基于球面投影的单站地面激光点云直线段提取方法

doi:10.11947/j.AGCS.2015.20130208

测绘学报 ›› 2015, Vol. 44 ›› Issue (6): 655-662.doi: 10.11947/j.AGCS.2015.20130208

基于球面投影的单站地面激光点云直线段提取方法

张帆¹, 高云龙¹, 黄先锋¹, 尹若捷¹, 张志超², 朱宜萱²

1. 武汉大学测绘遥感信息工程国家重点实验室, 湖北武汉 430079;
2. 武汉大学遥感信息工程学院, 湖北武汉 430079

收稿日期:2013-06-07 修回日期:2014-09-25 出版日期:2015-06-20 发布日期:2015-07-28
通讯作者: 黄先锋 E-mail: huangxf@whu.edu.cn E-mail:huangxf@whu.edu.cn
作者简介:张帆(1982—),男,副教授,研究方向为激光扫描数据处理、数字图像处理、精细三维重建。E-mail: zhangfan@whu.edu.cn
基金资助:
国家973计划(2012CB725300; 2011CB707001); 国家科技支撑计划(2014BAK07B04);国家自然科学基金(41001308; 41071291)

Spherical Projection Based Straight Line Segment Extraction for Single Station Terrestrial Laser Point Cloud

ZHANG Fan¹, GAO Yunlong¹, HUANG Xianfeng¹, YIN Ruojie¹, ZHANG Zhichao², ZHU Yixuan²

1. State Key Laboratory of Information Engineering on Survey, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China;
2. School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430079, China

Received:2013-06-07 Revised:2014-09-25 Online:2015-06-20 Published:2015-07-28
Supported by:
The National Basic Research Program of China(973 Program)(Nos. 2012CB725300;2011CB707001);The National Key Technology Research and Development Program of the Ministry of Science and Technology of China (No. 2014BAK07B04);The National Natural Science Foundation of China (Nos. 41001308;41071291)

摘要/Abstract

摘要：

由于激光点云离散分布于三维空间,导致特征计算困难,目前针对地面激光扫描点云的直线提取方法普遍存在计算量大、提取错误、或适应性不足等问题。本文提出了一种基于球面投影的单站地面激光点云直线段提取方法:首先将三维点云投影到球面上,球面投影后的三维点云保持了正确的邻接关系,同时也解决了三维数据计算量大的问题;然后,利用球面霍夫变换,正确提取球面投影后点云中的直线段特征;最后,利用稳健的直线拟合算法计算点云中的三维直线段参数。通过对室内室外场景数据的直线段提取试验及与商业软件Geomagic Studio等方法的对比试验,验证了本方法的正确性、适用性和准确性。

关键词: 地面激光扫描, 直线段提取, 球面投影, 霍夫变换

Abstract:

Due to the discrete distribution computing errors and lack of adaptability are ubiquitous in the current straight line extraction for TLS data methods. A 3D straight line segment extraction method is proposed based on spherical projection for single station terrestrial laser point clouds. Firstly, horizontal and vertical angles of each laser point are calculated by means of spherical coordinates, intensity panoramic image according to the two angles is generated. Secondly, edges which include straight line features are detected from intensity panoramic image by using of edge detection algorithm. Thirdly, great circles are detected from edges of panoramic image using spherical Hough transform. According to the axiom that a straight line segment in 3D space is a spherical great circle after spherical projection, detecting great circles from spherical projected data sets is essentially detecting straight line segments from 3D data sets without spherical projection. Finally, a robust 3D straight line fitting method is employed to fitting the straight lines and calculating parameters of the straight line segments. Experiments using different data sets and comparison with other methods show the accuracy and applicability of the proposed method.

Key words: terrestrial laser scanning, straight line segment extraction, spherical projection, Hough transform

中图分类号:

P237

张帆, 高云龙, 黄先锋, 尹若捷, 张志超, 朱宜萱. 基于球面投影的单站地面激光点云直线段提取方法[J]. 测绘学报, 2015, 44(6): 655-662.

ZHANG Fan, GAO Yunlong, HUANG Xianfeng, YIN Ruojie, ZHANG Zhichao, ZHU Yixuan. Spherical Projection Based Straight Line Segment Extraction for Single Station Terrestrial Laser Point Cloud[J]. Acta Geodaetica et Cartographica Sinica, 2015, 44(6): 655-662.

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基于球面投影的单站地面激光点云直线段提取方法

Spherical Projection Based Straight Line Segment Extraction for Single Station Terrestrial Laser Point Cloud

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