Article一种城环境三维点云配准的预处理方法Apreprocessing.PDFVIP

Opto-Electronic Engineering Article 光 电 工 程 2018 年，第45 卷，第 12 期 DOI: 10.12086/oee.2018.180266 一种城市环境三维点云配准的 预处理方法 1 2* 1 赵 凯 ，徐友春 ，王任栋 1 300161 2 300161 摘要：针对城市三维环境下LiDAR 点云数据密度大、离群噪点多、分布散乱不利于后期点云帧间匹配的问题，提出一 种应用于城市环境下大规模三维LiDAR 点云帧间匹配的预处理方法。首先，将点云数据转化为均值高程图，利用网格 之间的高度梯度对点云进行地面分割处理；然后，通过三维体素栅格划分的方法改进了DBSCAN 聚类算法，用改进后 的VG-DBSCAN 对点云进行聚类，聚类后目标点云与离群点分离，从而剔除点云中的离群噪点；最后，采用Voxel Grid 滤波器对点云降采样。实验结果表明，所提方法可以对点云数据进行实时的预处理，平均耗时为132.1 ms；预处理之 后点云帧间匹配的精确度提高了2 倍，平均耗时也仅为预处理前的 1/6。 关键词：点云预处理；地面分割；点云去噪；帧间匹配 中图分类号：O436.3 文献标志码：A 引用格式：赵凯，徐友春，王任栋. 一种城市环境三维点云配准的预处理方法[J]. 光电工程，2018 ，45(12): 180266 A preprocessing method of 3D point clouds registration in urban environments 1 2* 1 Zhao Kai , Xu Youchun , Wang Rendong 1Army Military Transportation University, Tianjin 300161, China; 2Institute of Military Transportation, Tianjin 300161, China Abstract: Aiming at the problem that 3D LiDAR point cloud has high data density, outlier noise, and scattered dis- tribution in urban environment, which is not conducive to the matching between point clouds in the later stage, a pre-processing method for large-scale LiDAR point cloud frame matching in urban environments is proposed. First, the point cloud data is transformed into a Mean Elevation Map, and the ground point segmentation processing is performed on the point cloud using the height gradient between the grids; then, the DBSCAN clustering algorithm is improved by the three-dimensional voxel grid division method, and the improved VG-DBSCAN is used to cluster point clouds and separate the target point cloud from the outliers after clustering, thereby, which eliminates outlier noises in the point cloud. Finally, the Vo