基于点云聚簇的铁路罐车罐体外部孤点自动去除算法研究  

Research on Automatic Removal Algorithm of Isolated Points Outside of Tank Body of Rail Tanker Based on Point Cloud Clustering

作　　者：齐超 尹建芹 QI Chao;YIN Jianqin

机构地区：[1]北京邮电大学人工智能学院,北京100876 [2]中国铁道科学研究院集团有限公司标准计量研究所,北京100081

出　　处：《铁道技术监督》2023年第2期24-28,共5页Railway Quality Control

基　　金：北京邮电大学博士生创新基金资助项目(CX2021222)。

摘　　要：采用三维激光扫描法检定铁路罐车罐体时,扫描形成的容积检定点云中可能存在罐体外部孤点,这会影响罐车容积检定的准确性。因此,提出基于点云聚簇的铁路罐车罐体外部孤点自动去除算法。在分析铁路罐车罐体外部孤点特征的基础上,介绍点云聚簇算法流程,阐述去除外部孤点的点云聚簇算法,以及点簇语义类别判定原则,实现铁路罐车容积检定过程中罐体外部孤点的自动去除。分别运用中值滤波器、欧式距离算法和点云聚簇算法,开展G11K,G60K和G70K罐车容积检定过程中原始点云的罐体外部孤点去除试验,并进行对比分析。分析结果表明,与中值滤波器、欧式距离算法相比,点云聚簇算法去除罐体外部孤点效果较好,可为铁路罐车容积检定提供更精确的数据。When the three-dimensional laser scanning method is used to verify the tank body of the rail tanker,there may be isolated points outside the tank body in the volume detection point cloud formed by scanning,which will affect the accuracy of the tanker volume verification.Therefore,an automatic removal algorithm of external isolated points of rail tanker based on point cloud clustering is proposed.On the basis of analyzing the characteristics of external solitary points of rail tanker,the flow of point cloud clustering algorithm is introduced,and the point cloud clustering algorithm of removing external solitary points is expounded,as well as the principle of determining semantic category of point cluster,so as to realize the automatic removal of isolated points outside of tank body in the process of rail tanker volume verification.The removal test of isolated points outside of tank body of the original point cloud in the volume verification process of G11K,G60Kand G70Ktankers was carried out,and the removal results were compared and analyzed.The analysis results show that,compared with the median filter and Euclidean distance algorithm,the point cloud clustering algorithm has a better effect on the removal of isolated points outside of tank body,and can provide more accurate data for the volume verification of rail tanker cars.

关 键 词：铁路罐车 容积 检定 点云聚簇 罐体外部孤点 

分 类 号：TB937.3[一般工业技术—计量学] U272.4[机械工程—测试计量技术及仪器]