Point cloud data gross error positioning and eliminating method based on credibility information
A point cloud data and reliability technology, applied in image data processing, image analysis, image enhancement and other directions, can solve the problems of large amount of calculation, insufficient and weak removal of gross errors, etc., to improve computational efficiency, avoid confusion, The effect of reducing complexity
Active Publication Date: 2020-07-03
SHANDONG JIAOTONG UNIV
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[0008] Purpose of the invention: The purpose of this application is to provide a method for locating and eliminating gross errors in point cloud data based on credibility information, which is used to solve the problem of large amount of calculation and the elimination of gross errors accompanied by features in the existing point cloud data processing technology. Information is lost, resulting in the problem of insufficient speed, accuracy and applicability of gross error removal
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[0127] Such as image 3 As shown, for a construction site of a building, the FOCUS of American FARO Company is used 3D The ground 3D laser scanner scans and measures the original site. A total of 4 measuring stations are laid out for scanning, and the point cloud data is registered with Faro Scene software. The obtained point cloud data is as follows: Figure 4 shown.
[0128] Due to the presence of weeds and some vegetation on the site, there are a large number of gross errors in the point cloud data measured by scanning. Although some large gross errors have been removed manually, there are still a small amount of gross errors in the point cloud data. These gross errors are mixed with the point cloud data, and the terrain is undulating, so it is difficult to detect and eliminate it manually. Using the present invention to detect the gross errors in the point cloud data, the steps are as follows:
[0129] (1) Dimensionality reduction of point cloud data: such as Figure 5 ...
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The invention discloses a point cloud data gross error positioning and eliminating method based on credibility information. The method comprises the steps of collecting point cloud data of a to-be-measured object; point cloud data preprocessing, including point cloud data dimension reduction and point cloud data regularization; point cloud data neighborhood determination and surface fitting, including point cloud data neighborhood adaptive division and point cloud data surface fitting in neighborhoods; confidence calculation: according to an iterative calculation method, calculating the distance from each point in the point cloud data to the quadric surface in the corresponding neighborhood, and selecting the average value and variance of the distances in the neighborhood of each point inthe point cloud data to calculate the confidence of each point in the point cloud data; and gross error positioning and elimination: judging whether the point is a gross error according to the confidence coefficient of each point in the point cloud data, and eliminating the positioned gross error point. According to the method, the calculation efficiency can be improved, the gross error and the abnormal value can be effectively distinguished, and confusion caused by mutual shielding of the gross error and the abnormal value is avoided.
Description
technical field [0001] The invention relates to data error processing, in particular to a method for locating and eliminating gross errors in point cloud data based on credibility information. Background technique [0002] 3D laser scanning measurement technology is one of the commonly used methods to represent the 3D model of objects in surveying and mapping engineering. Using 3D laser scanning measurement technology, a large amount of point cloud data on the object can be scanned and obtained, including the geometric surface feature information of the object, such as position and normal vector. , color, etc., help to reconstruct the digital model of the object conveniently, and can draw, edit and other operations on it. Usually, when acquiring the 3D point cloud data of an object, there will inevitably be gross error data in the scan data due to the defects of the equipment itself or human disturbance. In addition, the point cloud data obtained by UAV photogrammetry techn...
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IPC IPC(8): G06T7/521
CPCG06T7/521G06T2207/10028
Inventor 周保兴李晋宋雷
Owner SHANDONG JIAOTONG UNIV