angle difference is calculatedJudge whether to meet d θ > d θt, d θtFor incident angle change threshold；
2) it calculatesJudge whether current point grey scale change dI meets dI > dIt, dItFor grey scale change threshold value；
3) scanning standard point is calculated away from D0With current point away from DiDeviation dD=| Di-D0|, judge whether dD > dDt, dDtFor scanning element
The threshold value of spacing variation；
Wherein, 1) be necessary condition, on this basis, 2) or 3) meeting one can determine whether current point PiFor noise at the boundary point；
S33: current point PiIt is determined as noise spot, then the variable angle of consecutive points incidence thereafter d θ < θthr, it is determined as noise spot, otherwise
Repeat step S31；
S34: circulation step S31 to step S33) is disposed until all the points cloud；
S35: output non-noise point.
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| CN114627020A (en) * | 2022-03-18 | 2022-06-14 | 易思维（杭州）科技有限公司 | Method for removing light-reflecting noise points of curved surface workpiece |
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