一种三维激光点云数据纠偏误差抽样验证方法

A Sampling Verification Method for Error Correction of 3D Laser Point Cloud Data

随着三维点云数据获取设备成本的降低和点云数据处理技术的成熟,基于点云数据处理的各种应用逐渐出现在了电网业务的各种应用场景中。由于RTK得到的飞行轨迹绝对坐标误差随飞机距离起飞点越来越远先是轻微的线性增加,在达到一定距离后将衍变为剧烈的非线性误差,由此得到的点云绝对坐标也将随着远离起飞点的距离产生随机误差,且大范围内的点云采数据采集,将生成数量巨大的点云数据,其中必然存在大量的错误坐标,为了减少错误坐标需要对采集到的点云坐标数据进行纠偏工作。在本文中我们提出了一种输电线路三维激光点云数据纠偏误差抽样验证方法(限制性百分比抽样检验法)。首先,我们对输电线路三维激光点云数据纠偏验证数据进行采样和统计分析;第二,对纠偏误差数据的分布曲线进行拟合确定误差的分布类型;第三,根据误差分布的上α分位点选取误差判断阈值d;第四,根据输电线路三维激光点云数据纠偏误差与杆塔类型和地形地貌等之间的关系,给出误差纠偏验证的规则;第五,提出限制性百分比抽样验证方法。实验结果表明我们所提出的限制性百分比抽样验证方法,能够灵活适应输电线路三维激光点云数据纠偏误差抽样验证场景。

With the reduction of the cost of 3D point cloud data acquisition equipment and the maturity of point cloud data processing technology,various applications based on point cloud data processing gradually appear in various application scenarios of power grid business.As the absolute coordinate error of flight trajectory obtained by RTK increases slightly linearly with the aircraft getting farther and farther away from the take-off point,it will evolve into severe nonlinear error after reaching a certain distance.The absolute coordinate of point cloud obtained from RTK will also produce random error with the distance away from the take-off point,and a large number of point cloud data will be generated by point cloud data acquisition in a wide range,in which there must be a large number of wrong coordinates,In order to reduce the wrong coordinates,it is necessary to correct the collected point cloud coordinate data.In this paper,we propose a sampling verification method for deviation correction error of three-dimensional laser point cloud data of transmission line(restricted percentage sampling inspection method).Firstly,we sample and statistically analyze the deviation correction verification data of three-dimensional laser point cloud data of transmission line;Secondly,the distribution curve of error correction data is fitted to determine the distribution type of error;Third,according to the error distributionαquantile selection error judgment threshold d;Fourthly,according to the relationship between the deviation correction error of three-dimensional laser point cloud data of transmission line and the type of tower and landform,the rules of error correction verification are given;Fifthly,a restrictive percentage sampling verification method is proposed.The experimental results show that the proposed restricted percentage sampling verification method can flexibly adapt to the sampling verification scenario of deviation correction error of three-dimensional laser point cloud data of transmission line.