Underwater point cloud denoising method based on airborne LiDAR depth sounding system

Abstract

The invention provides an underwater point cloud denoising method based on an airborne LiDAR depth sounding system. The underwater point cloud denoising method is characterized by comprising the following steps: analyzing a waveform and reading waveform information of a point cloud; judging the type of the point cloud through analyzing the waveform information; judging that the point cloud is an underwater topographic point, a suspicious point or a noise point and filtering the noise point; verifying depth sounding performance parameters and carrying out depth sounding performance parameter verification on the judged suspicious point; judging that the suspicious point is the underwater topographic point or the noise point according to depth sounding performance parameter verification and filtering the noise point; carrying out elevation mean-deviation iterative denoising; and carrying out the elevation mean-deviation iterative denoising on the judged underwater topographic point to obtain a final underwater topographic point. The method provided by the invention can be used for effectively eliminating block-shaped noises; and the reliability of a denoising result is improved and the extraction precision of an underwater topography is guaranteed.

Description

technical field [0001] The invention belongs to the field of surveying and mapping science and technology, and relates to a point cloud denoising method, in particular to an underwater point cloud denoising method based on an airborne LiDAR sounding system. Background technique [0002] The airborne LiDAR (Light Detection And Ranging, laser detection and measurement) sounding system is an active sounding system, which uses a scanning measurement method to emit laser light from the air to detect water depth. The sounding system will emit infrared light during measurement operations. Laser pulses with two wavelengths of light and blue-green light. Among them, the infrared band is not easy to penetrate seawater and echoes after detecting the water surface, while the blue-green light with a wavelength between 0.47 and 0.58 μm has the smallest attenuation when penetrating seawater. Strong penetrability and good directionality, so the blue-green band can detect the seabed. It has...

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Problems solved by technology

[0006] Aiming at the problems that the denoising method in the background technology has unsatisfactory removal effect on block noise, difficulty in setting the threshold value and poor reliability of denoising, the present invention proposes a method that has better effect on block noise removal and reliable denoising High performance underwater point cloud denoising method based on airborne LiDAR sounding system

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