Point cloud smooth fairing filtering method based on normal vector
A normal vector and smoothing technology, applied in the field of laser Lidar scanning surveying and mapping, can solve the problems of original point cloud data pollution, failure to achieve smooth filtering effect, etc., and achieve the effect of simple and effective algorithm implementation, optimization of original point cloud position, and high precision
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[0069] The invention discloses a point cloud smoothing and smoothing filtering method based on a normal vector.
[0070] The process is: first remove the outlier points of the original point cloud; then perform principal component analysis on the discrete point cloud set to infer the normal vector of each point, and adjust the normal vectors of all points to the same direction (that is, adjust the third normal vector components Z are all greater than 0); then each point is fitted to a plane by its K nearest neighbors using the least squares method, and the normal vector of the point is obtained through the plane model and adjusted to the same direction; then the method of fitting the plane is used Vector to correct the normal vector calculated in the first step; finally project the point onto the fitting plane along the direction of the corrected normal vector, that is, adjust the position of the point to the intersection of the corrected normal vector and the fitting plane Th...
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