CN112946669B - Moso bamboo forest quantity identification method and device based on foundation laser radar - Google Patents

Moso bamboo forest quantity identification method and device based on foundation laser radar Download PDF

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CN112946669B
CN112946669B CN202110159604.0A CN202110159604A CN112946669B CN 112946669 B CN112946669 B CN 112946669B CN 202110159604 A CN202110159604 A CN 202110159604A CN 112946669 B CN112946669 B CN 112946669B
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laser radar
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CN112946669A (en
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官凤英
黄兰鹰
张美曼
郑亚雄
尹子旭
肖箫
夏雯
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International Center for Bamboo and Rattan
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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Abstract

The invention discloses a method and a device for identifying the quantity of phyllostachys pubescens based on a foundation laser radar, wherein the method comprises the following steps: acquiring ground-based laser radar point cloud data of the phyllostachys pubescens through the ground-based laser radar; obtaining a point cloud data file according to the point cloud data of the foundation laser radar; intercepting the point cloud data file according to a preset interception upper limit and an interception lower limit to generate a section of horizontal strip only containing bamboo stalks; performing voxel generation on the horizontal strip in a three-dimensional space to generate a voxel space, wherein the voxel space contains voxels of the point cloud data of the foundation laser radar; taking the voxel group with continuity in the vertical direction of the whole horizontal strip as a stem, and traversing the voxel space to obtain the quantity of the phyllostachys pubescens. By adopting the embodiment of the invention, the field workload of sample land investigation can be reduced, and the Mao Zhushan wood recognition rate can be improved according to the special morphological characteristics of the moso bamboo, so that a reference is provided for the bamboo forest investigation work.

Description

Moso bamboo forest quantity identification method and device based on foundation laser radar
Technical Field
The invention relates to the technical field of forest resource monitoring, in particular to a method and a device for identifying the quantity of phyllostachys pubescens based on a foundation laser radar.
Background
The bamboo forest is an important component of forest resources in China, has excellent carbon fixing capability, and plays an important role in promoting industrial and regional economic development. Therefore, it is important to regularly investigate the bamboo resources and grasp the current conditions and growth changes. Traditional bamboo resource investigation is time-consuming, laborious and expensive. The foundation laser radar is used as an active remote sensing technology, can directly, quickly and accurately acquire the three-dimensional geographic coordinates of a study object, provides accurate information about tree positions, plant numbers, breast diameters, tree heights and other forest structure parameters, and is more suitable for ground forest investigation work. At present, three-dimensional laser point cloud data rapidly develop in the forestry field, how to rapidly and effectively extract forest structure parameters is particularly important, and before extracting the forest structure parameters, a single-tree position needs to be determined first. Currently, single wood identification by using a TLS technology is mainly focused on high and large broadleaf trees, and is mostly carried out on the basis of breast diameter fitting, the accuracy of single wood detection can be determined by using the fitted two-dimensional curve center as a single wood position, and the number of breast diameters can be fitted, so that the method is less in research applied to moso bamboos.
Disclosure of Invention
The invention aims to provide a method for identifying the quantity of phyllostachys pubescens based on a foundation laser radar, which aims to solve the problem that a method for researching the quantity of phyllostachys pubescens rapidly and accurately is not available at the present stage.
The invention provides a method for identifying the quantity of phyllostachys pubescens based on a foundation laser radar, which comprises the following steps:
s101, data acquisition: acquiring ground-based laser radar point cloud data of the phyllostachys pubescens through the ground-based laser radar;
s102, data processing: obtaining a point cloud data file according to the point cloud data of the foundation laser radar;
s103, intercepting data: intercepting the point cloud data file according to a preset interception upper limit and an interception lower limit to generate a section of horizontal strip only containing bamboo stalks;
s104, data body unitization: performing voxel generation on the horizontal strip in a three-dimensional space to generate a voxel space, wherein the voxel space contains voxels of the point cloud data of the foundation laser radar;
s105, traversing data: taking the voxel group with continuity in the vertical direction of the whole horizontal strip as a stem, and traversing the voxel space to obtain the quantity of the phyllostachys pubescens.
The invention provides a device for identifying the quantity of phyllostachys pubescens based on a foundation laser radar, which comprises the following components:
the data acquisition module 501: acquiring ground-based laser radar point cloud data of the phyllostachys pubescens through the ground-based laser radar;
the data processing module 502: obtaining a point cloud data file according to the point cloud data of the foundation laser radar;
intercept data module 503: intercepting the point cloud data file according to a preset interception upper limit and an interception lower limit to generate a section of horizontal strip only containing bamboo stalks;
data voxels module 504: performing voxel generation on the horizontal strip in a three-dimensional space to generate a voxel space, wherein the voxel space contains voxels of the point cloud data of the foundation laser radar;
traversing the data module 505: taking the voxel group with continuity in the vertical direction of the whole horizontal strip as a stem, and traversing the voxel space to obtain the quantity of the phyllostachys pubescens.
The embodiment of the invention also provides a device for identifying the quantity of the phyllostachys pubescens based on the foundation laser radar, which comprises the following steps: the method comprises the steps of a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the computer program is executed by the processor to realize the method for identifying the number of the phyllostachys pubescens based on the ground-based laser radar.
The embodiment of the invention also provides a computer readable storage medium, and an implementation program for information transmission is stored on the computer readable storage medium, and when the program is executed by a processor, the steps of the method for identifying the number of the phyllostachys pubescens based on the foundation laser radar are implemented.
By adopting the embodiment of the invention, the acquisition and the processing of the three-dimensional point cloud data of the phyllostachys pubescens forest in the sample area can reduce the field workload of sample area investigation, and meanwhile, according to the special morphological characteristics of phyllostachys pubescens, the invention provides a novel stem identification method, the novel method can improve the Mao Zhushan wood identification rate, and a reference is provided for the investigation work of the phyllostachys pubescens forest.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for identifying the number of phyllostachys pubescens based on a ground-based lidar according to an embodiment of the present invention;
FIG. 2 is a schematic view of ground-based laser radar point cloud data according to an embodiment of the method of the present invention;
FIG. 3 is a schematic view of a horizontal stripe of an embodiment of the method of the present invention;
FIG. 4 is a voxel space diagram of an embodiment of the method of the present invention;
FIG. 5 is a schematic diagram of a device for identifying the number of phyllostachys pubescens based on a ground-based lidar according to the first embodiment of the present invention;
fig. 6 is a schematic diagram of a device for identifying the number of phyllostachys pubescens based on a ground-based lidar according to a second embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more features. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. Furthermore, the terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Method embodiment
According to an embodiment of the present invention, there is provided a method for identifying the number of phyllostachys pubescens based on a ground-based lidar, fig. 1 is a flowchart of the method for identifying the number of phyllostachys pubescens based on the ground-based lidar according to the embodiment of the present invention, as shown in fig. 1, and the method for identifying the number of phyllostachys pubescens based on the ground-based lidar according to the embodiment of the present invention specifically includes:
s101, data acquisition: and acquiring the point cloud data of the ground laser radar of the phyllostachys pubescens through the ground laser radar.
Specifically, a forest farm is exemplified, assuming that the geographical location of the forest farm is 31 DEG 15 '1' N,119 DEG 43 '52' E, the land belongs to the balance of the Tianmu mountain, the south is a hilly area, and the north is a plain area. The subtropical monsoon climate at the ground is full of precipitation, but the space-time distribution of precipitation is uneven, the precipitation in spring and summer is concentrated, the annual precipitation is more than 1177mm, the annual average temperature is between 13 and 22 ℃, and the annual average frost-free period is more than 240 days, thereby providing a good growth environment for vegetation. 80% of the forests are phyllostachys pubescens forests in the forest farm, and the forest coverage rate is 97.5%. 3 20m multiplied by 20m Mao Zhuchun forest plots (the numbers are P1, P2 and P3 respectively) are arranged in the study area, and the plant number density of the moso bamboos in the plots is 5500 plants/hm respectively 2 6200 strain/hm 2 、5875 strain/hm 2 The vegetation is less in the sample land and the land is flatter. The ground-based lidar device used in this study was a Trimble TX8, which has an angle of view of 360 ° x 317 ° and a data acquisition speed of one million points per second, in steps of 0.036 ° in both the horizontal and vertical directions. And (5) carrying out data acquisition, scanning 5 stations in each sample plot, and carrying out station arrangement by adopting a corner setting method. And 6 reference balls are distributed in each plot, all the reference balls are not on the same horizontal plane, and at least more than 3 reference balls can be seen at each station, so that later data splicing processing is realized. The measured data were used to locate all bamboos in the plot using a total station, and the plot was investigated for 703 moso bamboos altogether.
S102, data processing: and obtaining a point cloud data file according to the point cloud data of the foundation laser radar.
Further, obtaining the point cloud data file according to the point cloud data of the foundation laser radar specifically includes: preprocessing the point cloud data of the foundation laser radar to generate correction point cloud data; and (3) deriving the corrected point cloud data into a point cloud data file in a fixed format.
Further, preprocessing the ground-based laser radar point cloud data to generate correction point cloud data specifically includes: and performing point cloud splicing, point cloud denoising and terrain correction on the point cloud data of the foundation laser radar to generate corrected point cloud data.
In this embodiment, based on the three-dimensional laser point cloud data of the sample plot obtained by the ground-based laser radar, preprocessing such as point cloud creation, point cloud denoising, splicing, terrain correction and the like is performed according to "Trimble RealWorks 10.1.1" software matched with an instrument, fig. 2 is a schematic diagram of the point cloud data of the ground-based laser radar in the embodiment of the method, the three-dimensional laser point cloud data of the sample plot is obtained in the steps shown in fig. 2, and the three-dimensional laser point cloud data is exported into a data format of. Las so as to perform subsequent processing.
S103, intercepting data: and intercepting the point cloud data file according to a preset interception upper limit and an interception lower limit to generate a section of horizontal strip only containing bamboo stalks.
In the embodiment of the invention, a section of horizontal strip only containing bamboo stalks is firstly cut, the upper limit of the strip is mainly used for avoiding interference of bamboo branches and bamboo leaves on the identification of stems, the lower limit of the strip is mainly used for avoiding influence of ground points and low vegetation on the identification of stems, and fig. 3 is a schematic diagram of the horizontal strip in the embodiment of the method of the invention, and fig. 3 is shown.
S104, data body unitization: and performing voxel generation on the horizontal strip in a three-dimensional space to generate a voxel space, wherein the voxel space contains voxels of the foundation laser radar point cloud data.
In the embodiment of the invention, the intercepted horizontal stripe point cloud is subjected to voxel conversion in a three-dimensional space, and only voxels containing the original point cloud are recorded; finally, traversing the voxel space, taking the voxel group with continuity in the vertical direction of the whole strip as a stem, and fig. 4 is a voxel space schematic diagram of an embodiment of the method of the invention, as shown in fig. 4.
S105, traversing data: taking the voxel group with continuity in the vertical direction of the whole horizontal strip as a stem, and traversing the voxel space to obtain the quantity of the phyllostachys pubescens.
In the present example, table 1 is comparative data obtained by estimating the number of plants and the number of plants actually measured using the present method in three plots, as shown in table 1: the correctness is that the estimated data is the correctness of the actual phyllostachys pubescens, and the integrality of the single wood detection of the three sample areas is 89.09%, 91.93% and 90.12% respectively.
TABLE 1
Figure BDA0002935859720000061
Device embodiment 1
According to an embodiment of the present invention, a device for identifying the number of phyllostachys pubescens based on a ground-based lidar is provided, and fig. 5 is a schematic diagram of the device for identifying the number of phyllostachys pubescens based on the ground-based lidar according to the embodiment of the present invention, as shown in fig. 5, where the device for identifying the number of phyllostachys pubescens based on the ground-based lidar specifically includes:
the data acquisition module 501: acquiring ground-based laser radar point cloud data of the phyllostachys pubescens through the ground-based laser radar;
the data processing module 502: obtaining a point cloud data file according to the point cloud data of the foundation laser radar;
further, obtaining the point cloud data file according to the point cloud data of the foundation laser radar specifically includes: preprocessing the point cloud data of the foundation laser radar to generate correction point cloud data; and (3) deriving the corrected point cloud data into a point cloud data file in a fixed format.
Further, preprocessing the ground-based laser radar point cloud data to generate correction point cloud data specifically includes: and performing point cloud splicing, point cloud denoising and terrain correction on the point cloud data of the foundation laser radar to generate corrected point cloud data.
Intercept data module 503: intercepting the point cloud data file according to a preset interception upper limit and an interception lower limit to generate a section of horizontal strip only containing bamboo stalks;
data voxels module 504: performing voxel generation on the horizontal strip in a three-dimensional space to generate a voxel space, wherein the voxel space contains voxels of the point cloud data of the foundation laser radar;
traversing the data module 505: taking the voxel group with continuity in the vertical direction of the whole horizontal strip as a stem, and traversing the voxel space to obtain the quantity of the phyllostachys pubescens.
The embodiment of the present invention is a system embodiment corresponding to the above method embodiment, and specific operations of each module may be understood by referring to the description of the method embodiment, which is not repeated herein.
Device example two
The embodiment of the invention provides a device for identifying the quantity of phyllostachys pubescens based on a ground-based laser radar, which is shown in fig. 6 and comprises the following steps: memory 601, processor 602, and a computer program stored on memory 601 and executable on processor 602, which when executed by processor 602 performs the method steps of:
s101, data acquisition: acquiring ground-based laser radar point cloud data of the phyllostachys pubescens through the ground-based laser radar;
s102, data processing: obtaining a point cloud data file according to the point cloud data of the foundation laser radar;
s103, intercepting data: intercepting the point cloud data file according to a preset interception upper limit and an interception lower limit to generate a section of horizontal strip only containing bamboo stalks;
further, obtaining the point cloud data file according to the point cloud data of the foundation laser radar specifically includes: preprocessing the point cloud data of the foundation laser radar to generate correction point cloud data; and (3) deriving the corrected point cloud data into a point cloud data file in a fixed format.
Further, preprocessing the ground-based laser radar point cloud data to generate correction point cloud data specifically includes: and performing point cloud splicing, point cloud denoising and terrain correction on the point cloud data of the foundation laser radar to generate corrected point cloud data.
S104, data body unitization: performing voxel generation on the horizontal strip in a three-dimensional space to generate a voxel space, wherein the voxel space contains voxels of the point cloud data of the foundation laser radar;
s105, traversing data: taking the voxel group with continuity in the vertical direction of the whole horizontal strip as a stem, and traversing the voxel space to obtain the quantity of the phyllostachys pubescens.
Device example III
The embodiment of the invention provides a computer readable storage medium, on which an implementation program for information transmission is stored, which when executed by a processor 602 implements the following method steps:
s101, data acquisition: acquiring ground-based laser radar point cloud data of the phyllostachys pubescens through the ground-based laser radar;
s102, data processing: obtaining a point cloud data file according to the point cloud data of the foundation laser radar;
s103, intercepting data: intercepting the point cloud data file according to a preset interception upper limit and an interception lower limit to generate a section of horizontal strip only containing bamboo stalks;
further, obtaining the point cloud data file according to the point cloud data of the foundation laser radar specifically includes: preprocessing the point cloud data of the foundation laser radar to generate correction point cloud data; and (3) deriving the corrected point cloud data into a point cloud data file in a fixed format.
Further, preprocessing the ground-based laser radar point cloud data to generate correction point cloud data specifically includes: and performing point cloud splicing, point cloud denoising and terrain correction on the point cloud data of the foundation laser radar to generate corrected point cloud data.
S104, data body unitization: performing voxel generation on the horizontal strip in a three-dimensional space to generate a voxel space, wherein the voxel space contains voxels of the point cloud data of the foundation laser radar;
s105, traversing data: taking the voxel group with continuity in the vertical direction of the whole horizontal strip as a stem, and traversing the voxel space to obtain the quantity of the phyllostachys pubescens.
The computer readable storage medium of the present embodiment includes, but is not limited to: ROM, RAM, magnetic or optical disks, etc.
It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may alternatively be implemented in program code executable by computing devices, so that they may be stored in a memory device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps within them may be fabricated into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (8)

1. The method for identifying the quantity of the phyllostachys pubescens based on the foundation laser radar is characterized by comprising the following steps of:
s1, data acquisition: acquiring ground-based laser radar point cloud data of the phyllostachys pubescens through the ground-based laser radar;
s2, data processing: obtaining a point cloud data file according to the point cloud data of the foundation laser radar;
s3, intercepting data: intercepting the point cloud data file according to a preset interception upper limit and an interception lower limit to generate a section of horizontal strip only containing bamboo stalks;
s4, data body unitization: performing voxel generation on the horizontal strip in a three-dimensional space to generate a voxel space, wherein the voxel space contains voxels of the foundation laser radar point cloud data;
s5, traversing data: taking the voxel group with continuity in the vertical direction of the whole horizontal strip as a stem, and traversing the voxel space to obtain the quantity of the phyllostachys pubescens.
2. The method of claim 1, wherein obtaining a point cloud data file from the ground-based lidar point cloud data specifically comprises:
preprocessing the foundation laser radar point cloud data to generate correction point cloud data;
and exporting the corrected point cloud data into a point cloud data file in a fixed format.
3. The method of claim 2, wherein preprocessing the ground-based lidar point cloud data to generate corrected point cloud data specifically comprises:
and performing point cloud splicing, point cloud denoising and terrain correction on the point cloud data of the foundation laser radar to generate corrected point cloud data.
4. Moso bamboo forest quantity recognition device based on ground laser radar, characterized by comprising:
and a data acquisition module: acquiring ground-based laser radar point cloud data of the phyllostachys pubescens through the ground-based laser radar;
and a data processing module: obtaining a point cloud data file according to the point cloud data of the foundation laser radar;
intercepting a data module: intercepting the point cloud data file according to a preset interception upper limit and an interception lower limit to generate a section of horizontal strip only containing bamboo stalks;
and a data body unitization module: performing voxel generation on the horizontal strip in a three-dimensional space to generate a voxel space, wherein the voxel space contains voxels of the foundation laser radar point cloud data;
traversing the data module: taking the voxel group with continuity in the vertical direction of the whole horizontal strip as a stem, and traversing the voxel space to obtain the quantity of the phyllostachys pubescens.
5. The apparatus of claim 4, wherein the data processing module is specifically configured to:
preprocessing the foundation laser radar point cloud data to generate correction point cloud data;
and exporting the corrected point cloud data into a point cloud data file in a fixed format.
6. The apparatus of claim 5, wherein the data processing module is specifically configured to:
and performing point cloud splicing, point cloud denoising and terrain correction on the point cloud data of the foundation laser radar to generate corrected point cloud data.
7. Moso bamboo forest quantity recognition device based on ground laser radar, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the ground-based lidar-based phyllostachys pubescens number identification method as claimed in any one of claims 1 to 3.
8. A computer-readable storage medium, wherein an information transfer implementation program is stored on the computer-readable storage medium, and when the program is executed by a processor, the steps of the method for identifying the number of phyllostachys pubescens based on the ground-based lidar as claimed in any one of claims 1 to 3 are implemented.
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