Filtering method and device for point cloud data

Abstract

An embodiment of the invention discloses a filtering method and a filtering device for point cloud data. The filtering method comprises the steps of: converting the point cloud data into raster data, and acquiring the lowest point in each raster as the initial point; performing morphological opening operation on the raster data to obtain an initial terrain surface; for each initial point, determining the current initial point as a potential ground seed point if a difference value between an elevation value of the current initial point and a value of the target raster which the current initial point falls into; constructing an initial triangulation network model according to the potential ground seed point; and determining a ground point according to the initial triangulation network model based on an irregular triangulation network filtering algorithm. By adopting the filtering method and the filtering device, the ground seed point can be reasonably determined, and the filtering efficiency is improved while guaranteeing the accuracy and precision of the initial triangulation network model, thereby the ground point in the point cloud data can be screened quickly and accurately.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of data processing, and in particular to a method and device for filtering point cloud data. Background technique [0002] Airborne laser detection and ranging (LiDAR), also known as airborne laser radar, is an emerging three-dimensional data acquisition method, which can quickly obtain high-spatial-resolution three-dimensional coordinates of ground objects, with time and space resolution. It has the advantages of high rate, large observation range, high operation efficiency and the ability to penetrate forests. It is widely used in basic surveying and mapping, urban planning, 3D reconstruction, forestry survey and power line inspection and other fields. [0003] Lidar point cloud data contains both ground points and non-ground points. Filtering is the process of separating ground points and non-ground points from point cloud data. It uses point cloud data to generate high-precision dig...

AI Technical Summary

Problems solved by technology

There are many related studies on filtering methods, such as morphological filtering, slope-based filtering, and surface-based filtering. The effect is poor in areas with complex object types, especially in dense forest areas, which usually requires manual editing to achieve the ideal filtering effect, which increases labor costs

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