激光点云中输电线拟合与杆塔定位方法研究

Transmission Lines Fitting and Towers Positioning in LiDAR Point Cloud

通过竖直直方投影和均匀网格离散将激光雷达扫描得到的输电线路三维点云降维成二维灰度图像,提取其中直方响应最大的地方作为杆塔的水平位置,分离杆塔,输电线在走向上以杆塔为界分段;再沿其悬垂面的法线方向对各段输电线作正投影,对投影的散点进行迭代的鲁棒二次曲线拟合,实现在竖直方向上的各层输电线的分离。杆塔的提取和输电线的拟合是实现电力系统净空排查分析、输电线点云实体化和场景漫游的重要环节。

For 3D point cloud generated by LiDAR scanning electric power system, vertical projection and histogram were made to convert the cloud into 2D gray image which has even grids. Some highest histogram bins were determined as the horizontal position of electric lowers. The towers were separeted and meanwhile the lines were dirvided into seve- ral segments along their stretching direction. For each segment, projection was made along the normal direction of its pendent plane, herative robust quadratic fits were made on the projected points to divide them into different layers from the lop down. Extraction of towers and fit of lines are important for spatial distance check, incarnation of lines point cloud and scene roam.