机载LiDAR快速定位高压电塔方法研究

Study on Power Tower Extraction and Fast Positioning from Airborne LiDAR Data

机载LiDAR已经成为数字电网建设和高压线路安全巡检的重要手段,其中从输电走廊原始海量点云自动、快速、准确地定位电塔是一项基础而又重要的内容。基于线路走廊点云的空间分布特性粗提取电塔点云,然后采用区域增长算法分离每个电塔,并采用最小二乘空间直线拟合法精确定位电塔的空间位置,进而实现电塔点云的自动识别和高精度定位。实验结果表明:该方法在数据处理效率、提取精度和适用性方面都具有一定的稳健性,提取的电塔点云数据的完整度达91.1%;电塔中心位置定位的中误差为13.5cm;点云密度对电塔提取精度的敏感性分析表明即使对原始点云数据进行一定比例的抽稀,算法的提取结果也可满足实际应用要求。

Airborne LiDAR has become an important technique for transmission line digitalization，reconstruction and safety inspection.Moreover，accurately and efficiently extracting the position of each tower from massive point clouds is basic and important task for the applications in power industry.In this study，a method was proposed to efficiently extract the point clouds and fast determine the position of power towers using airborne LiDAR data.Firstly，the point clouds of power towers were automatically separated from raw data based on the spatial distribution characteristics of airborne LiDAR data.Secondly，each power tower was efficiently detected using a region-growing algorithm.Finally，a least square linear fitting method was used to determine the accurate position of each power tower.The new proposed method was applied to several LiDAR data sets in areas with high voltage transmission lines.Results indicated that the integrity of the power towers’ points is up to 91.1%，and the accuracy of center positions is high enough with the medium error of 13.5 cm.Additionally，our study also concluded that the proposed method is robust and applicable even the point density is relatively low.