机载激光点云中高压电塔自动识别方法
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摘要
提出了一种基于格网特征的机载激光点云高压电塔自动识别方法。首先对机载激光点云数据进行滤波去噪处理;然后对点云数据进行规则格网化特征分析获得高压电塔粗识别区域;最后对粗识别区域进行外接邻域网格线性特征悬空点集检测以确定电塔识别结果,并以分层切片法分析获取电塔平面中心坐标。采用大型无人机实际线路巡检获取的机载点云数据对本文算法进行验证,试验结果表明本算法可实现高压电塔的快速自动识别,对无人机电力巡检智能诊断具有一定的促进作用。
In this paper,a method is proposed to recognize the transmission high voltage towers automatically in ALS point cloud.Firstly,we denoise the ALS data with statistical method.Secondly,we calculate and analyze 2D grid features to extract the rough area of transmission towers.Finally,we recognize the transmission towers from rough tower areas by confirming the bounding grids with linear feature,and calculate the 2D tower center by hierarchical slicing analysis.The proposed method is validated with the transmission line ALS data obtained by the actual inspection of the large-scale unmanned helicopter. Experiment shows that the proposed method recognizes the transmission towers automatically and effectively,which means the proposed method can be applied to processing actual transmission inspection ALS data.
In this paper,a method is proposed to recognize the transmission high voltage towers automatically in ALS point cloud.Firstly,we denoise the ALS data with statistical method.Secondly,we calculate and analyze 2D grid features to extract the rough area of transmission towers.Finally,we recognize the transmission towers from rough tower areas by confirming the bounding grids with linear feature,and calculate the 2D tower center by hierarchical slicing analysis.The proposed method is validated with the transmission line ALS data obtained by the actual inspection of the large-scale unmanned helicopter. Experiment shows that the proposed method recognizes the transmission towers automatically and effectively,which means the proposed method can be applied to processing actual transmission inspection ALS data.
引文
[1]韩文军.机载Li DAR数据的电力塔建模方法研究[J].长江科学院院报,2012,29(10):122-126.
[2]陈智鹏,兰增荣,隆华平,等.一种支持向量机的机载激光点云电力塔自动分类与三维建模方法[C]∥第十八届中国遥感大会.武汉:[s.n.],2012.
[3]郭贞.基于快速高效启发式聚类算法的电力杆塔检测研究[D].北京:华北电力大学,2012.
[4] ASHIDATE S,MURASHIMA S,FUJII N.Development of a helicopter mounted eye-safe laser radar system for distance measurement between power transmission lines and nearby tree[J]. IEEE Transactions on Power Delivery,2001,17(2):644-648
[5]董震,杨必胜.车载激光扫描数据中多类目标的层次化提取方法[J].测绘学报,2015,44(9):980-987.
[6]彭向阳,宋爽,钱金菊,等.无人机激光扫描作业杆塔位置提取算法[J].电网技术,2017(11):3670-3677.
[7]叶岚,刘倩,胡庆武.基于LIDAR点云数据的电力线提取和拟合方法研究[J].测绘与空间地理信息,2010,33(5):30-34.
[8]游安清,韩晓言,李世平,等.激光点云中输电线拟合与杆塔定位方法研究[J].计算机科学,2013,40(4):298-300.
[9]赖广陵,秦志远,丁璐.车载Li DAR数据电力线与塔杆提取方法[J].测绘科学技术学报,2016,33(6):617-622.
[10]林祥国,张继贤.架空输电线路机载激光雷达点云电力线三维重建[J].测绘学报,2016,45(3):347-353.
[11]韩冰,尚方.面向无人机输电线路巡检的电力杆塔检测框架模型[J].浙江电力,2016,35(4):6-11.
[12]郑敏辉,臧玉府,梁福逊,等.不同场景的地面激光点云配准方法研究[J].测绘通报,2015(8):30-34.
[13] BIOSCA J M,LERMA J L. Unsupervised robust planar segmentation of terrestrial laser scanner point clouds based on fuzzy clustering methods[J]. ISPRS Journal of Photogrammetry&Remote Sensing,2008,63(1):84-98.
[14] ERGUN B. A Novel 3D geometric object filtering function for application in indoor area with terrestrial laser scanning data[J]. Optics&Laser Technology,2010,42(5):799-804.
[15] KUMARI P,CARTER W E,SHRESTHA R L.Adjustment of systematic errors in ALS data through surface matching[J]. Advances in Space Research,2011,47(10):1851-1864.
[16]郝慧丽,刘先勇.含噪点云预处理技术研究[J].微型机与应用,2012,31(12):68-70.
[2]陈智鹏,兰增荣,隆华平,等.一种支持向量机的机载激光点云电力塔自动分类与三维建模方法[C]∥第十八届中国遥感大会.武汉:[s.n.],2012.
[3]郭贞.基于快速高效启发式聚类算法的电力杆塔检测研究[D].北京:华北电力大学,2012.
[4] ASHIDATE S,MURASHIMA S,FUJII N.Development of a helicopter mounted eye-safe laser radar system for distance measurement between power transmission lines and nearby tree[J]. IEEE Transactions on Power Delivery,2001,17(2):644-648
[5]董震,杨必胜.车载激光扫描数据中多类目标的层次化提取方法[J].测绘学报,2015,44(9):980-987.
[6]彭向阳,宋爽,钱金菊,等.无人机激光扫描作业杆塔位置提取算法[J].电网技术,2017(11):3670-3677.
[7]叶岚,刘倩,胡庆武.基于LIDAR点云数据的电力线提取和拟合方法研究[J].测绘与空间地理信息,2010,33(5):30-34.
[8]游安清,韩晓言,李世平,等.激光点云中输电线拟合与杆塔定位方法研究[J].计算机科学,2013,40(4):298-300.
[9]赖广陵,秦志远,丁璐.车载Li DAR数据电力线与塔杆提取方法[J].测绘科学技术学报,2016,33(6):617-622.
[10]林祥国,张继贤.架空输电线路机载激光雷达点云电力线三维重建[J].测绘学报,2016,45(3):347-353.
[11]韩冰,尚方.面向无人机输电线路巡检的电力杆塔检测框架模型[J].浙江电力,2016,35(4):6-11.
[12]郑敏辉,臧玉府,梁福逊,等.不同场景的地面激光点云配准方法研究[J].测绘通报,2015(8):30-34.
[13] BIOSCA J M,LERMA J L. Unsupervised robust planar segmentation of terrestrial laser scanner point clouds based on fuzzy clustering methods[J]. ISPRS Journal of Photogrammetry&Remote Sensing,2008,63(1):84-98.
[14] ERGUN B. A Novel 3D geometric object filtering function for application in indoor area with terrestrial laser scanning data[J]. Optics&Laser Technology,2010,42(5):799-804.
[15] KUMARI P,CARTER W E,SHRESTHA R L.Adjustment of systematic errors in ALS data through surface matching[J]. Advances in Space Research,2011,47(10):1851-1864.
[16]郝慧丽,刘先勇.含噪点云预处理技术研究[J].微型机与应用,2012,31(12):68-70.