机载LIDAR数据滤波与建筑物提取技术研究
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摘要
机载LIDAR(Light Detection and Ranging)技术是一种崭新的遥感技术,它给人们带来了新型的观测手段和测量方法,为地形测绘提供了新途径,也为突破某些传统测绘手段很难解决的测绘难题带来了新的希望。本文旨在研究机载LIDAR数据应用于DEM(DigitalElevation Model)、DSM(Digital Surface Model)的生产以及在城市三维建模中的潜力,对其中的关键处理技术——数据滤波与建筑物提取进行了深入的分析和研究,自主开发了一套基本功能完整的机载LIDAR数据处理系统——Lidar-Fire。
本文的主要工作和创新点如下:
1.回顾了机载LIDAR系统及其数据后处理技术的发展概况;介绍了国际上具有代表性的机载LIDAR数据处理软件TerraScan的主要功能,指出了我国目前在这一领域的不足和技术难点;对机载LIDAR系统的基本组成及其工作原理进行了阐述,深入分析了机载LIDAR系统的主要数据误差源及其改正模型。
2.实现了基于多分辨率分析的滤波算法、分层稳健线性估计滤波算法以及基于渐进窗口尺寸的数学形态学滤波算法等典型滤波算法,并进行了实验,在此基础上引入了逐行双向标识算法——OBL(One-dimensional and Bidirectional Labelling),并对之进行改进,提出了改进的OBL算法——POBL(Progressive One-dimensionaland Bidirectional Labelling第—)。该算法在滤波过程中引入了多种判断尺度,克服了现有滤波算法判断尺度单一,无法适应复杂地形环境的缺点,有效的提高了在复杂背景环境下数据滤波的准确率。
3.提出了临近关系尺度,利用该尺度有效地分离了建筑物表面点和植被表面点,解决了现有算法在实现建筑物表面点与植被表面点分离时过分离和欠分离的问题;引入了R半径密度概念,实现了准确而快速的建筑物脚点分割。
4.提出了基于最小外接矩形的建筑物三维重建算法,该算法较好地克服了基于不变力矩的建筑物三维重建算法对数据质量的要求和依赖,实现了自由度较高、速度较快的建筑物三维重建的目的。
5.实现了基于数据驱动的建筑物三维重建算法,在此基础上提出了基于混合模型的建筑物三维重建算法,即在建筑物三维重建过程中,同时利用模型驱动式建筑物三维重建算法和数据驱动式建筑物三维重建算法,在可对多种结构模型的建筑物进行三维重建的前提下,有效的提高了重建速度。
6.开发了一套功能基本完整的机载LIDAR数据处理系统LIDAR-Fire。利用该系统对德国Narrode地区以及英国Birmingham的多块数据进行了处理实验,并对试验结果进行了分析和统计,与国外专业处理软件进行了对比性分析。实验结果表明:该系统性能稳定、精度可靠、正确性均已达到国际相关的、先进数据处理软件的水平。
The airborne LIDAR(Light Detection and Ranging) is a brand-new technology of remote sensing, which gives people a new way of observation and a new means of measurement, affords a new approach for terrain mapping and bring a new hope to overcoming problems which aren't settled out with some traditional survey mapping ways. In this thesis, the potential applications in obtaining DEM(Digital Elevation Model),DSM(Digital Surface Model) from data gotten by airborne LIDAR are studied and the capabilities with three-dimensional building modeling from data gotten by airborne LIDAR are studied too and the corresponding key techniques of processing data including data filtering and building modeling are analyzed and studied. A system with nealy all functions for data processing is finished on our own which is named by Lidar-Fire.
The primary works and innovations are included as:
1. The development of the system of airborne LIDAR and its data proessing are reviewed. A classic software named by TerraScan for processing data from airborne LIDAR is introduced and based on which the our deficiencies in proessing data from airborne LIDAR are pointed out. The basic components of airborne LIDAR are described and its working principle is expatiated. The factors which cause errors in source data are analyzed and the models for correcting errors are given.
2. The arithmetics of wavelet filter, hierarchy robust adjustment filter and a progressive morphological filter are experimented with data in Germany and Britain and based on which the arithmetic of POBL (Progressive One- dimensional and Bidirectional Labelling) filter is setted forth which is improved on OBL(One- dimensional and Bidirectional Labelling) fileter. With POBL filter, we apply many criterions in the processing and filter data under the complex environments and resolve problems which are encountered with other filter in existence.
3. A new measure named neighbor relations is put forward to pick up footprints of building and as a result points on vegetation surface are effectively separated and eliminated from points on building surface. The r- radius point density is introduced to choose seed point which lie in each building roof and as a result the perform efficiency in data segmentation is advanced.
4. A new building modeling with tangent rectangular is put forward with which the demand and dependences on the quality of data are reduced.
5. A arithmetic of building modeling with data driven way is experimented and based on which, a hybrid building modeling way is setted forth with which both arithmetics of data driven way and model driven way are utilized to rebuild different structure building.
6. A software system with nealy all functions for data processing is finished which is named by LIDAR-Fire. Several blocks of data in Narrode Germany and Birmingham England are processed with LIDAR-Fire and TerraScan respectively and their results are compared to each other. As a result, it is indicated that the LidarProcess System is of stabilization, reliable precision and its velocity of processing data and its correctness aren't worse than advanced softwares in existence.
本文的主要工作和创新点如下:
1.回顾了机载LIDAR系统及其数据后处理技术的发展概况;介绍了国际上具有代表性的机载LIDAR数据处理软件TerraScan的主要功能,指出了我国目前在这一领域的不足和技术难点;对机载LIDAR系统的基本组成及其工作原理进行了阐述,深入分析了机载LIDAR系统的主要数据误差源及其改正模型。
2.实现了基于多分辨率分析的滤波算法、分层稳健线性估计滤波算法以及基于渐进窗口尺寸的数学形态学滤波算法等典型滤波算法,并进行了实验,在此基础上引入了逐行双向标识算法——OBL(One-dimensional and Bidirectional Labelling),并对之进行改进,提出了改进的OBL算法——POBL(Progressive One-dimensionaland Bidirectional Labelling第—)。该算法在滤波过程中引入了多种判断尺度,克服了现有滤波算法判断尺度单一,无法适应复杂地形环境的缺点,有效的提高了在复杂背景环境下数据滤波的准确率。
3.提出了临近关系尺度,利用该尺度有效地分离了建筑物表面点和植被表面点,解决了现有算法在实现建筑物表面点与植被表面点分离时过分离和欠分离的问题;引入了R半径密度概念,实现了准确而快速的建筑物脚点分割。
4.提出了基于最小外接矩形的建筑物三维重建算法,该算法较好地克服了基于不变力矩的建筑物三维重建算法对数据质量的要求和依赖,实现了自由度较高、速度较快的建筑物三维重建的目的。
5.实现了基于数据驱动的建筑物三维重建算法,在此基础上提出了基于混合模型的建筑物三维重建算法,即在建筑物三维重建过程中,同时利用模型驱动式建筑物三维重建算法和数据驱动式建筑物三维重建算法,在可对多种结构模型的建筑物进行三维重建的前提下,有效的提高了重建速度。
6.开发了一套功能基本完整的机载LIDAR数据处理系统LIDAR-Fire。利用该系统对德国Narrode地区以及英国Birmingham的多块数据进行了处理实验,并对试验结果进行了分析和统计,与国外专业处理软件进行了对比性分析。实验结果表明:该系统性能稳定、精度可靠、正确性均已达到国际相关的、先进数据处理软件的水平。
The airborne LIDAR(Light Detection and Ranging) is a brand-new technology of remote sensing, which gives people a new way of observation and a new means of measurement, affords a new approach for terrain mapping and bring a new hope to overcoming problems which aren't settled out with some traditional survey mapping ways. In this thesis, the potential applications in obtaining DEM(Digital Elevation Model),DSM(Digital Surface Model) from data gotten by airborne LIDAR are studied and the capabilities with three-dimensional building modeling from data gotten by airborne LIDAR are studied too and the corresponding key techniques of processing data including data filtering and building modeling are analyzed and studied. A system with nealy all functions for data processing is finished on our own which is named by Lidar-Fire.
The primary works and innovations are included as:
1. The development of the system of airborne LIDAR and its data proessing are reviewed. A classic software named by TerraScan for processing data from airborne LIDAR is introduced and based on which the our deficiencies in proessing data from airborne LIDAR are pointed out. The basic components of airborne LIDAR are described and its working principle is expatiated. The factors which cause errors in source data are analyzed and the models for correcting errors are given.
2. The arithmetics of wavelet filter, hierarchy robust adjustment filter and a progressive morphological filter are experimented with data in Germany and Britain and based on which the arithmetic of POBL (Progressive One- dimensional and Bidirectional Labelling) filter is setted forth which is improved on OBL(One- dimensional and Bidirectional Labelling) fileter. With POBL filter, we apply many criterions in the processing and filter data under the complex environments and resolve problems which are encountered with other filter in existence.
3. A new measure named neighbor relations is put forward to pick up footprints of building and as a result points on vegetation surface are effectively separated and eliminated from points on building surface. The r- radius point density is introduced to choose seed point which lie in each building roof and as a result the perform efficiency in data segmentation is advanced.
4. A new building modeling with tangent rectangular is put forward with which the demand and dependences on the quality of data are reduced.
5. A arithmetic of building modeling with data driven way is experimented and based on which, a hybrid building modeling way is setted forth with which both arithmetics of data driven way and model driven way are utilized to rebuild different structure building.
6. A software system with nealy all functions for data processing is finished which is named by LIDAR-Fire. Several blocks of data in Narrode Germany and Birmingham England are processed with LIDAR-Fire and TerraScan respectively and their results are compared to each other. As a result, it is indicated that the LidarProcess System is of stabilization, reliable precision and its velocity of processing data and its correctness aren't worse than advanced softwares in existence.
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