三维激光扫描拟合平面自动提取算法

Fitted Plane Automatic Extraction Algorithm of 3-D Laser Scanning

摘要:

在对现有的点云数据分割和拟合算法进行深入研究的基础上，指出现有算法的不足。充分利用扫描线数据自身固有的特点，提出了新的算法。对RANSAC算法进行了改进，改进后的算法既具有较好的抗差性能，又在计算效率上较现有的抗差算法有了较大的提高，且能够得到更准确的提取结果和更合理的扫描点分隔归属。提出了平面拟合计算过程中拟合直线段端点的定权算法，解决了现有算法中由于拟合直线段端点权重不同无法直接参与平面拟合计算的问题。提出了完整的细碎平面剔除规则。实例证明，利用该算法能够取得较好的点云数据拟合平面自动提取结果。

Abstract:

On the basis of deep research on existing point cloud segmentation and fitting algorithms, shortages of these algorithms are pointed out. Fully utilizing the intrinsic characteristics of scanned line data, new algorithms are proposed. RANSAC algorithm is improved. The improved algorithm is more robust and efficient compared with existing robust algorithms. Using the improved algorithm, better extraction result and more rational segmentation result can be obtained. A weight determining algorithm for ends of fitted line segments used in plane fitting is proposed, which solves the problem existing in traditional algorithms that ends of line segments can’t be used in plane fitting directly because of their different weights. Besides, a set of integral invalid plane removing algorithm is proposed. Experiments indicate that better plane extraction results of point cloud can be achieved using the proposed algorithm.