中值滤波在激光雷达点云数据预处理中的应用

Application of median filter in point cloud data pre-processing lidar

为了研究3维激光雷达测量系统采集到的点云数据如何进行去噪处理,根据灰度图像中对灰度值进行滤波去噪的概念,采用改进的2维中值滤波方法对点云数据中的噪声点加以处理。基于激光雷达点云数据数据量庞大且存在噪声点特点,重点分析了改进2维中值滤波算法和点云数据信噪分离方法,并通过实验验证,得到了速度对比数据和滤波效果图。结果表明,利用改进后的2维中值滤波方法,速度明显得到改进,对激光雷达点云数据的滤波效果良好。

Based on the method of filter used to eliminate noise from gray image according to its gray value, median filter was proposed to remove noise from the point cloud data obtained by a 3-D lidar measuring system. A lidar can be used to collect point cloud data from the surface of an object. The quantity of the point cloud data is huge with noise, which is always harmful to surface reconstruction if it is not removed. Based on the character of the point cloud data, an improved algorithm for 2-D median filter and method for segregating noise from point cloud were mainly emphasized. The speed and effect of the process are improved significantly ,which demonstrates that median filter can be used to deal with the lidar data.