A method for automatic recognition of spherical targets in terrestrial 3D laser scanning point clouds

Abstract

A terrestrial 3D laser scanning point cloud spherical target automatic identification method comprises the following steps: retaining distance and angle information in the polar coordinate information in the process in which original data scanned by a laser scanner is transformed from 3D polar coordinate information into 3D right-angle coordinate information; quickly and roughly identifying a spherical target according to the angle, distance and gray information; fitting the data of the spherical target according to the 3D right-angle coordinates thereof; and judging whether the target is a real sphere based on the tolerance after point cloud fitting as well as the standard deviation, sphere radius and center-of-sphere information. According to the spherical target identification method provided by the invention, a target is identified preliminarily based on the measurement principle of the laser scanner and according to distance, gray and other information, the speed and accuracy of spherical target identification are improved, the rate of mistaken target identification is low, and the target information can be automatically identified for users to use after the scanner completes scanning.

Description

technical field [0001] The invention relates to an automatic target recognition method, in particular to a ground three-dimensional laser scanning point cloud spherical target automatic recognition method, which belongs to the field of automatic target recognition. Background technique [0002] Since 2000, the results of Terrestrial laser scanning (TLS) have been applied substantially. With the progress of 3D scanner hardware, it has become another revolutionary achievement in the field of surveying and mapping after GPS technology. Achievements have been applied in various areas such as ancient building protection, urban digitization, deformation monitoring, archaeology, and transportation. [0003] In the application process of 3D laser scanners, it is often encountered that the automatic extraction function of some feature patches, especially the automatic extraction function of spherical patches is particularly important. For example, when the scanner is working, in orde...

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Problems solved by technology

However, the disadvantage of this method is that a large amount of data calculation is required. Since the point cloud data itself has a very large amount of data, and a large number of curvature normal vector calculations are performed, the data processing is slow and cannot be used in engineering.

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