激光点云中输电线拟合与杆塔定位方法研究

计算机科学 ›› 2013, Vol. 40 ›› Issue (4): 298-300.

激光点云中输电线拟合与杆塔定位方法研究

游安清,韩晓言,李世平,闫召进

中国工程物理研究院应用电子学研究所绵阳621900;四川省电力公司绵阳电业局绵阳621000;四川省电力公司成都610041;四川省电力公司绵阳电业局绵阳621000

出版日期:2018-11-16 发布日期:2018-11-16
基金资助:
本文受国家“863”计划项目(2010AA7010419)资助

Transmission Lines Fitting and Towers Positioning in LiDAR Point Cloud

YOU An-qing,HAN Xiao-yan,LI Shi-ping and YAN Zhao-jin

Online:2018-11-16 Published:2018-11-16

摘要/Abstract

摘要： 通过竖直直方投影和均匀网格离散将激光雷达扫描得到的输电线路三维点云降维成二维灰度图像,提取其中直方响应最大的地方作为杆塔的水平位置,分离杆塔,输电线在走向上以杆塔为界分段；再沿其悬垂面的法线方向对各段输电线作正投影,对投影的散点进行迭代的鲁棒二次曲线拟合,实现在竖直方向上的各层输电线的分离。杆塔的提取和输电线的拟合是实现电力系统净空排查分析、输电线点云实体化和场景漫游的重要环节。

关键词: 激光雷达,三维点云,杆塔定位,输电线拟合

Abstract: For 3D point cloud generated by LiDAR scanning electric power system,vertical projection and histogram were made to convert the cloud into 2D gray image which has even grids．Some highest histogram bins were determined as the horizontal position of electric towers．The towers were separeted and meanwhile the lines were dirvided into seve-ral segments along their stretching direction．For each segment,projection was made along the normal direction of its pendent plane．Iterative robust quadratic fits were made on the projected points to divide them into different layers from the top down．Extraction of towers and fit of lines are important for spatial distance check,incarnation of lines point cloud and scene roam.

Key words: LiDAR,3D point cloud,Tower positioning,Transmission line fitting

游安清,韩晓言,李世平,闫召进. 激光点云中输电线拟合与杆塔定位方法研究[J]. 计算机科学, 2013, 40(4): 298-300. https://doi.org/

YOU An-qing,HAN Xiao-yan,LI Shi-ping and YAN Zhao-jin. Transmission Lines Fitting and Towers Positioning in LiDAR Point Cloud[J]. Computer Science, 2013, 40(4): 298-300. https://doi.org/

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