一种改进布料模拟滤波的地面点云提取方法  

A ground point cloud extraction method based on improved cloth simulation filtering

作　　者：李昊 陈壮 董振川 尚金光[2] 张献州 LI Hao;CHEN Zhuang;DONG Zhenchuan;SHANG Jinguang;ZHANG Xianzhou(School of Earth Science and Environmental Engineering,Southwest Jiaotong University,Chengdu 611756,China;Chengdu Institute of Surveying and Mapping,Chengdu 610081,China)

机构地区：[1]西南交通大学地球科学与环境工程学院,成都611756 [2]成都市勘察测绘研究院,成都610081

出　　处：《测绘科学》2023年第5期120-128,共9页Science of Surveying and Mapping

基　　金：中央高校基本科研业务费专项资金项目(SWJTU10ZT02)。

摘　　要：针对传统布料模拟滤波应用在城市竣工测绘中地面点云提取准确性较差的问题,提出了一种基于法线微分的布料模拟滤波算法。该方法先对输入的稠密点云进行预处理,以实现点云降采样和去噪;利用布料模拟滤波对预处理后的点云进行初步的地面提取;最后通过引入法线微分算子,过滤限定阈值外的向量域以分割出目标尺度对应的地面点与非地面点,从而实现地面点云的精确提取。实验结果表明:与渐进形态学滤波和传统的布料模拟滤波相比,该方法能够有效地将地面点与非地面点区分开,实现在大范围复杂城市竣工测绘场景下地面点云的精确提取。Aiming at the problem of poor accuracy of ground point cloud extraction in traditional cloth simulation filtering application in urban completion mapping,this paper proposes an improved cloth simulation filtering algorithm based on difference of normals.The method firstly preprocesses the massive point cloud to realize point cloud down sampling and denoising.Secondly,the preliminary ground extraction of the preprocessed point cloud is carried out by using cloth simulation filtering.Finally,the difference of normals is introduced to filter the vector field outside the limited threshold to segment the ground points and non-ground points corresponding to the target scale,so as to achieve the accurate extraction of the ground point cloud.The experimental results show that:Compared with progressive morphological filtering and traditional cloth simulation filtering,this method can effectively distinguish ground points from non-ground points,and realize the accurate extraction of ground point clouds in large-scale complex urban completion mapping scenes.

关 键 词：城市竣工测绘 地面激光点云 点云去噪优化 布料模拟滤波 法线微分 

分 类 号：P237[天文地球—摄影测量与遥感]