手持激光SLAM技术在城市部件测量中的应用

Application of Handheld LiDAR SLAM Technology in Urban Component Measurement

快速准确地更新城市部件信息是智慧城市建设的必然要求。针对车载移动三维激光扫描技术在城市街景数据采集过程中不灵活且无法获取远离道路的城市部件数据,本文提出基于手持激光同时定位与建图(Simul-taneous Localization and Mapping,SLAM)技术的城市部件快速测量方法。首先,采用手持激光SLAM技术获取城市街景点云数据。然后,通过多重滤波去除街景点云数据中的噪声,从而得到精确的城市街景点云。最后,根据街景点云数据自动提取城市部件三维模型,其部件测量精度满足要求,可为“智慧城市”基础部件数据快速更新与高效管理提供技术支持。

To quickly and accurately update the information of urban components is an inevitable requirement for smart city construction.This article aims at the inflexibility of vehicle-borne mobile 3D laser scanning technology in the process of urban streetscape data acquisition and the inability to obtain the data of urban components far away from the road,a rapid measurement method of urban components based on handheld LiDAR SLAM is proposed in this paper.First,the handheld LiDAR SLAM is used to obtain the point cloud data of urban streetscape.Then,the noise in the streetscape point cloud is removed by multiple filtering,so as to get an accurate urban streetscape point cloud.Finally,the 3D point cloud model of urban components is automatically extracted from the streetscape point cloud and the measurement accuracy meets the requirements,which provides technical support for the rapid update and efficient management of the basic component data of smart city.