M估计的稳健平面标靶中心定位算法
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摘要
标靶对地面激光扫描仪多测站点云配准,以及在全球卫星导航信号不良状况下改善移动激光雷达系统精度具有重要作用,标靶的精确提取与定位是关键问题之一。提出基于M估计的标靶中心定位方法:根据标靶与周围环境反射强度差异,构建强度变化率特征,提取标靶边缘点云;对标靶候选区域点云进行主成分分析,计算标靶平面法向量,对标靶边缘点云进行投影变换;通过M估计选权迭代法,剔除标靶噪声与粗差点云,拟合标靶形状,精确定位标靶中心。试验表明,本文算法能够在标靶存在冗余、缺损状态时排除非标靶圆形边缘的粗差点,获得高精度标靶中心。
Target plays an important role in the multi-site cloud registration of terrestrial laser scanner and the improvement of the precision of mobile Li DAR( light detection and ranging) system under the bad condition of global navigation satellite system( GNSS) signal. One of the key problem is to extract and locate the target accurately. A target center location method based on M estimation is proposed. Firstly,the characteristic of the rate of intensity change is constructed to extract the edge point cloud of the target according to the difference between the target and the surrounding environment. Then,the principal component analysis is carried out to the point cloud of the target region,the target plane normal vector is calculated and the projection transformation is used to the edge point cloud of the target. Finally,M estimation,the method of weighted iteration,is used to eliminate the target noise and outlier cloud points,fit the target shape and locate the target center accurately. The experiments show that the algorithm can eliminate the gross errors of the non-standard circular target edges and obtain a high precision target center when the target is redundant and defective.
Target plays an important role in the multi-site cloud registration of terrestrial laser scanner and the improvement of the precision of mobile Li DAR( light detection and ranging) system under the bad condition of global navigation satellite system( GNSS) signal. One of the key problem is to extract and locate the target accurately. A target center location method based on M estimation is proposed. Firstly,the characteristic of the rate of intensity change is constructed to extract the edge point cloud of the target according to the difference between the target and the surrounding environment. Then,the principal component analysis is carried out to the point cloud of the target region,the target plane normal vector is calculated and the projection transformation is used to the edge point cloud of the target. Finally,M estimation,the method of weighted iteration,is used to eliminate the target noise and outlier cloud points,fit the target shape and locate the target center accurately. The experiments show that the algorithm can eliminate the gross errors of the non-standard circular target edges and obtain a high precision target center when the target is redundant and defective.
引文
1蔡来良,杨望山,王姗姗.地下移动激光扫描系统平面合作标靶设计研究[J].测绘通报,2016(增刊2):234-237Cai Lailiang,Yang Wangshan,Wang Shanshan.Research on plane target for underground mobile laser scanning system[J].Bulletin of Surveying and Mapping,2016(S2):234-237
2李永强,郭增长,刘会云,等.地下空间移动激光测量系统研发[J].煤矿开采,2016,21(2):83-86Li Yongqiang,Guo Zengzhang,Liu Huiyun,et al.Development of underground space transportable laser surveying system[J].Coal Mining Technology,2016,21(2):83-86
3 Mao Q Z,Zhang L,Li Q Q,et al.A least squares collocation method for accuracy improvement of mobile Li DAR systems[J].Remote Sensing,2015,7(6):7402-7424
4官云兰,程效军,陈晓勇,等.地面Li DAR平面标靶稳健定位[J].激光杂志,2015,36(1):13-16Guan Yunlan,Cheng Xiaojun,Chen Xiaoyong,et al.Robust location for planar target of terrestrial Li DAR[J].Laser Journal,2015,36(1):13-16
5刘燕萍,贾东峰.基于点云属性信息的平面标靶特征提取[J].中国图象图形学报,2015,20(6):815-821Liu Yanping,Jia Dongfeng.Feature extraction of flat target based on point cloud attribute information[J].Journal of Image and Graphics,2015,20(6):815-821
6陈西江,花向红,杨荣华,等.分带K-均值聚类的平面标靶定位[J].武汉大学学报(信息科学版),2013,38(2):167-170Chen Xijiang,Hua Xianghong,Yang Ronghua,et al.Plannar target location based on the zoning K-means clustering[J].Geomatics and Information Science of Wuhan University,2013,38(2):167-170
7陈俊杰,闫伟涛.基于激光点云的平面标靶中心坐标提取方法研究[J].工程勘察,2013(8):53-57Chen Junjie,Yan Weitao.Research on algorithm for extraction of target center coordinates based on point cloud[J].Geotechnical Investigation&Surveying,2013(8):53-57
8薛晓璐,林欢.基于RANSAC的残缺平面标靶稳健定位方法[J].测绘工程,2016,25(4):51-54Xue Xiaolu,Lin Huan.A roubst location method of incomplete planar target based on RANSAC[J].Engineering of Surveying and Mapping,2016,25(4):51-54
9付永健,李宗春,何华.稳健的回光反射平面靶心定位算法[J].地球信息科学学报,2018,20(4):422-429Fu Yongjian,Li Zongchun,He Hua.A robust algorithm of retro-reflective olanar target center positioning[J].Journal of Geo-information Science,2018,20(4):422-429
10朱宁宁,卢小平,李向阳,等.一种平面靶心的提取算法[J].大地测量与地球动力学,2014,34(3):173-177Zhu Ningning,Lu Xiaoping,Li Xiangyang,et al.A new algorithm extracting plannar target center[J].Journal of Geodesy and Geodynamics,2014,34(3):173-177
11权力奥.基于整体最小二乘的标靶特征提取算法研究[D].重庆:重庆大学,2017Quan Li'ao.Research on target feature extraction algorithm based on total least squares[D].Chongqing:Chongqing University,2017
12胡圣武,肖本林.现代测量数据处理理论与应用[M].北京:测绘出版社,2016:214-215Hu Shengwu,Xiao Benlin.Modern theory and application of surveying data processing[M].Beijing:Surveying and Mapping Press,2016:214-215
2李永强,郭增长,刘会云,等.地下空间移动激光测量系统研发[J].煤矿开采,2016,21(2):83-86Li Yongqiang,Guo Zengzhang,Liu Huiyun,et al.Development of underground space transportable laser surveying system[J].Coal Mining Technology,2016,21(2):83-86
3 Mao Q Z,Zhang L,Li Q Q,et al.A least squares collocation method for accuracy improvement of mobile Li DAR systems[J].Remote Sensing,2015,7(6):7402-7424
4官云兰,程效军,陈晓勇,等.地面Li DAR平面标靶稳健定位[J].激光杂志,2015,36(1):13-16Guan Yunlan,Cheng Xiaojun,Chen Xiaoyong,et al.Robust location for planar target of terrestrial Li DAR[J].Laser Journal,2015,36(1):13-16
5刘燕萍,贾东峰.基于点云属性信息的平面标靶特征提取[J].中国图象图形学报,2015,20(6):815-821Liu Yanping,Jia Dongfeng.Feature extraction of flat target based on point cloud attribute information[J].Journal of Image and Graphics,2015,20(6):815-821
6陈西江,花向红,杨荣华,等.分带K-均值聚类的平面标靶定位[J].武汉大学学报(信息科学版),2013,38(2):167-170Chen Xijiang,Hua Xianghong,Yang Ronghua,et al.Plannar target location based on the zoning K-means clustering[J].Geomatics and Information Science of Wuhan University,2013,38(2):167-170
7陈俊杰,闫伟涛.基于激光点云的平面标靶中心坐标提取方法研究[J].工程勘察,2013(8):53-57Chen Junjie,Yan Weitao.Research on algorithm for extraction of target center coordinates based on point cloud[J].Geotechnical Investigation&Surveying,2013(8):53-57
8薛晓璐,林欢.基于RANSAC的残缺平面标靶稳健定位方法[J].测绘工程,2016,25(4):51-54Xue Xiaolu,Lin Huan.A roubst location method of incomplete planar target based on RANSAC[J].Engineering of Surveying and Mapping,2016,25(4):51-54
9付永健,李宗春,何华.稳健的回光反射平面靶心定位算法[J].地球信息科学学报,2018,20(4):422-429Fu Yongjian,Li Zongchun,He Hua.A robust algorithm of retro-reflective olanar target center positioning[J].Journal of Geo-information Science,2018,20(4):422-429
10朱宁宁,卢小平,李向阳,等.一种平面靶心的提取算法[J].大地测量与地球动力学,2014,34(3):173-177Zhu Ningning,Lu Xiaoping,Li Xiangyang,et al.A new algorithm extracting plannar target center[J].Journal of Geodesy and Geodynamics,2014,34(3):173-177
11权力奥.基于整体最小二乘的标靶特征提取算法研究[D].重庆:重庆大学,2017Quan Li'ao.Research on target feature extraction algorithm based on total least squares[D].Chongqing:Chongqing University,2017
12胡圣武,肖本林.现代测量数据处理理论与应用[M].北京:测绘出版社,2016:214-215Hu Shengwu,Xiao Benlin.Modern theory and application of surveying data processing[M].Beijing:Surveying and Mapping Press,2016:214-215