激光与光电子学进展, 2015, 52 (12): 122801, 网络出版: 2015-11-09
抗差估计在机载激光雷达点云滤波中的应用 下载: 526次
Application of Robust Estimation to Airborne Lidar Point Cloud Filtering
摘要
机载激光雷达(Lidar)点云数据滤波是Lidar 数据后处理研究的重点和难点之一,也是首要解决的问题。传统曲面约束滤波算法利用最小二乘法拟合地形曲面,易受种子点粗差影响。针对这一问题,引入抗差估计理论改善曲面拟合效果,并设计自适应阈值确定的方法区分地面点与地物点。使用国际摄影测量与遥感学会(ISPRS)测试数据进行实验,与传统的8 种经典滤波方法进行对比,实验结果表明,抗差估计能得到更为合理的拟合曲面,获取的滤波结果非常可靠,对各种地形的适应性较强,具备较高实用价值。
Abstract
Airborne Lidar point cloud data filtering is one of the difficulties and emphases in the study of Lidar data post-processing, and also the primary problem needed to be solved. Least squares adjustment is used to fit block terrain in traditional moving curved fitting filtering method, but this method is sensitive to outliers. Aiming at solving this disadvantage, robust estimation theory is introduced to fit block terrain more reasonably, and self-adaption threshold is set to distinguish between ground and non-ground points automatically. The test data provided by International Society for Photogrammetry and Remote Sensing (ISPRS) are adopted for experiment. Compared with 8 classical filtering methods, experimental results prove that, robust estimation can provide more reasonable fitting curve, which means that the proposed method is practical with reliable filtering results and has strong adaptability to various terrains.
刘志青, 李鹏程, 张保明, 郭海涛, 丁磊. 抗差估计在机载激光雷达点云滤波中的应用[J]. 激光与光电子学进展, 2015, 52(12): 122801. Liu Zhiqing, Li Pengcheng, Zhang Baoming, Guo Haitao, Ding Lei. Application of Robust Estimation to Airborne Lidar Point Cloud Filtering[J]. Laser & Optoelectronics Progress, 2015, 52(12): 122801.