基于激光点云的隧道中心线自动提取算法
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摘要
目的提出一种基于三维激光点云数据的隧道中心线自动提取方法,解决地铁盾构隧道中心线提取困难、精度低的问题.方法利用共有点坐标换算完成扫描仪坐标系和隧道工程坐标系的统一;截取一定厚度的隧道平面切片,并对切片点云去噪、滤波、投影,得到断面点云;通过改进的最小二乘椭圆拟合法,无需对所有断面点云拟合即可解算出精确的椭圆方程和该断面的中心点,利用二次样条曲线插值得出隧道中心线.结果通过对FARO FOCUS 3D X330获取的地铁隧道点云数据进行实验,笔者提出的方法能快速拟合出隧道断面,自动提取隧道中心线误差小于2.01 mm.结论该算法解决了以往隧道中心线提取方法速度缓慢且精度较差的缺陷,能对隧道施工以及隧道变形检测提供指导和借鉴.
This paper presents a method of rapid extraction of tunnel centerline based on 3 D laser point cloud data which can solve the problem of difficult extraction and low accuracy of the central line of metro shield tunnel.The unification of the coordinate system of the scanner and the tunnel engineering coordinate system is completed by using the common point coordinate conversion.The plane slice of the tunnel with a certain thickness is intercepted,and the slice point cloud is denoised,filtered and projected,and the cross point cloud is obtained.By improved least square ellipse fitting method,without all the section point cloud fitting solution to calculate the exact elliptic equations and the center of the section.It is concluded that the center line of the tunnel using quadratic spline interpolation.Through the experiment of the subway tunnel point cloud data obtained by FARO FOCUS 3 D X330,the method proposed in this paper can fit the tunnel section with higher speed,and the error of automatic extraction of tunnel center line is less than 2.01 mm.This algorithm has solved the defects of slow and accurate extraction method of tunnel centerline,which can provide guidance and reference for tunnel construction and tunnel deformation detection.
This paper presents a method of rapid extraction of tunnel centerline based on 3 D laser point cloud data which can solve the problem of difficult extraction and low accuracy of the central line of metro shield tunnel.The unification of the coordinate system of the scanner and the tunnel engineering coordinate system is completed by using the common point coordinate conversion.The plane slice of the tunnel with a certain thickness is intercepted,and the slice point cloud is denoised,filtered and projected,and the cross point cloud is obtained.By improved least square ellipse fitting method,without all the section point cloud fitting solution to calculate the exact elliptic equations and the center of the section.It is concluded that the center line of the tunnel using quadratic spline interpolation.Through the experiment of the subway tunnel point cloud data obtained by FARO FOCUS 3 D X330,the method proposed in this paper can fit the tunnel section with higher speed,and the error of automatic extraction of tunnel center line is less than 2.01 mm.This algorithm has solved the defects of slow and accurate extraction method of tunnel centerline,which can provide guidance and reference for tunnel construction and tunnel deformation detection.
引文
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[17] 王秀刚,苏建,曹晓宁,等.基于旋转矩阵正交性的转向架6自由度平台位姿正解解算[J].吉林大学学报,2013,43(5):1241-1246.(WANG Xiugang,SU Jian,CAO Xiaoning,et al.Forward kinematics solution of bogie 6-DOF platform based on the orthogonality of rotation matrix [J].Journal of Jilin university,2013,43(5):1241-1246.)
[18] YANG B,FANG L,LI J.Semi-automated extraction and delineation of 3D roads of street scene from mobile laser scanning point clouds [J].ISPRS journal of photogrammetry & remote sensing,2013,79(5):80-93.
[19] MONSERRAT O,CROSETTO M.Deformation measurement using terrestrial laser scanning data and least squares 3D surface matching [J].ISPRS journal of photogrammetry & remote sensing,2008,63(1):142-154.
[2] THEILER P W,SCHINDLER K.Automatic registration of terrestrial laser scanner point clouds using natural planar surfaces [J].ISPRS annals of photogrammetry,remote sensing and spatial information sciences,2012,I-3(I-3):173-178.
[3] CHMELINA K,JANSA J,HESINA G,et al.A 3-D laser scanning system and scan data processing method for the monitoring of tunnel deformations [J].Journal of applied geodesy,2012,6(3/4):177-185.
[4] 李宗平,张永涛,杨钊,等.三维激光扫描技术在隧道变形与断面检测中的应用研究[J].隧道建设,2017,37(3):336-341.(LI Zongping,ZHANG Yongtao,YANG Zhao,et al.Application of 3D laser scanning technology to tunnel deformation monitoring and cross-section detection [J].Tunnel construction,2017,37(3):336-341.)
[5] LENG J,ASUNDI A.Structural health monitoring of smart composite materials by using EFPI and FBG sensors [J].Sensors & actuators a physical,2003,103(3):330-340.
[6] SONI A,ROBSON S,GLEESON B.Structural monitoring for the rail industry using conventional survey,laser scanning and photogrammetry [J].Applied geomatics,2015,7(2):123-138.
[7] LIANG X,HYYPP J,KAARTINEN H,et al.Detecting changes in forest structure over time with bi-temporal terrestrial laser scanning data [J].ISPRS international journal of geo-information,2012,1(3):242-255.
[8] BUDRONI A.Automatic model reconstruction of indoor Manhattan-world scenes from dense laser range data [J].Laryngoscope,2013,120(S3):S104.
[9] LIU S,LIU W,ZHOU Y.A tunnel overall deformation monitoring method and its application [J].Geomatics & information science of Wuhan university,2014,39(8):981-986.
[10] YANG B,ZANG Y.Automated registration of dense terrestrial laser-scanning point clouds using curves [J].ISPRS journal of photogrammetry & remote sensing,2014,95(3):109-121.
[11] 尤相骏,成俊.一种真圆型隧道激光扫描断面变形检测新方法的研究[J].隧道建设,2017,37(7):794-802.(YOU Xiangjun,CHENG Jun.Study of a new proper circular tunnel cross-section deformation detection method based on 3D laser scanning technology [J].Tunnel construction,2017,37(7):794-802.)
[12] 何丽娜,王解先.隧道断面中心线形确定的方法讨论[J].工程勘察,2009,37(9):77-80.(HE Lina,WANG Xiexian.Discussion on different methods of tunnel line type determination [J].Geotechnical investigation & surveying,2009,37(9):77-80.)
[13] 朱宁宁.三维激光扫描在地铁隧道形变监测中的应用[J].测绘工程,2015(5):63-68.(ZHU Ningning.Application of 3D laser scanning to the subway tunnel deformation monitoring [J].Engineering of surveying and mapping,2015(5):63-68.)
[14] 托雷.基于三维激光扫描数据的地铁隧道变形监测[D].北京:中国地质大学(北京),2012.(TUO Lei.Subway tunnel deformation monitoring based on 3D laser scanning data [D].Beijing:China University of Geosciences,Beijing,2012.)
[15] 周彬.盾构隧道通用管片拟合排版和动态纠偏实现方法研究与分析[D].南昌:华东交通大学,2009.(ZHOU Bin.Research and analysis on the method of fitting and typesetting and dynamic correction of general segments of shield tunnel [D].Nanchang:East China Jiaotong University,2009.)
[16] 胡琦佳.三维激光扫描技术在隧道工程监测中的应用研究[D].成都:西南交通大学,2013.(HU Qijia.Research on the application of 3D laser scanning technology in the tunnel deformation monitoring [D].Chengdu:South-west Jiaotong University,2013.)
[17] 王秀刚,苏建,曹晓宁,等.基于旋转矩阵正交性的转向架6自由度平台位姿正解解算[J].吉林大学学报,2013,43(5):1241-1246.(WANG Xiugang,SU Jian,CAO Xiaoning,et al.Forward kinematics solution of bogie 6-DOF platform based on the orthogonality of rotation matrix [J].Journal of Jilin university,2013,43(5):1241-1246.)
[18] YANG B,FANG L,LI J.Semi-automated extraction and delineation of 3D roads of street scene from mobile laser scanning point clouds [J].ISPRS journal of photogrammetry & remote sensing,2013,79(5):80-93.
[19] MONSERRAT O,CROSETTO M.Deformation measurement using terrestrial laser scanning data and least squares 3D surface matching [J].ISPRS journal of photogrammetry & remote sensing,2008,63(1):142-154.