基于混合滤波的点云数据降噪算法研究

Research on Denoising Algorithm of Point Cloud Data Based on Hybrid Filtering

随着时代的发展,人们越来越重视三维点云。在三维点云数据中点云数据降噪是其中必不可少的环节。基于PCL库对点云数据降噪中的统计滤波与半径滤波开展研究,通过给点云数据增加随机噪声或高斯噪声并更改统计滤波与半径滤波的参数来达到最好的降噪效果,并提出一种基于混合滤波的点云降噪算法。实验成果表明,提出的混合滤波比单一的统计滤波或半径滤波降噪效果更为显著。

With the development of the times,people pay more and more attention to 3D point clouds.In the three-dimensional point cloud data,point cloud data noise reduction is an indispensable link.This paper studies the statistical filtering and radius filtering in point cloud data noise reduction based on the PCL library.The best noise reduction effect is achieved by adding random noise or Gaussian noise to the point cloud data and changing the parameters of statistical filtering and radius filtering.A noise reduction method based on hybrid filtering is proposed.Experimental results show that the noise reduction result of the hybrid filter proposed in this paper is more significant than that of a single statistical filter or radius filter.