结合形态学和TIN三角网的机载LiDAR点云滤波算法
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摘要
针对传统不规则三角网滤波精度依赖于初始种子点选取的问题,提出一种结合形态学与不规则三角网的机载LiDAR点云滤波算法。首先采用KD树粗差剔除方法对异常点进行剔除,然后利用数学形态学滤波算法对粗差剔除后的点云进行粗滤波,最后采用改进的不规则三角网滤波算法对上述结果进行精滤波。三角网迭代滤波过程中每次对滤波得到的地面点进行整体构网,减少了构网次数以及离散点之间的相互影响。实验选取国际摄影测量与遥感协会提供的3组测试数据进行滤波,结果表明本文方法能够有效降低I类误差和II类误差,验证本文滤波算法的可靠性。
Aiming at the problem that the accuracy of traditional irregular TIN filtering depends on the selection of initial seed point,a filtering algorithm combining mathematical morphology and irregular TIN for aerial LiDAR point cloud is proposed.Firstly,the outliers are eliminated by using the method of KD-tree grosserror removal.Then,mathematical morphology filtering algorithm is used filtering roughly for point cloud after outliers removal.Finally,the improved irregular TIN algorithm is adopted to filter accurately for the above result.In the process of iterative TIN filtering,the whole triangulation meshes are constructed for ground points obtained by filtering every time,which reduced the number of triangulation meshes and the interaction between discrete points.The,and the results indicated that the proposed algorithm can reduce the type I error and type II error effectively,and verifying the reliability of the filtering algorithm in this paper.
Aiming at the problem that the accuracy of traditional irregular TIN filtering depends on the selection of initial seed point,a filtering algorithm combining mathematical morphology and irregular TIN for aerial LiDAR point cloud is proposed.Firstly,the outliers are eliminated by using the method of KD-tree grosserror removal.Then,mathematical morphology filtering algorithm is used filtering roughly for point cloud after outliers removal.Finally,the improved irregular TIN algorithm is adopted to filter accurately for the above result.In the process of iterative TIN filtering,the whole triangulation meshes are constructed for ground points obtained by filtering every time,which reduced the number of triangulation meshes and the interaction between discrete points.The,and the results indicated that the proposed algorithm can reduce the type I error and type II error effectively,and verifying the reliability of the filtering algorithm in this paper.
引文
[1]张小红.机载激光雷达测量技术理论与方法[M].武汉:武汉大学出版社,2007.(ZHANG Xiaohong.Theory and method of airborne LiDAR measurement technology[M].Wuhan:Wuhan University Press,2007.)
[2]黄先锋,李卉,王潇,等.机载LiDAR数据滤波方法评述[J].测绘学报,2009,38(5):466-469.(HUANG Xianfeng,LI Hui,WANG Xiao,et al.Filter algorithms of airborne LiDAR data:review and prospects[J].Acta Geodaetica et Cartographica Sinica,2009,38(5):466-469.)
[3]CUI Z,ZHANG K,ZHANG C,et al.A cluster-based morphological filter for geospatial data analysis[C]//ACM Sigspatial International Workshop on Analytics for Big Geospatial Data.[S.L.]:ACM,2013:1-7.
[4]PINGEL T J,CLARKE K C,MCBRIDE W A.An improved simple morphological filter for the terrain classification of airborne LiDAR data[J].ISPRS Journal of Photogrammetry &Remote Sensing,2013,77(1):21-30.
[5]程效军,程小龙,胡敏捷,等.融合航空影像和LiDAR点云的建筑物探测及轮廓提取[J].中国激光,2016(5):247-255.(CHENG Xiaojun,CHENG Xiaolong,HU Minjie,et al.Buildings detection and contour extraction by fusion of aerial images and LiDAR point cloud[J].Chinese Journal of Lasers,2016,43(5):1-9.)
[6]ZHANG J,LIN X.Filtering airborne LiDAR data by embedding smoothness-constrained segmentation in progressive TIN densification[J].ISPRS Journal of Photogrammetry and Remote Sensing,2013,81(81):44-59.
[7]谷延超,范东明.基于地形的LiDAR数据缺失区域填充方法研究[J].测绘工程,2014,23(10):23-26.(GU Yanchao,FAN Dongming.Research on filling aggregated missing data of LiDAR with topographic method[J].Engineering of Surveying and Mapping,2014,23(10):23-26.)
[8]ZHANG K,CHEN S C,WHITMAN D,et al.A progressive morphological filter for removing nonground measurements from airborne LiDAR data[J].IEEE Transactions on Geoscience &Remote Sensing,2003,41(4):872-882.
[9]CHEN Q,GONG P,BALDOCCHI D,et al.Filtering airborne laser scanning data with morphological methods[J].Photogrammetric Engineering &Remote Sensing,2007,73(2):175-185.
[10]惠振阳,胡友健.基于LiDAR数字高程模型构建的数学形态学滤波方法综述[J].激光与光电子学进展,2016(8):1-7.(HUI Zhenyang,HU Youjian.Review on morphological filtering algorithms based on LiDAR digital elevation model construction[J].Laser &Optoelectronics Progress,2016(8):1-7.)
[11]唐德瑾,王楠,张振华,等.一种改进的坡度机载LiDAR数据滤波算法[J].测绘信息与工程,2010,35(3):15-16.(TANG Dejin,WANG Nan,ZHANG Zhenhua,et al.An improved slope filtering algorithm for airborne LiDAR data[J].Journal of Geomatics Jun,2010,35(3):15-16.)
[12]李卉,李德仁,黄先锋,等.一种渐进加密三角网LiDAR点云滤波的改进算法[J].测绘科学,2009,34(3):39-40.(LI Hui,LI Deren,HUANG Xianfeng,et al.Advanced adaptive TIN filter for LiDAR point clouds data[J].Science of Surveying and Mapping,2009,34(3):39-40.)
[13]隋立春,张熠斌,张硕,等.基于渐进三角网的机载LiDAR点云数据滤波[J].武汉大学学报(信息科学版),2011,36(10):1159-1163.(SUI Lichun,ZHANG Yibin,ZHANG Shuo,et al.Filtering of airborne LiDAR point cloud data based on progressive TIN[J].Geomatics and Information Science of Wuhan University,2011,36(10):1159-1163.)
[14]王树根,王欢,孙明伟,等.基于统计数据选取种子点的LiDAR点云迭代滤波算法[J].测绘与空间地理信息,2015(6):6-9.(WANG Shugen,WANG Huan,SUN Mingwei,et al.An iterative filtering algorithm of LiDAR point clouds based on statistical data choose seed points[J].GEOMATICS &Spatial Information Technology,2015(6):6-9.)
[15]徐国杰,胡文涛.一种改进的LiDAR点云TIN迭代滤波算法[J].测绘信息与工程,2010,35(1):33-35.(XU Guojie,HU Wentao.An improved iterative TIN filtering algorithm for LiDAR data[J].Journal of Geomatics Feb,2010,35(1):33-35.)
[16]陈琳,范湘涛,杜小平.基于高程统计的机载LiDAR点云三角网渐进滤波方法[J].遥感信息,2014,29(3):19-23.(CHEN Lin,FAN Xiangtao,DU Xiaoping.A filtering method with adaptive TIN models for airborne LiDAR points based on elevation statistics[J].Remote Sensing Information,2014,29(3):19-23.)
[17]殷飞,齐华,薛晓滨,等.一种自适应TIN迭代加密滤波算法[J].铁道勘察,2010,36(4):45-48.(YIN Fei,QI Hua,XUE Xiaobin,et al.An adaptive TIN processing densification filtering algorithm[J].Railway Investigation and Surveying,2010,36(4):45-48.)
[18]亢晓琛,刘纪平,林祥国.多核处理器的机载激光雷达点云并行三角网渐进加密滤波方法[J].测绘学报,2013,42(3):331-336.(KANG Xiaochen,LIU Jiping,LIN Xiangguo.Parallel filter of progressive TIN densifiction for airborne LiDAR point cloud using multi-core CPU[J].Acta Geodaetica et Cartograpgica Sinica,2013,42(3):331-336.)
[19]杨建思.一种四叉树与KD树相结合的海量机载LiDAR数据组织管理方法[J].武汉大学学报(科学信息版),2014,39(8):928-922.(YANG Jiansi.A method of combining the model of the global quadtree index with local KD-tree for massive airborne LiDAR point cloud data organization[J].Geomatics and Information Science of Wuhan University,2014,39(8):928-922.)
[20]马树发.基于改进虚拟格网的机载LiDAR数据的形态学滤波[D].西安:西安电子科技大学,2014.(MA Shufa.Morphological filtering of airborne LiDAR data based on improved virtual grid[D].Xi’an:Xi’an University of Electronic Science and Technology,2014.)
[21]AXELSSON P.DEM generation from laser scanner data using adaptive TIN models[J].International archives of the photogrammetry,remote sensing and spatial information sciences,2000,33(B4):110-117.
[2]黄先锋,李卉,王潇,等.机载LiDAR数据滤波方法评述[J].测绘学报,2009,38(5):466-469.(HUANG Xianfeng,LI Hui,WANG Xiao,et al.Filter algorithms of airborne LiDAR data:review and prospects[J].Acta Geodaetica et Cartographica Sinica,2009,38(5):466-469.)
[3]CUI Z,ZHANG K,ZHANG C,et al.A cluster-based morphological filter for geospatial data analysis[C]//ACM Sigspatial International Workshop on Analytics for Big Geospatial Data.[S.L.]:ACM,2013:1-7.
[4]PINGEL T J,CLARKE K C,MCBRIDE W A.An improved simple morphological filter for the terrain classification of airborne LiDAR data[J].ISPRS Journal of Photogrammetry &Remote Sensing,2013,77(1):21-30.
[5]程效军,程小龙,胡敏捷,等.融合航空影像和LiDAR点云的建筑物探测及轮廓提取[J].中国激光,2016(5):247-255.(CHENG Xiaojun,CHENG Xiaolong,HU Minjie,et al.Buildings detection and contour extraction by fusion of aerial images and LiDAR point cloud[J].Chinese Journal of Lasers,2016,43(5):1-9.)
[6]ZHANG J,LIN X.Filtering airborne LiDAR data by embedding smoothness-constrained segmentation in progressive TIN densification[J].ISPRS Journal of Photogrammetry and Remote Sensing,2013,81(81):44-59.
[7]谷延超,范东明.基于地形的LiDAR数据缺失区域填充方法研究[J].测绘工程,2014,23(10):23-26.(GU Yanchao,FAN Dongming.Research on filling aggregated missing data of LiDAR with topographic method[J].Engineering of Surveying and Mapping,2014,23(10):23-26.)
[8]ZHANG K,CHEN S C,WHITMAN D,et al.A progressive morphological filter for removing nonground measurements from airborne LiDAR data[J].IEEE Transactions on Geoscience &Remote Sensing,2003,41(4):872-882.
[9]CHEN Q,GONG P,BALDOCCHI D,et al.Filtering airborne laser scanning data with morphological methods[J].Photogrammetric Engineering &Remote Sensing,2007,73(2):175-185.
[10]惠振阳,胡友健.基于LiDAR数字高程模型构建的数学形态学滤波方法综述[J].激光与光电子学进展,2016(8):1-7.(HUI Zhenyang,HU Youjian.Review on morphological filtering algorithms based on LiDAR digital elevation model construction[J].Laser &Optoelectronics Progress,2016(8):1-7.)
[11]唐德瑾,王楠,张振华,等.一种改进的坡度机载LiDAR数据滤波算法[J].测绘信息与工程,2010,35(3):15-16.(TANG Dejin,WANG Nan,ZHANG Zhenhua,et al.An improved slope filtering algorithm for airborne LiDAR data[J].Journal of Geomatics Jun,2010,35(3):15-16.)
[12]李卉,李德仁,黄先锋,等.一种渐进加密三角网LiDAR点云滤波的改进算法[J].测绘科学,2009,34(3):39-40.(LI Hui,LI Deren,HUANG Xianfeng,et al.Advanced adaptive TIN filter for LiDAR point clouds data[J].Science of Surveying and Mapping,2009,34(3):39-40.)
[13]隋立春,张熠斌,张硕,等.基于渐进三角网的机载LiDAR点云数据滤波[J].武汉大学学报(信息科学版),2011,36(10):1159-1163.(SUI Lichun,ZHANG Yibin,ZHANG Shuo,et al.Filtering of airborne LiDAR point cloud data based on progressive TIN[J].Geomatics and Information Science of Wuhan University,2011,36(10):1159-1163.)
[14]王树根,王欢,孙明伟,等.基于统计数据选取种子点的LiDAR点云迭代滤波算法[J].测绘与空间地理信息,2015(6):6-9.(WANG Shugen,WANG Huan,SUN Mingwei,et al.An iterative filtering algorithm of LiDAR point clouds based on statistical data choose seed points[J].GEOMATICS &Spatial Information Technology,2015(6):6-9.)
[15]徐国杰,胡文涛.一种改进的LiDAR点云TIN迭代滤波算法[J].测绘信息与工程,2010,35(1):33-35.(XU Guojie,HU Wentao.An improved iterative TIN filtering algorithm for LiDAR data[J].Journal of Geomatics Feb,2010,35(1):33-35.)
[16]陈琳,范湘涛,杜小平.基于高程统计的机载LiDAR点云三角网渐进滤波方法[J].遥感信息,2014,29(3):19-23.(CHEN Lin,FAN Xiangtao,DU Xiaoping.A filtering method with adaptive TIN models for airborne LiDAR points based on elevation statistics[J].Remote Sensing Information,2014,29(3):19-23.)
[17]殷飞,齐华,薛晓滨,等.一种自适应TIN迭代加密滤波算法[J].铁道勘察,2010,36(4):45-48.(YIN Fei,QI Hua,XUE Xiaobin,et al.An adaptive TIN processing densification filtering algorithm[J].Railway Investigation and Surveying,2010,36(4):45-48.)
[18]亢晓琛,刘纪平,林祥国.多核处理器的机载激光雷达点云并行三角网渐进加密滤波方法[J].测绘学报,2013,42(3):331-336.(KANG Xiaochen,LIU Jiping,LIN Xiangguo.Parallel filter of progressive TIN densifiction for airborne LiDAR point cloud using multi-core CPU[J].Acta Geodaetica et Cartograpgica Sinica,2013,42(3):331-336.)
[19]杨建思.一种四叉树与KD树相结合的海量机载LiDAR数据组织管理方法[J].武汉大学学报(科学信息版),2014,39(8):928-922.(YANG Jiansi.A method of combining the model of the global quadtree index with local KD-tree for massive airborne LiDAR point cloud data organization[J].Geomatics and Information Science of Wuhan University,2014,39(8):928-922.)
[20]马树发.基于改进虚拟格网的机载LiDAR数据的形态学滤波[D].西安:西安电子科技大学,2014.(MA Shufa.Morphological filtering of airborne LiDAR data based on improved virtual grid[D].Xi’an:Xi’an University of Electronic Science and Technology,2014.)
[21]AXELSSON P.DEM generation from laser scanner data using adaptive TIN models[J].International archives of the photogrammetry,remote sensing and spatial information sciences,2000,33(B4):110-117.