基于激光点云的铁路边坡表面形变检测方法

Railway Slope Surface Deformation Inspection Method Based on Laser Point Cloud

针对现有铁路边坡形变检测方法存在效率低、成本高、客观性差等问题,提出一种基于激光点云的铁路边坡表面形变检测方法。通过在综合巡检车上安装高精度激光雷达、惯性测量单元和里程定位同步单元,配置车载式铁路环境三维点云数据采集系统,获取高精度铁路环境三维点云;结合铁路场景固有的先验知识改进现有配准算法的效率和精度,提出一种铁路点云快速配准算法;利用点云处理方法结合基准点云数据,快速计算边坡表面变化量。利用在运营线路采集的多期真实数据对该方法进行了试验验证。结果表明:本文方法检测效率高,结果客观性强,实现了高效检测铁路边坡表面形变的目的,对保障铁路安全具有重要意义。

Aiming at the problems of low efficiency,high cost and poor objectivity in the existing methods of railway slope deformation inspection,a railway slope surface deformation inspection method based on laser point cloud was proposed. By installing high-precision lidar,inertial measurement unit and mileage positioning synchronization unit on the comprehensive inspection vehicle,the vehicle mounted railway environment 3D point cloud data acquisition system was prepared to obtain high-precision railway environment 3D point cloud. Combined with the inherent prior knowledge of railway scene,a fast registration algorithm for railway point cloud was proposed to improve the efficiency and accuracy of existing registration algorithms. Using the point cloud processing method combined with the datum point cloud data,the slope surface change was calculated quickly. The method was verified by multi-phase real data collected in the operation line. The results show that this method has high inspection efficiency and strong objectivity,realizes the purpose of efficient inspection of railway slope surface deformation,and is of great significance to ensure railway safety.