Spaceborne photon-counting LiDAR is significantly affected by noise,and existing denoising algorithms cannot be universally adapted to different surface types and topographies under all observation conditions.Accordin...Spaceborne photon-counting LiDAR is significantly affected by noise,and existing denoising algorithms cannot be universally adapted to different surface types and topographies under all observation conditions.Accordingly,a new denoising method is presented to extract signal photons adaptively.The method includes two steps.First,the local neighborhood radius is calculated according to photons’density,then thefirst-step denoising process is completed via photons’curvature feature based on KNN search and covariance matrix.Second,the local photonfiltering direction and threshold are obtained based on thefirst-step denoising results by RANSAC and elevation frequency histogram,and the local dense noise photons that thefirst-step cannot be identified are further eliminated.The following results are drawn:(1)experimental results on MATLAS with different topographies indicate that the average accuracy of second-step denoising exceeds 0.94,and the accuracy is effectively improves with the number of denoising times;(2)experiments on ICESat-2 under different observation conditions demonstrate that the algorithm can accurately identify signal photons in different surface types and topographies.Overall,the proposed algorithm has good adaptability and robustness for adaptive denoising of large-scale photons,and the denoising results can provide more reasonable and reliable data for sustainable urban development.展开更多
针对现有基于伪点云的3D目标检测算法精度远低于基于真实激光雷达(Light Detection and ranging,LiDar)点云的3D目标检测,本文研究伪点云重构,并提出适合伪点云的3D目标检测网络.考虑到由图像深度转换得到的伪点云稠密且随深度增大逐渐...针对现有基于伪点云的3D目标检测算法精度远低于基于真实激光雷达(Light Detection and ranging,LiDar)点云的3D目标检测,本文研究伪点云重构,并提出适合伪点云的3D目标检测网络.考虑到由图像深度转换得到的伪点云稠密且随深度增大逐渐稀疏,本文提出深度相关伪点云稀疏化方法,在减少后续计算量的同时保留中远距离更多的有效伪点云,实现伪点云重构.本文提出LiDar点云指导下特征分布趋同与语义关联的3D目标检测网络,在网络训练时引入LiDar点云分支来指导伪点云目标特征的生成,使生成的伪点云特征分布趋同于LiDar点云特征分布,从而降低数据源不一致造成的检测性能损失;针对RPN(Region Proposal Network)网络获取的3D候选框内的伪点云间语义关联不足的问题,设计注意力感知模块,在伪点云特征表示中通过注意力机制嵌入点间的语义关联关系,提升3D目标检测精度.在KITTI 3D目标检测数据集上的实验结果表明:现有的3D目标检测网络采用重构后的伪点云,检测精度提升了2.61%;提出的特征分布趋同与语义关联的3D目标检测网络,将基于伪点云的3D目标检测精度再提升0.57%,相比其他优秀的3D目标检测方法在检测精度上也有提升.展开更多
针对现有机载LiDAR(light detection and ranging)点云滤波方法在地形起伏剧烈的林区适用性不足的问题,提出一种多分辨率层次布料模拟滤波方法。首先,通过多尺度形态学开运算选择大量种子地面点;然后,基于种子地面点,使用布料模拟法由...针对现有机载LiDAR(light detection and ranging)点云滤波方法在地形起伏剧烈的林区适用性不足的问题,提出一种多分辨率层次布料模拟滤波方法。首先,通过多尺度形态学开运算选择大量种子地面点;然后,基于种子地面点,使用布料模拟法由低至高逐层构建参考地形,以快速获取高分辨率参考地形;最后,基于点至参考地形的高差区分地面点和非地面点。利用国际摄影测量和遥感学会提供的数据集和参考方法,评估该方法性能。利用在中国、美国多个代表性林区的点云数据,评估该方法的可推广性。结果表明,该方法的Kappa系数和运行时间是83.72%和34.11 s,精度和效率较经典布料模拟滤波方法提高10.49%和52.17%。相比8种参考方法,该方法能够获得更高精度,并且具有稳定的可推广性。展开更多
基金supported by the National Key R&D Program of China under[grant number 2021YFF0704600]the National Natural Science Foundation of China under[grant number 42171352,42271365,U22A20566]the High-Level Talent Aggregation Project in Hunan Province,China-Innovation Team under[grant number 2019RS1060].
文摘Spaceborne photon-counting LiDAR is significantly affected by noise,and existing denoising algorithms cannot be universally adapted to different surface types and topographies under all observation conditions.Accordingly,a new denoising method is presented to extract signal photons adaptively.The method includes two steps.First,the local neighborhood radius is calculated according to photons’density,then thefirst-step denoising process is completed via photons’curvature feature based on KNN search and covariance matrix.Second,the local photonfiltering direction and threshold are obtained based on thefirst-step denoising results by RANSAC and elevation frequency histogram,and the local dense noise photons that thefirst-step cannot be identified are further eliminated.The following results are drawn:(1)experimental results on MATLAS with different topographies indicate that the average accuracy of second-step denoising exceeds 0.94,and the accuracy is effectively improves with the number of denoising times;(2)experiments on ICESat-2 under different observation conditions demonstrate that the algorithm can accurately identify signal photons in different surface types and topographies.Overall,the proposed algorithm has good adaptability and robustness for adaptive denoising of large-scale photons,and the denoising results can provide more reasonable and reliable data for sustainable urban development.
文摘针对现有机载LiDAR(light detection and ranging)点云滤波方法在地形起伏剧烈的林区适用性不足的问题,提出一种多分辨率层次布料模拟滤波方法。首先,通过多尺度形态学开运算选择大量种子地面点;然后,基于种子地面点,使用布料模拟法由低至高逐层构建参考地形,以快速获取高分辨率参考地形;最后,基于点至参考地形的高差区分地面点和非地面点。利用国际摄影测量和遥感学会提供的数据集和参考方法,评估该方法性能。利用在中国、美国多个代表性林区的点云数据,评估该方法的可推广性。结果表明,该方法的Kappa系数和运行时间是83.72%和34.11 s,精度和效率较经典布料模拟滤波方法提高10.49%和52.17%。相比8种参考方法,该方法能够获得更高精度,并且具有稳定的可推广性。
