数学形态学改进滤波方法在车载激光点云滤波中的应用  

Application of Improved Filtering Method of Mathematical Morphology in Vehicle Borne Laser Point Cloud Filtering

作　　者：张莹 张凯义 ZHANG Ying;ZHANG Kaiyi(Zhejiang Provincial Land Survey and Planning Co.,Ltd.,Hangzhou,Zhejiang 310000,China;Zhejiang Institute of Surveying and Mapping Science and Technology,Hangzhou,Zhejiang 310030,China)

机构地区：[1]浙江省国土勘测规划有限公司,浙江杭州310000 [2]浙江省测绘科学技术研究院,浙江杭州310030

出　　处：《测绘标准化》2022年第4期81-85,共5页Standardization of Surveying and Mapping

摘　　要：针对传统车载点云滤波方法无法有效剔除地形坡度变化较大区域的非地面点问题,基于传统形态学点云滤波方法提出一种数学形态学改进滤波方法。对滤波区域进行全区域分块,通过构建不规则三角网的方式得到各区块的地形坡度与方向;将区块旋转至接近水平方向,通过形态学滤波法开运算剔除点云中的非地面点,获取地面点。最后,选择一个平坦区域和一个斜坡区域的点云数据对本文数学形态学改进滤波方法的有效性进行验证。结果表明,该方法可有效剔除非地面点,对于地形坡度较大的区域,具有较好的滤波效果。Aiming at the problem that the traditional vehicular point cloud filtering method can not effectively eliminate the non surface points in the area with large terrain slope changes, an improved filtering method of mathematical morphology based on the traditional morphological point cloud filtering method is proposed in this paper. The filtering area is divided into blocks, and the terrain slope and direction of each block are obtained by constructing an irregular triangle network;The block is rotated to close to the horizontal direction, and the non surface points in the point cloud are eliminated through the open operation of morphological filtering to obtain the surface points. Finally, the point cloud data of a flat area and a slope area are selected to verify the effectiveness of the improved mathematical morphology filtering method in this paper. The results show that this method can effectively eliminate the non surface points, and has a good filtering effect for the area with large terrain slope.

关 键 词：点云滤波 形态学滤波 不规则三角网 开运算 

分 类 号：P225.4[天文地球—大地测量学与测量工程]