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Street tree point cloud identification method based on laser reflection intensity

A technology of laser reflection and recognition method, which is applied in scene recognition, character and pattern recognition, image enhancement, etc., and can solve the problem that it is difficult to filter out objects with similar shapes

Active Publication Date: 2019-11-05
NANJING FORESTRY UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the objects with similar shapes in the identification of street tree point cloud are difficult to filter out, and propose a method for identifying street tree point cloud by using laser reflection intensity

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  • Street tree point cloud identification method based on laser reflection intensity
  • Street tree point cloud identification method based on laser reflection intensity
  • Street tree point cloud identification method based on laser reflection intensity

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Embodiment Construction

[0059] Preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although preferred embodiments of the invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein.

[0060] A street tree point cloud recognition method based on laser reflection intensity, the method includes the following steps: S1, establishing a two-dimensional laser radar laser reflection intensity correction model, taking the middle point of the two-dimensional laser radar scanning frame as the correction object, and extracting a standard diffuse reflection plate Based on the laser reflection intensity data at different distances r and incident angle θ, the distance correction model f of the laser reflection intensity is established r and the incident angle correction model f θ ;

[0061] S1-1. Fixed 2D lidar incident an...

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Abstract

The invention discloses a street tree point cloud identification method based on laser reflection intensity. The method comprises the following steps: S1, establishing a distance correction model andan incident angle correction model of the laser reflection intensity; S2, for a to-be-detected area, selecting a part of street trees as samples, and obtaining point cloud data; S3, calculating corrected laser reflection intensity according to the correction model; s4, performing region segmentation on the corrected laser reflection intensity to obtain the crown and trunk laser reflection intensity of the street tree sample, generating a histogram, and setting an identification threshold; and S5, for the whole to-be-measured area, scanning to obtain laser reflection intensity, and judging whether the point cloud belongs to a crown or trunk target or not according to an identification rule. According to the identification method, the influence of the distance and the incident angle on the intensity is removed, the laser reflection intensity distribution of the crown and the trunk after correction is analyzed, the point cloud of the crown and the trunk of the street tree is identified, and ground objects such as buildings, pedestrians, lanes, sidewalks, turfs and street lamps are filtered out.

Description

technical field [0001] The invention relates to a street tree point cloud recognition method, in particular to a street tree point cloud recognition method based on laser reflection intensity. Background technique [0002] LiDAR (light detection and ranging, LiDAR) active remote sensing technology can quickly acquire high-resolution and high-precision 3D point cloud data on the target surface. LiDAR-based tree parameter extraction has become a current research hotspot and a future development trend. However, the diverse types of urban features make it difficult to identify street tree point clouds, making LiDAR-based street tree parameter extraction a complex and challenging task. It is necessary to study street tree point cloud recognition methods in complex street environments. urgent. [0003] Existing methods mainly calculate geometric features based on point cloud three-dimensional coordinates to classify, and it is difficult to filter out ground objects similar in sha...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/11G06T7/136G06T7/521G06T7/73G06K9/00
CPCG06T7/521G06T7/75G06T7/11G06T7/136G06T2207/10028G06V20/13Y02A90/10
Inventor 李秋洁陶冉刘旭顾洲周宏平
Owner NANJING FORESTRY UNIV
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