复杂曲面结构的激光雷达扫描点云数据处理方法研究

项目名称： 复杂曲面结构的激光雷达扫描点云数据处理方法研究

项目编号： No.61501394

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 无线电电子学、电信技术

项目作者： 孔德明

作者单位： 燕山大学

项目金额： 19万元

中文摘要： 激光雷达扫描是一种新型高精度非接触式测量手段，可快速获取被测物体及其所处场景的三维点云数据，对点云数据进行处理，可提取出被测物体的表面三维结构及位置信息。利用现有的点云数据处理方法对包含复杂曲面结构被测物体的点云数据进行处理时，存在三维结构和位置信息提取精度不理想及运算速度较慢等问题。为了更快速、准确地获取复杂曲面结构的三维结构及位置信息，本项目将完成以下创新工作。首先，建立复杂曲面结构与激光雷达扫描过程中激光脚点时空分布规律之间的映射关系及曲面特征反演模型；进而，引入聚类分析、小波变换和分数阶傅里叶时频分析等数学方法对复杂曲面结构的点云数据进行分析和处理，以获得更好的信息提取效果；最后，搭建针对复杂曲面结构进行激光雷达扫描的半物理仿真实验系统，对模型和方法的有效性进行验证。本项目研究成果将为我国高精度激光雷达扫描系统及相关数据处理软件的自主研发提供理论依据和验证手段。

中文关键词： 激光雷达扫描；点云数据处理；曲面结构分析；半物理仿真；算法

英文摘要： LiDAR (Light Dection And Ranging) scanning is a new kind of high precision and non-contact measurement technology. With 3D LiDAR scanning, dense point cloud of measured object and environment in which the object located can be obtained. By using point cloud processing methods, structure features and location features of the measured object can be acquired from the point cloud. However, by using the existing point cloud processing methods, computation time of procedure of point cloud processing and accuracy of the acquired structure features and location features of the measured objects with complicated curve surfaces are not satisfactory. For the purpose of acquiring more accurate structure and location features of the measured objects with complicated curve surfaces in less computation time, mapping relationship between structure of complicated curve surfaces and distribution of laser points obtained during the scanning process will be studied. Inversion model of curve surface features will be studied as well. Subsequently, a number of novel signal processing methods, such as clustering analysis, wavelet transform and fractional Fourier transform, will be introduced to process the point clouds obtained from the measured objects with complicated curve surfaces by using LiDAR scanning to promote the accuracy of measurement results and computational speed in the procedure of point cloud processing. At last, to validate the novel point cloud processing methods mentioned above, a semi-physical simulation experimentation of 3D LiDAR scanning system will be established. In the experimentation, the point clouds of objects with complicated curve surfaces will be measured effectively. The data obtained from semi-physical simulation experimentation will verify and modify the proposed point cloud processing methods. This work can provide scientific basis for high-speed and high-precision 3D LiDAR scanning system and point cloud processing software independently researched and developed by China.

英文关键词： LiDAR scanning;Point cloud processing;Curve surface analysis;Semi-physical simulation;Algorithms