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遥感技术与应用  2021, Vol. 36 Issue (6): 1294-1298    DOI: 10.11873/j.issn.1004-0323.2021.6.1294
LiDAR专栏     
输电通道机载激光点云多级配准研究
杜伟1(),刘洋2,杨国柱1,王和平1,李致东1,李俊磊1,习晓环2()
1.国网通用航空有限公司,北京 102209
2.中国科学院空天信息创新研究院 数字地球重点实验室,北京 100094
A Multi-level Registration Method of Transmission Corridor from Airborne LiDAR Point Cloud
Wei Du1(),Yang Liu2,Guozhu Yang1,Heping Wang1,Zhidong Li1,Junlei Li1,Xiaohuan Xi2()
1.National Grid General Aviation Company Limited,Beijing 102209,China
2.Key Laboratory of Digital Earth,Aerospace Information Research Institute,Chinese Academy of Sciences,Beijing 100094,China
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摘要:

机载LiDAR在输电通道变化检测应用中的关键是多时相点云的高效高精度配准,实验将PCA主轴变换与改进ICP算法相结合提出一种多级配准方法。首先基于输电通道杆塔不易形变的特点,采用PCA算法计算对应杆塔点云的3个主轴向量,通过校正主轴方向得到两组杆塔点云的粗略位姿变换关系,然后利用改进搜索和收敛策略的ICP方法实现精配准,最后将变换参数应用于全局完成多期点云的精配准。实验表明,该方法在效率和精度方面都得到较大提升,配准前后的平均点位误差可以减小约94%。

关键词: 机载激光雷达多级配准杆塔点云主轴向量输电通道    
Abstract:

Time series point clouds registration of transmission corridor area is an important task and problem in airborne LiDAR inspection application. This paper presents a multi-level registration method combining PCA transformation and improved ICP algorithm according to the key elements of transmission corridor. It is based on the characteristics that the power towers are not easy to deform. Firstly, PCA algorithm is used to calculate the three principle axis vectors of the corresponding power tower point cloud. By correcting the direction of the main axis, the approximate pose transformation of two power towers point clouds can be obtained. After the coarse registration, the ICP method with improved search and convergence strategies is used to achieve fine registration. Finally, the transformation parameters are applied to the total registration to achieve fast and accurate registration of the transmission corridor point cloud. The experiment shows that the processing efficiency is improved and the average point-to-point spacing distance is reduced by more than 94% after registration, which meets the demands of subsequent applications and has practical application significance.

Key words: Airborne LiDAR    Multi-level registration    Power tower point cloud    Main axis vector    Transmission corridor
收稿日期: 2020-06-24 出版日期: 2022-01-26
ZTFLH:  TP75  
基金资助: 国网通用航空有限公司科技项目(2400/2019?44003B)
通讯作者: 习晓环     E-mail: 532779775@qq.com;xixh@radi.ac.cn
作者简介: 杜伟(1982-),男,山东临沂人,高级工程师,主要从事输电线路运输、建设技术与管理、航空电力作业技术与管理研究。E?mail:532779775@qq.com
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引用本文:

杜伟,刘洋,杨国柱,王和平,李致东,李俊磊,习晓环. 输电通道机载激光点云多级配准研究[J]. 遥感技术与应用, 2021, 36(6): 1294-1298.

Wei Du,Yang Liu,Guozhu Yang,Heping Wang,Zhidong Li,Junlei Li,Xiaohuan Xi. A Multi-level Registration Method of Transmission Corridor from Airborne LiDAR Point Cloud. Remote Sensing Technology and Application, 2021, 36(6): 1294-1298.

链接本文:

http://www.rsta.ac.cn/CN/10.11873/j.issn.1004-0323.2021.6.1294        http://www.rsta.ac.cn/CN/Y2021/V36/I6/1294

图1  输电通道机载LiDAR点云多级配准流程
图2  反向示例
图3  两期实验数据俯视图(按高程显示,单位:m)
图4  配准前后正视图
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