机载激光雷达点云数据精度分析与评价研究
摘要
机载激光雷达测量技术作为一种信息获取的全新手段,被誉为最近几十年来遥感信息获取领域最具革命性的成就之一。由于该技术能够快速获取高精度、高空间分辨率的数字高程模型。因此,其在灾害监测、环境监测、资源勘查、森林调查、地形测绘等方面的应用具有独特的优势。尽管机载激光雷达测量技术发展已经有近二十年的历史,但其数据后处理的研究还相对滞后,目前多数研究仍集中在如何设计出合理高效的原始点云滤波算法上。而对激光点云三维坐标精度以及其数字高程模型精度的分析也具有很重要的现实意义。
由于机载激光雷达系统是由多个部分组成的,因此其测量结果会受到多种因素的影响,主要包括GPS动态定位的误差、惯性导航系统(INS)姿态测定误差、激光扫描测距系统误差等。而各种因素的综合影响则主要反映在点云数据的精度上。
本文在详细分析机载激光雷达工作原理及其点云数据特点的基础上,探讨研究点云数据的精度问题。本文从点云密度、滤波方式、内插方法几个方面对不同类别地形条件下点云数据的高程精度进行分析,主要包括下列内容：①采用两种数据后处理方法,即三角网滤波与渐进三角网滤波,以检验分析不同滤波方法对生成DEM精度的影响。②采用两种数据形式,一是滤波后以离散点云为基础进行分析；二是滤波后将地面离散点内插生成DEM,而后在此基础上进行分析。③采用的研究方法是在地形类别不同、点云密度不同以及内插方法不同的情况下利用不同数量的地面检查点对点云数据精度进行分析。最终结果便是以上述不同滤波方法、不同点云密度、不同地形条件的组合进行分析,并得出有意的结论。
Airborne Light Detection and Ranging (Airborne LiDAR) is regarded as one of the most revolutionary achievements for collecting remote sensing information as a new means of acquiring information in the recent decades. As the technology can quickly obtain the digital elevation model with high accuracyz and high spatial resolution. Thus, it has a unique advantage in the field of disaster monitoring, environmental monitoring, resource exploration, forest survey, topographic mapping and so on. Although the development of airborne LiDAR has nearly two decades, but the research of data processing is lagging behind. As a result, the most of existing research is still focused on how to design a reasonable and efficient filtering algorithm for the original point cloud.
As the airborne laser radar system is composed of multiple parts, the acquire of point cloud data can be affected by many error sources which include GPS dynamic positioning error, INS attitude measuring error, laser scanning measuring system errors etc. The combined effects of various factors mainly reflected in the accuracy of point cloud data.
The paper studys the problem of point cloud data precision after detailed analyzing the principle of airborne LiDAR and the characteristics of point cloud data. The paper analyses the accuracy of point cloud data from the several aspects of point cloud density, filtering method and interpolation method. It includes the following:①It uses two methods to process the point cloud data and analyse the influence of DEM accuracy with different filtering methods.②It uses two types of data format to analyse the accuracy of point cloud data.One is discrete point cloud, another is DEM that is interpolated with discrete point cloud.③The research method of point-cloud data in precision is using the different number of ground inspections points to analyse the accuracy of point cloud data in the circumstances of different terrain types, different point cloud density and different interpolation methods. It gets the intentionally conclusions from analysing the accuracy of point cloud data with the different filtering methods, the different point cloud density, the different terrain conditions.
由于机载激光雷达系统是由多个部分组成的,因此其测量结果会受到多种因素的影响,主要包括GPS动态定位的误差、惯性导航系统(INS)姿态测定误差、激光扫描测距系统误差等。而各种因素的综合影响则主要反映在点云数据的精度上。
本文在详细分析机载激光雷达工作原理及其点云数据特点的基础上,探讨研究点云数据的精度问题。本文从点云密度、滤波方式、内插方法几个方面对不同类别地形条件下点云数据的高程精度进行分析,主要包括下列内容：①采用两种数据后处理方法,即三角网滤波与渐进三角网滤波,以检验分析不同滤波方法对生成DEM精度的影响。②采用两种数据形式,一是滤波后以离散点云为基础进行分析；二是滤波后将地面离散点内插生成DEM,而后在此基础上进行分析。③采用的研究方法是在地形类别不同、点云密度不同以及内插方法不同的情况下利用不同数量的地面检查点对点云数据精度进行分析。最终结果便是以上述不同滤波方法、不同点云密度、不同地形条件的组合进行分析,并得出有意的结论。
Airborne Light Detection and Ranging (Airborne LiDAR) is regarded as one of the most revolutionary achievements for collecting remote sensing information as a new means of acquiring information in the recent decades. As the technology can quickly obtain the digital elevation model with high accuracyz and high spatial resolution. Thus, it has a unique advantage in the field of disaster monitoring, environmental monitoring, resource exploration, forest survey, topographic mapping and so on. Although the development of airborne LiDAR has nearly two decades, but the research of data processing is lagging behind. As a result, the most of existing research is still focused on how to design a reasonable and efficient filtering algorithm for the original point cloud.
As the airborne laser radar system is composed of multiple parts, the acquire of point cloud data can be affected by many error sources which include GPS dynamic positioning error, INS attitude measuring error, laser scanning measuring system errors etc. The combined effects of various factors mainly reflected in the accuracy of point cloud data.
The paper studys the problem of point cloud data precision after detailed analyzing the principle of airborne LiDAR and the characteristics of point cloud data. The paper analyses the accuracy of point cloud data from the several aspects of point cloud density, filtering method and interpolation method. It includes the following:①It uses two methods to process the point cloud data and analyse the influence of DEM accuracy with different filtering methods.②It uses two types of data format to analyse the accuracy of point cloud data.One is discrete point cloud, another is DEM that is interpolated with discrete point cloud.③The research method of point-cloud data in precision is using the different number of ground inspections points to analyse the accuracy of point cloud data in the circumstances of different terrain types, different point cloud density and different interpolation methods. It gets the intentionally conclusions from analysing the accuracy of point cloud data with the different filtering methods, the different point cloud density, the different terrain conditions.
引文
[1]张小红.机载激光扫描数据滤波及地物提取[D].武汉：武汉大学,2002.
[2]Baltsavias, E. P. A comparison between photogrammetry and laser scanning. ISPRS Journal of Photogrammetry and Remote Sensing,1999b,54(2-3):83-94
[3]Brooks M W, Culpepper E, Guenther G C e t al. Advancements and applications of the SHOALS laser bathymetry system[C]. Proc. ION GPS 98. Nashville, Tenn., Institute of Navigation,1998,9:15～18.
[4]Lillycrop W J, Banic J R. Advancements in the US Army Corps of Engineers Hydrographic Survey Capabilities:The SHOALS System[J]. Marine Geodesy,1993,5.
[5]LaRocque P E,West G R.Airborne laser hydrography:an introduction[C]. Proceedings, ROPME/PERSGA/IHB Workshopon Hydrographic Activities in the ROPME Sea Area and Red Sea. Kuwait City,1999,10:24～27.
[6]尤红建,苏林.基于机载激光扫描数据提取建筑物的研究现状[J].测绘科学,2005,30(5),114-117
[7]Garvin, J. B, Bufton, J, Blair, J. B, Harding, Luthcke. S,1998. Observations of the Earth's topography from the Shuttle Laser Altimeter (SLA):Laser-pulse echo-recoverry measurements of terrestrial surfaces. Phys. Chem.Earth 23(9-10),1053-1068.
[8]Smith, D. E, Zuber, M. T, Frey, HV, Garbin, J. B, Head, J. W, Muhleman, D.O, Pettengill, GH, Phillips, R. J, Solomon, S. C, Topography of the northern hemisphere of Mars from the Mars Orbiter Laser Altimeter. Scince,1998.279(53/57):1686-1692.
[9]Zhao, H. J, Shibasaki, R. Automated registration of ground-based laser range image for reconstructing of urban 3D object IAPRS.1997,32(3-0W2):27-34
[10]Zhao, H. J, Shibasaki, R. A system for reconstructing urban 3D-objects using ground-based laser range and CCD sensor. International Workshop on urban 3D/Multi-media Mapping, Seiken,1999.
[11]Flood, M. Commercial Lidar Technology:The Next Five Years. In Pro. ASPRS Conference 2001 (St. Louis)
[12]陈育伟.机载推帚式机载激光扫描成像系统的分析[J],红外,2003,P3
[13]李树楷,遥感时空信息集成技术及其应用.科学出版社,2003
[14]刘经南、张小红.机载激光扫描测高技术的发展与现状[J],武汉大学学报,2003
[15]梁新廉,张继贤,李海涛,阎平.激光雷达数据特点[D].北京：中国测绘科学研究院,2005
[16]Axelsson P. Processing of Laser Scanner Data-algorithms and Applications[J]. ISPRS Journal of Photogrammetry and Remote Sensing,1999,54(2/3):138—147
[17]张小红,李征航,徐绍栓高精度形变监测的新方法及模型研究.武汉大学学报(信息科学版),2001,Vol26,No.5；451-455
[18]Seeber, G(1993). Satellite geodesy:foundations, methods and application. Degruyter, Berlin, NewYork.531p
[19]罗志清,张惠荣,吴强,李深,机载Lidar技术[D].信息技术,2006
[20]Harding D J, et al. Laser altimeter canopy height profiles methods and validation for closed2canopy, broadleaf forest [J]. Remote Sensing of Environment,2001,76:283～ 297.
[21]Maas H-G. Closed solutions for the determination of parametric building models from invariant moments of airborne laser scanner data[C]. International Archives of Photogrammetry and Remote Sensing,1999,32(Part3—2W5),193～199.
[22]陈松尧,程新文,机载Lidar系统原理及应用综述[D].测绘工程,2007
[23]李树楷,薛永棋,高效三维遥感集成技术系统.科学出版社,2000
[24]李剑文,郝金明,李军正,用伪距法测定PZ-90与WGS-84坐标转换参数[D].测绘通报,2004
[25]Mercer J B, Schnick S. Comparision of DEMs from STAR-3I Interferometric SAR and Scanning Laser [C]. Intermap Technologies Crop White Paper. Cslgary, Alberta, Canada, 2000
[26]Baltsavias, E. P. Airborne laser scanning:basic relation sand formulas. ISPRS Journal of Photogrammetry and Remote Sensing,1999a,54(2-3):199-214.
[27]Kraus, K. Pfeifer, N. Determination of terrain models in wooded areas with airborne laser scanner data. ISPRS Journal of Photogrammetry and Remote Sensing,1998.53(4): 193-203.
[28]张小红.机载激光雷达测量技术理论与方法[M].武汉：武汉大学,2007
[29]Kilian J., Haala N., Englich M.,1996. Capture and evaluation of airborne laser scanner data. Int. Arch. Photogramm and Remote Sensing ⅩⅩⅪ,383-388, Part B3.
[30]Behan A, Maas H-G, Vosselman G. Steps towards Quality Improvement of Airborne Laser Scanner Data. Proceedings of the 26th Annual Conference of the Remote Sensing Society,2000.
[31]龚有亮.基于MicroStation的军用数字地形图编辑和输出系统[D]2002.4,中国人民解放军信息工程大学
[32]Axelsson P. DEM Generation from Laser Scanner Data Using Adaptive TIN Models[A]. International Archives of the Photogrammetry.2000, ⅩⅩⅩⅢ(1):PP.110—117.
[33]黄金浪.基于TerraScan的LiDAR数据研究[J].测绘通报,2007(10,),pp.13—16.
[34]SUI Lichun, Zhao Dan, Xin Qi, Zhang Yi Bin(2008):Development of the Microstation-based LiDAR data processing software. Proceedings of ISPRS, Commission Ⅱ Symposium,2008
[35]Huising E. J GomesPereiraL. M. Errors and accuracy estimates of laser data acquired by various laser scanning systems for topographic applications [J]. ISPRS Journal of Photogrammetry and Remote Sensing,1998(53):245—261
[36]刘经南,张小红,李征航.影响机载激光扫描测高精度的系统误差分析[J].武汉大学学报·信息科学版,2002,27(2),111—117
[37]Maas, H. G. Planimetric and height accuracy of airborne laser scanner data:user requirements and system performance. In Proceeding 49. Photogrammetric Week [J]. 2003. Wichmann Verlag.
[38]梁欣廉,张继贤,李海涛等.激光雷达数据特点[J].遥感信息,2005(3),71—76
[39]Vosselman, G. Slope based filtering of laser altimetry data. In:International Archives of Photogrammetry and Remote Sensing, Vol. ⅩⅩⅩⅢ, Part B3, Amsterdam,2000, pp:935-942。
[40]George, V. Slope based filtering of laser altimetry data. Int.Arch. Photogramm. Remote Sensing,2000.
[41]Lindenberger, J. Laser-profilmessungen zur topographischen Gelandeaufnahme. Deutsche Geodatische Kommission, Reihe C, Heft 400, Munchen 1993.
[42]Petzold B, Reiss P, Stossel W. Laser Scanning-surveying and Mapping Agencies are Using a New Technology for Deviation of Digital Terrain Models [J]. ISPRS Journal of Photogrammetry and Remote Sensing,1999,54(2/3):95-104
[43]Pfeifer N, Reiter T, Briese C, Rieger W. Interpolation of High Quality Ground Models from Laser Scanner Data in Forested Areas. International Archives of Photogrammetry and Remote Sensing, ISPRS Workshop, Vol.32,1999:31-36
[44]Rieger W, Kerschner M, Reiter T, Roads and Buildings from Laser Scanner Data Within a Forest Enterprise [J]. International Archives of Photogrammetry and Remote Sensing, 1999,32(3/W14):185-191
[45]Sohn G, Dowman I.Terrain Surface Reconstruction by the Use of Tetrahedron Model With the MDL Criterion[J]. International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences,2002,34 (A3):336-344
[46]Krzystek P. Filtering of Laser Scanning Data in Forest Areas Using Finite Elements[C]// Proceedings of the ISPRS working group Ⅲ/3 workshop"3-D reconstruction from airborne laser scanner and InSAR data", Institute of Photogrammetry and Remote Sensing, Dredsen University of Technology [s. n],2003
[47]胡鹏,黄杏元,华一新.地理信息系统教程(网络版)[M].武汉：武汉大学出版社,2002.
[48]姜友谊,黎晓.数字地面模型内插方法的优劣分析[J].西安科技学院学报,2001,21(3)：213—216.
[49]王昱,朱长青,史文中.B样条与磨光样条在基于矩形格网的DEM内插中的应用[J].测绘学报,2000,29(3)：240—244.
[50]靳国栋,刘衍聪,牛文杰.距离加权反比插值法和克里金插值法的比较[J].长春工业大学学报,2003,24(3)：53—57.
[51]Bretar, F., M. P. Deseilligny, and M. Roux. Estimating intrinsic accuracy of airborne laser data with local 3D-offsets [J]. IAPRS,2003(34-3/w13).
[2]Baltsavias, E. P. A comparison between photogrammetry and laser scanning. ISPRS Journal of Photogrammetry and Remote Sensing,1999b,54(2-3):83-94
[3]Brooks M W, Culpepper E, Guenther G C e t al. Advancements and applications of the SHOALS laser bathymetry system[C]. Proc. ION GPS 98. Nashville, Tenn., Institute of Navigation,1998,9:15～18.
[4]Lillycrop W J, Banic J R. Advancements in the US Army Corps of Engineers Hydrographic Survey Capabilities:The SHOALS System[J]. Marine Geodesy,1993,5.
[5]LaRocque P E,West G R.Airborne laser hydrography:an introduction[C]. Proceedings, ROPME/PERSGA/IHB Workshopon Hydrographic Activities in the ROPME Sea Area and Red Sea. Kuwait City,1999,10:24～27.
[6]尤红建,苏林.基于机载激光扫描数据提取建筑物的研究现状[J].测绘科学,2005,30(5),114-117
[7]Garvin, J. B, Bufton, J, Blair, J. B, Harding, Luthcke. S,1998. Observations of the Earth's topography from the Shuttle Laser Altimeter (SLA):Laser-pulse echo-recoverry measurements of terrestrial surfaces. Phys. Chem.Earth 23(9-10),1053-1068.
[8]Smith, D. E, Zuber, M. T, Frey, HV, Garbin, J. B, Head, J. W, Muhleman, D.O, Pettengill, GH, Phillips, R. J, Solomon, S. C, Topography of the northern hemisphere of Mars from the Mars Orbiter Laser Altimeter. Scince,1998.279(53/57):1686-1692.
[9]Zhao, H. J, Shibasaki, R. Automated registration of ground-based laser range image for reconstructing of urban 3D object IAPRS.1997,32(3-0W2):27-34
[10]Zhao, H. J, Shibasaki, R. A system for reconstructing urban 3D-objects using ground-based laser range and CCD sensor. International Workshop on urban 3D/Multi-media Mapping, Seiken,1999.
[11]Flood, M. Commercial Lidar Technology:The Next Five Years. In Pro. ASPRS Conference 2001 (St. Louis)
[12]陈育伟.机载推帚式机载激光扫描成像系统的分析[J],红外,2003,P3
[13]李树楷,遥感时空信息集成技术及其应用.科学出版社,2003
[14]刘经南、张小红.机载激光扫描测高技术的发展与现状[J],武汉大学学报,2003
[15]梁新廉,张继贤,李海涛,阎平.激光雷达数据特点[D].北京：中国测绘科学研究院,2005
[16]Axelsson P. Processing of Laser Scanner Data-algorithms and Applications[J]. ISPRS Journal of Photogrammetry and Remote Sensing,1999,54(2/3):138—147
[17]张小红,李征航,徐绍栓高精度形变监测的新方法及模型研究.武汉大学学报(信息科学版),2001,Vol26,No.5；451-455
[18]Seeber, G(1993). Satellite geodesy:foundations, methods and application. Degruyter, Berlin, NewYork.531p
[19]罗志清,张惠荣,吴强,李深,机载Lidar技术[D].信息技术,2006
[20]Harding D J, et al. Laser altimeter canopy height profiles methods and validation for closed2canopy, broadleaf forest [J]. Remote Sensing of Environment,2001,76:283～ 297.
[21]Maas H-G. Closed solutions for the determination of parametric building models from invariant moments of airborne laser scanner data[C]. International Archives of Photogrammetry and Remote Sensing,1999,32(Part3—2W5),193～199.
[22]陈松尧,程新文,机载Lidar系统原理及应用综述[D].测绘工程,2007
[23]李树楷,薛永棋,高效三维遥感集成技术系统.科学出版社,2000
[24]李剑文,郝金明,李军正,用伪距法测定PZ-90与WGS-84坐标转换参数[D].测绘通报,2004
[25]Mercer J B, Schnick S. Comparision of DEMs from STAR-3I Interferometric SAR and Scanning Laser [C]. Intermap Technologies Crop White Paper. Cslgary, Alberta, Canada, 2000
[26]Baltsavias, E. P. Airborne laser scanning:basic relation sand formulas. ISPRS Journal of Photogrammetry and Remote Sensing,1999a,54(2-3):199-214.
[27]Kraus, K. Pfeifer, N. Determination of terrain models in wooded areas with airborne laser scanner data. ISPRS Journal of Photogrammetry and Remote Sensing,1998.53(4): 193-203.
[28]张小红.机载激光雷达测量技术理论与方法[M].武汉：武汉大学,2007
[29]Kilian J., Haala N., Englich M.,1996. Capture and evaluation of airborne laser scanner data. Int. Arch. Photogramm and Remote Sensing ⅩⅩⅪ,383-388, Part B3.
[30]Behan A, Maas H-G, Vosselman G. Steps towards Quality Improvement of Airborne Laser Scanner Data. Proceedings of the 26th Annual Conference of the Remote Sensing Society,2000.
[31]龚有亮.基于MicroStation的军用数字地形图编辑和输出系统[D]2002.4,中国人民解放军信息工程大学
[32]Axelsson P. DEM Generation from Laser Scanner Data Using Adaptive TIN Models[A]. International Archives of the Photogrammetry.2000, ⅩⅩⅩⅢ(1):PP.110—117.
[33]黄金浪.基于TerraScan的LiDAR数据研究[J].测绘通报,2007(10,),pp.13—16.
[34]SUI Lichun, Zhao Dan, Xin Qi, Zhang Yi Bin(2008):Development of the Microstation-based LiDAR data processing software. Proceedings of ISPRS, Commission Ⅱ Symposium,2008
[35]Huising E. J GomesPereiraL. M. Errors and accuracy estimates of laser data acquired by various laser scanning systems for topographic applications [J]. ISPRS Journal of Photogrammetry and Remote Sensing,1998(53):245—261
[36]刘经南,张小红,李征航.影响机载激光扫描测高精度的系统误差分析[J].武汉大学学报·信息科学版,2002,27(2),111—117
[37]Maas, H. G. Planimetric and height accuracy of airborne laser scanner data:user requirements and system performance. In Proceeding 49. Photogrammetric Week [J]. 2003. Wichmann Verlag.
[38]梁欣廉,张继贤,李海涛等.激光雷达数据特点[J].遥感信息,2005(3),71—76
[39]Vosselman, G. Slope based filtering of laser altimetry data. In:International Archives of Photogrammetry and Remote Sensing, Vol. ⅩⅩⅩⅢ, Part B3, Amsterdam,2000, pp:935-942。
[40]George, V. Slope based filtering of laser altimetry data. Int.Arch. Photogramm. Remote Sensing,2000.
[41]Lindenberger, J. Laser-profilmessungen zur topographischen Gelandeaufnahme. Deutsche Geodatische Kommission, Reihe C, Heft 400, Munchen 1993.
[42]Petzold B, Reiss P, Stossel W. Laser Scanning-surveying and Mapping Agencies are Using a New Technology for Deviation of Digital Terrain Models [J]. ISPRS Journal of Photogrammetry and Remote Sensing,1999,54(2/3):95-104
[43]Pfeifer N, Reiter T, Briese C, Rieger W. Interpolation of High Quality Ground Models from Laser Scanner Data in Forested Areas. International Archives of Photogrammetry and Remote Sensing, ISPRS Workshop, Vol.32,1999:31-36
[44]Rieger W, Kerschner M, Reiter T, Roads and Buildings from Laser Scanner Data Within a Forest Enterprise [J]. International Archives of Photogrammetry and Remote Sensing, 1999,32(3/W14):185-191
[45]Sohn G, Dowman I.Terrain Surface Reconstruction by the Use of Tetrahedron Model With the MDL Criterion[J]. International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences,2002,34 (A3):336-344
[46]Krzystek P. Filtering of Laser Scanning Data in Forest Areas Using Finite Elements[C]// Proceedings of the ISPRS working group Ⅲ/3 workshop"3-D reconstruction from airborne laser scanner and InSAR data", Institute of Photogrammetry and Remote Sensing, Dredsen University of Technology [s. n],2003
[47]胡鹏,黄杏元,华一新.地理信息系统教程(网络版)[M].武汉：武汉大学出版社,2002.
[48]姜友谊,黎晓.数字地面模型内插方法的优劣分析[J].西安科技学院学报,2001,21(3)：213—216.
[49]王昱,朱长青,史文中.B样条与磨光样条在基于矩形格网的DEM内插中的应用[J].测绘学报,2000,29(3)：240—244.
[50]靳国栋,刘衍聪,牛文杰.距离加权反比插值法和克里金插值法的比较[J].长春工业大学学报,2003,24(3)：53—57.
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