Automatic removing method of vehicle-mounted laser point cloud noisy point based on angle and intensity

Abstract

The invention relates to an automatic removing method of a vehicle-mounted laser point cloud noisy point based on angle and intensity. The operation steps comprise: acquiring point cloud data by utilizing a laser scanner, and calculating the solar altitude angle according to the time and longitude and latitude of each scan circle of the point cloud data; solving the equation of a POS (point of sale) plane of each scan circle time according to the posture and position information of a POS system; calculating an included angle between a connection line formed by three-dimensional coordinate points in a scan circle and the POS center and the POS plane, calculating the difference value of the included angle and the complementary angle of the solar altitude angle, comparing the difference value and the threshold value of the angle, and determining the points less than the angle threshold value to be the noisy points; calculating the covariance matrix of point coordinates in neighborhood of the noisy points, solving the property value of the matrix, determining the coplanarity and colinearity of the matrix, and determining the points less than the threshold value to be noisy points again; and calculating the variance value of intensity distribution in the neighborhood of the noisy points, and determining the points greater than the threshold value as the noisy points. The method has the advantages of high automation degree, quickness and high efficiency.

Description

technical field [0001] The invention relates to an angle- and intensity-based method for automatically removing noise from a vehicle-mounted laser point cloud, and belongs to the technical fields of photogrammetry and three-dimensional lasers. Background technique [0002] The vehicle-mounted 3D laser mobile measurement system uses the vehicle as the carrier platform, equipped with a laser scanner and a panoramic camera to obtain the 3D coordinates and texture information of the object surface, uses GPS dynamic positioning, and INS (inertial guidance system) to obtain the attitude parameters of the mobile measurement system. The vehicle-mounted three-dimensional laser mobile measurement system can obtain the surface information of urban objects such as buildings, roads, and tunnels, and is very suitable for the rapid and effective acquisition of three-dimensional spatial information of urban objects. [0003] However, the vehicle-mounted 3D laser mobile measurement system ha...

AI Technical Summary

Problems solved by technology

There are two types of methods for point cloud denoising. One is manual selection and deletion. This method has a large workload and low efficiency, but the interpretation is accurate. The other method is automatic filtering. Generally, noise points are judged by statistical methods based on point density characteristics. Therefore, the removal effect of this method for sunlight noise is not good, and it is easy to filter out more effective points, and the filtering accuracy is not high.

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