Denoising method and device for point cloud data and storage medium

Abstract

The invention discloses a denoising method and a device for point cloud data and a storage medium. The method comprises the following steps: obtaining a to-be-denoised power line point cloud, and carrying out the coarse extraction of the to-be-denoised power line point cloud, and obtaining a coarse extraction point cloud; calculating the center of mass of the coarsely extracted point cloud, and performing coordinate transformation and screening on the coarsely extracted point cloud according to the center of mass to obtain an intermediate power line point cloud; and performing coordinate reduction transformation on the intermediate power line point cloud to obtain a target power line point cloud. According to the method provided by the embodiment of the invention, the point cloud data is compressed along the power line direction in a coordinate transformation manner, so that the aggregation degree of the power line point cloud is improved, noise points influencing subsequent operation are removed as many as possible on the premise of keeping the integrity of the power line data, and the denoising accuracy and effect are improved; the processed point cloud data has higher robustness, better data is provided for subsequent point cloud processing work, and the convenience is brought to users.

Description

technical field [0001] The present invention relates to the field of computer technology, in particular to a method, device and storage medium for denoising point cloud data. Background technique [0002] With economic development and social progress, the scale of transmission lines is also increasing day by day. In order to prevent and discover hidden defects in distribution lines early, the importance of power line inspection and tree barrier analysis is increasing day by day. With the new type of UAV measurement With the development of means, more and more inspections are carried out around oblique image acquisition and laser scanning. During the scanning process of the instrument, due to the laser scanner itself, the quality of the scanned object, and other external factors, etc. Some scattered points, holes and other noises will affect the overall quality of the data and have a great impact on the subsequent related digital geometry processing. [0003] Using the denoi...

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Problems solved by technology

[0007] The technical problem to be solved by the present invention is to provide a denoising method for point cloud data in view of the above-mentioned defects of the prior art, aiming at solving the difficulty in removing noise points close to the power line in the prior art and the difficulty in ensuring no damage Under the premise of the original point cloud, the problem of removing relatively dense noise points

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