Multipath negative outlier removal method for coastal LiDAR point clouds based on mirror structure and intensity feature constraints

doi:10.11947/j.AGCS.2025.20240242

Abstract

Abstract:

The hovercraft-mounted LiDAR scanning system can acquire coastal zone point cloud data. However, the quality of the data is affected by negative outliers caused by the multipath effects, which limits its wide applications. This paper studied the formation mechanism of such outliers and proposed a negative outlier removal method based on mirror structure and intensity feature constraints. First, a mirror surface was obtained using the region growing and quadratic least squares fitting method. The geometric structure and intensity features of the point cloud clusters identified through region growing were then characterized. After that, using the mirror surface, the relationship of the geometric and intensity features of the point cloud clusters within the same mirror space was established. This relationship facilitated the identification and removal of negative outliers exhibiting mirror characteristics. Experimental results showed that the proposed method achieved a precision of 90.83% and a recall of 76.05% in removing negative outliers from coastal tidal flats. The method can effectively eliminate negative outliers while preserving terrain features, thereby enhancing the reliability of point cloud data for high-precision noise reduction in subsequent applications.

Key words: coastal terrain, LiDAR, multipath effects, negative outlier removal, mirror relationship

CLC Number:

P229

Haolong GAO, Shaobo LI, Jianhu ZHAO. Multipath negative outlier removal method for coastal LiDAR point clouds based on mirror structure and intensity feature constraints[J]. Acta Geodaetica et Cartographica Sinica, 2025, 54(5): 840-852.

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设备	系统性能指标	精度范围
RA-0300激光扫描仪	测距范围/m	1.5～600
	最大脉冲频率/kHz	1000
	扫描频率/（lines/s）	10～200
	波束开角/mrad	<0.35
	测角分辨率/（°）	0.001
	测角精度/（°）	0.005
	测距精度/（mm@100 m）	5～8
	回波模式	多回波
	激光波长/nm	1550
APPLANIX	GNSS定位精度/m	0.05～0.3
POS AV610	方位角/（°）	0.005
CH-4气垫船	重量/kg	380±50
CH-4气垫船	航行速度/（km/h）	30～45

算法	测区	负异常点	正常点	TP	FP	FN	Precision/（%）	Recall/（%）	F₁值/（%）
BCSF	区域一	2157	196 332	1690	467	1574	78.35	51.78	62.35
BCSF	区域二	3632	60 318	3439	193	149	94.69	95.85	95.26
RandLA-Net	区域一	2330	196 159	1336	994	1928	57.34	40.93	47.77
RandLA-Net	区域二	3871	60 079	2923	948	665	75.51	81.47	78.38
本文算法	区域一	2692	195 797	2148	544	1116	79.79	65.81	72.13
本文算法	区域二	3738	60 212	3524	214	64	94.28	98.22	96.21

算法	Precision/（%）	Recall/（%）	F₁值/（%）	计算用时
BCSF	58.35	72.07	64.50	57 min 46 s
RandLA-Net	45.42	42.16	43.73	3 min 11 s
本文算法	90.83	76.05	82.79	17 min 37 s