Vehicle and aerial lidar data registration method based on building outline
A technology of building outline and data matching, which is applied in character and pattern recognition, instruments, computer parts, etc., can solve the problem of difficulty in obtaining accurate conjugate features, and achieve the effect of improving registration accuracy
Inactive Publication Date: 2016-09-14
NANJING UNIV
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Point cloud data itself is discrete, and it is difficult to obtain accurate conjugate features from it
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[0067] The experimental area of this embodiment is located near the Nanjing Olympic Sports Center, with a total size of about 4000m*4000m. The vehicle LiDAR data and aviation LiDAR data in this area are as follows: figure 2 with image 3 shown, while Figure 4 yes figure 2 The enlarged view of the region A in the middle, Figure 5 yes image 3 Enlarged view of region B in the middle.
[0068] In this embodiment, the vehicle-mounted LiDAR data is obtained using an Optech vehicle-mounted laser scanner, with an average point spacing of about 0.2m, and the average point spacing of the aerial LiDAR data is about 0.5m. In this embodiment, region A in the vehicle-mounted point cloud and region B in the aerial point cloud are selected for a registration experiment. The experimental region includes multiple buildings with different roof structures, different orientations, and different degrees of complexity.
[0069] The vehicle-mounted and aerial LiDAR data registration meth...
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The invention relates to a registration method for vehicle-mounted LiDAR data and aviation LiDAR data based on building outlines. The method comprises the steps that a two-dimension building outline is extracted from the vehicle-mounted LiDAR data, a two-dimension building outline is extracted from the aviation LiDAR data, and vehicle-mounted three-dimension building outline line segments and aviation three-dimension building outline line segments are obtained through an outline line segment elevation partition method; two pairs of outline line segments are selected from the vehicle-mounted three-dimension building outline line segments and the aviation three-dimension building outline line segments respectively, and an initial conversion matrix of the two pairs of three-dimension outline line segments is calculated; iterative operation is conducted on the initial conversion matrix, if the number of matched line segments of the vehicle-mounted three-dimension building outline line segments and the aviation three-dimension building outline line segments is greater than an appointed threshold value or is largest, the initial conversion matrix is defined as a reliable conversion matrix, and the registration of the vehicle-mounted LiDAR data and the aviation LiDAR data is finished through the reliable conversion matrix. The registration method can achieve the automatic and high-precision registration of the vehicle-mounted LiDAR data and the aviation LiDAR data, and the registration precision can reach the decimeter level.
Description
technical field [0001] The invention relates to a registration method of LiDAR point cloud data, in particular to a registration method of vehicle-mounted and aerial LiDAR data based on building outlines. Background technique [0002] Aviation and vehicle lidar are two types of lidar that are currently used more. LiDAR technology can provide detailed and accurate irregular LiDAR points on the surface of objects, and the data quality is better than some other measurement technologies, such as digital photogrammetry and radar interferometry. [0003] Vehicle and aviation LiDAR data have strong similarities and complementarities. On the one hand, both vehicle-mounted and aerial lidars can quickly acquire large-scale ground object information. On the other hand, the vehicle-mounted lidar data contains a lot of side information of ground objects, and the top information is less; while the aerial lidar obtains rich top information, and the side information is missing. Aviation ...
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IPC IPC(8): G06K9/00
Inventor 程亮李满春陈振杰刘永学李飞雪黄秋昊陈东童礼华李爽许浩
Owner NANJING UNIV