【优秀硕士博士论文】点云降噪与采样技术的研究及应用.doc

硕士学位论文 点云降噪与采样技术的研究及应用 Reasearch and Application of Techniques on Point Cloud Smoothing and Sampling 学科专业：机械电子工程 2009年2月 论文题目：点云降噪与采样技术的研究及应用 学科专业：机械电子工程 摘 要 三维扫描技术和设备的发展，使得目前获取点云数据的速度和精度都得到极大的提高，可以在短时间内获得大量的点，有的甚至达到上千万个点。获取的点云数据中夹杂着很多噪声点和离群点，这些都不利于后期的曲面构建和点云数据与CAD模型比对，为此，本文对点云处理技术中的点云降噪、局外点检测和点云精简等技术进行深入的研究，主要内容和成果如下： 设计并实现了针对三维光学测量系统的点云处理方案，即首先去除点云数据中的噪声点，然后检测出局外点并剔除，最后将点云简化，得到数据量较小的高精度点云。 实现了海量点云的去噪。研究了多种点云降噪算法，在此基础上，采用基于法向量的双边滤波算法。该算法先初步估算出点的法向量，然后利用KD-tree搜索点的邻域，根据点的邻域计算出点的偏移量，最后得出点的新坐标值。 实现了点云数据中局外点的检测及剔除。采用了基于密度的局外点检测方法，该算法利用密度的概念，通过计算点的可达距离和点与邻域之间的距离，确定点的离群程度LOF（Local Outlier Factor），根据离群程度判断该点是否为局外点。 研究并实现了点云数据的精简。提出了一种新的可控精度的点云精简技术，该算法首先根据采样比率确定采样窗口的大小，然后沿着栅格线将整幅点云划分为一系列大小不同的采样窗口，最后根据给定的采样精度逐窗口精简高精度点云数据。 经过试验、分析及工程应用，结果表明：在三维光学测量系统中较好实现点云降噪、局外点剔除和点云简化，效果良好。 关 键 词：点云降噪；法向量；KD-tree；LOF；可控精度；点云精简 论文类型：应用研究 Title: Reasearch and Application of Techniques on Point Cloud Smoothing and Sampling Speciality: Mechatronics Engineering Applicant: Yanhua Pei Supervisor: Assoc.Vice Prof.Jin Liang ABSTRACT Until now,the speed and precision of the point cloud data acquisition have been greatly improved because of the development of 3D scanning technology and device,huge amount of points maybe reached super high can be obtained during the short time,and with many noises and outliers in the point cloud data,these are bad for the later surface construction and comparison of poind cloud data and CAD models.This paper has deeply researched the point cloud noise reducing，outlier detection and point cloud simplify.The main contents and achievements are listed as follows: The schem of point cloud processing has been designed and implemented according to 3D optical measurement system, as is explained: the noises in point cloud data have been deleted firstly, then the outliers have been detected and rejected, the point cloud has been simplificated finally, and the small amount and high-accuracy point cloud has been obtained. The huge point cloud noise reducing has been realized.