electric power line patrol LiDAR data automatic registration method based on tower characteristic points

Abstract

The invention discloses an electric power line inspection LiDAR data automatic registration method based on tower characteristic points, and the method comprises the following steps: S1, extracting two stages of tower point cloud data, and extracting characteristic point clouds at corners of a tower through employing a random sampling consistency algorithm; S2, based on a principal component analysis method and a direction cosine rule, determining a corresponding relation between point cloud centroid coordinate systems of the two stages of towers, and solving an initial transformation matrix;S3, on the basis of initial transformation, adopting kd-based (kd-based) transformation; and carrying out fine matching on the tower characteristic points by using an iterative nearest point algorithmof tree optimized matching point search, obtaining a final transformation matrix, and carrying out spatial coordinate system conversion on the initial point cloud based on the target point cloud. According to the invention, under the condition that the electric power line inspection LiDAR data has data loss and lack of ground feature characteristics; The method comprises the following steps: extracting a tower area, extracting tower characteristic point cloud by utilizing a Ransac straight line fitting algorithm, calculating a transformation matrix by combining PCA coarse registration and ICPfine registration, and finally realizing transformation from an initial point cloud coordinate system to a target point cloud coordinate system.

Description

technical field [0001] The invention relates to the technical field of remote sensing, in particular to an automatic registration method for power line inspection LiDAR data based on tower feature points. Background technique [0002] High-voltage lines are an important part of the national backbone power grid, and the safety guarantee required for daily operation is getting higher and higher. Therefore, the measurement technology used in conventional power line inspection must have the characteristics of being able to obtain a large range of three-dimensional coordinates of the surface and high mathematical precision. [0003] Airborne LiDAR (Airborne Light Detection And Ranging, LiDAR) is an aeronautical earth observation sensor, which has the advantages of active observation, less affected by weather, certain penetration to ground object gaps, and direct acquisition of three-dimensional geometric information of the ground surface. . Use the airborne lidar technology to ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide an automatic registration method for power line inspection LiDAR data based on tower feature points, which is mainly applicable to airborne laser radar data for power line inspection, solves the problem of unifying coordinates in the application of multi-temporal LiDAR data, and improves Registration efficiency and stability

Images