基于地面激光雷达点云数据的森林树高、胸径自动提取与三维重建

针对亚热带环境条件下森林树高、胸径自动化提取精度较低、单木形态模拟较为困难的问题,提出基于地面激光雷达点云数据提取森林树高、胸径及重建森林场景三维模型的方法。首先采用变尺度地面点识别法获取地面点并构建DEM。然后根据树木主干点云主方向相似度及轴向分布密度分割主干与其他植物器官点云。接着以主干点云为基础,采用迭代最小二乘拟合圆柱的方法自动提取树木位置、胸径;构建点云的八叉树结构,利用体素的空间邻接性实现点云分割,自动提取树高。最后,结合单株植物建模技术,以树根节点为纽带构建样地尺度上的森林场景三维模型。实验结果显示,胸径估测R~2为0.996,平均相对误差为2.09%,RMSE为0.66 cm;树高估测R~2为0.972,平均相对误差为2.16%,RMSE为0.92 m;所重建的森林场景三维模型可表达森林样地的真实形态。     

基于Xtion传感器的玉米果穗三维形态指标测量系统

为了快速无损测量玉米果穗三维形态指标,设计了一种基于Xtion传感器的玉米果穗三维形态指标测量系统。采用Xtion配合电动转台采集多视角玉米果穗点云数据,利用ICP配准方法对完整果穗点云数据进行配准拼接,采取泊松重建方法对配准后的点云数据进行三维重建,最后利用散度原理进行果穗体积的计算。结果表明：测得的体积值与其真实值之间的误差在9%之内。该方法为自动化玉米果穗三维形态指标测量提供了切实可行的新途径。     

基于先验知识的单视图三维点云重建算法研究

单幅图像的三维重建是一个不适定问题,由于图像与三维模型间存在的表示模式差异,通常存在物体自遮挡、低光照、多类对象等情况,针对目前单幅图像三维模型重建中重建模型具有歧义性的问题,提出了一种基于先验信息指导的多几何角度约束的三维点云模型重建方法。首先,通过预训练三维点云自编码器获得先验知识,并最小化输入图像特征向量与点云特征向量的差异,使得输入图像特征分布逼近点云特征分布;然后,利用可微投影模块将图像的三维点云表示形式从不同视角投影到二维平面;最后,通过最小化投影图与数据集中真实投影图的差异,优化初始重建点云。在ShapeNet和Pix3D数据集上与其他方法的定量定性比较结果表明了该方法的有效性。     

基于点云数据的单木三维绿量估算方法

针对不同树种的树叶疏密及空间结构不同,提出基于激光点云数据,顾及冠层叶面积密度的树木三维绿量（Living Vegetation Volume, LVV）计算方法。该方法首先根据树木局部点云的主方向相似度和局部点云轴向分布密度分离枝干与树叶,剔除非光合作用成分,提取树叶点云;然后建立体元模型,引入Graham算法确定分层树冠边界,获取激光接触频率,从而基于体元冠层分析（Voxel-based Canopy Profiling, VCP）方法求出冠层叶面积密度（Leaf Area Density, LAD）;最后分层棱柱体积乘以叶面积密度,累加得到树木的三维绿量。利用Riegl VZ-400地面激光扫描仪获取13棵不同形状和树种的树木点云数据,利用该方法估算各树木三维绿量,并与传统的凸包法和台积法的结果对比。实验结果表明,台积法计算的三维绿量值最大,凸包法计算的三维绿量次之,顾及冠层叶面积密度的树木三维绿量方法计算的三维绿量值最小,为台积法的36.69%,为凸包法的47.80%。相比传统方法,顾及冠层叶面积密度的树木三维绿量计算方法侧重光合作用组分叶片点云的统计,并考虑了树冠内部树叶分布情况,更符合树木的实际情况,能充分利用三维点云数据特性,反映树冠内部三维绿量分布。     

Kinect扫描数据驱动的几何建模方法

针对Kinect设备单视角扫描所得不完整点云数据,提出了一种快速三维建模方法.利用互联网上丰富的已有同类三维模型为资源进行三维建模,建模过程主要包括3个阶段:1)通过三维模型库的语义部件标注对所需建模的点云数据和图像数据进行结构分析,获得相应的部件级分割结果;2)利用点云和图像分割所得的部件级信息在三维模型库中搜索与其匹配的各部件;3)对搜索得到的部件进行组合,以获得与扫描模型相似的最终模型.实验结果表明,该方法能够快速、高效地完成对Kinect设备扫描所得的残缺点云数据的模型重建.     

基于VTK的三维点云曲面重建研究

针对三维点云数据重建效率低、不能实时交互等问题,利用鲁棒性强的Power Crust算法和三维可视化类库Visualization Toolkit (VTK)的良好并行机制与强大的图像处理能力,实现了三维点云数据曲面快速重建.该算法使用Power Crust对三维点云进行曲面重建,接着对得到的网格进行线性调整、简化和平滑,最后引入VTK进行渲染、绘制、显示,并实时交互.实验结果表明,该算法可以加快散乱点云数据的重建速度,较好地保持了点云数据的拓扑结构,提高了曲面重建的精确性和鲁棒性,且交互性强,适合实时处理.     

激光点云深度学习的树种识别研究北大核心CSCD

针对激光雷达林业树种分类难以直接使用点云数据的问题,使用基于点云深度学习方法进行树种识别并提出PointNet-GS模型,无需将点云转为三维体素或二维图像,避免数据类型转换造成的特征丢失。以河北省塞罕坝机械林场的落叶松和白桦两个树种为研究对象。首先,将获取的点云数据进行数据预处理、单木分割,提取分割效果较好的单木作为样本;其次,将单木提取的样本进行几何下采样处理,保留更多局部特征便于网络模型学习;最后,将下采样处理的样本输入深度学习模型的网络,自动提取其高维特征进行学习,实现树种分类。实验结果表明,PointNet-GS树种分类精度达89.3%,Kappa系数为0.785,效果优于原始PointNet模型。     

基于背包激光雷达的单木材积估测方法研究

背包式激光雷达(Backpack Laser Scanning,BLS)在森林资源调查中具有很大的应用潜力,但在复杂地表情景下,单木材积和林分蓄积量提取精度存在较大不确定性。以广西高峰林场为研究区,利用随机森林方法,基于BLS点云数据对单木材积和样地蓄积量进行估测。首先,对BLS点云进行单木分割,提取单木胸径(DBH)、树高(Htree)、冠幅直径(CD)、冠幅面积(CA)、冠幅体积(CV)、郁闭度(CC)、间隙率(GF)和叶面积指数(LAI)共8个特征参数,并计算56个分层高度指标(高度百分比、累积高度百分比、变异系数、冠层起伏率等)。然后,通过随机森林算法构建单木材积估测模型,并对比各种参数组合的预测精度。得到结果：(1)仅用8个单木结构特征参数进行建模,估测精度为：R²=0.83、RMSE=0.097 m³;(2)加入分层高度指标的模型估测精度有所提升：R²=0.87、RMSE=0.087 m³;(3)通过Boruta算法进行变量筛选,输入参数从64个减少至52个,估测精度差异不大：R     

基于LiDAR点云的单棵树木提取方法研究

森林资源作为人类赖以生存的自然资源,是地球上最重要的资源之一,而衡量森林资源的指标不再局限于对森林面积的测量,准确的森林单木信息的获取对于进一步评估森林生态系统的生物物理过程及生物量估算具有重要意义。目前,对单棵树木的信息提取已成为森林精确遥感的热点之一。对基于LiDAR点云数据的植被信息提取的研究大多集中在对成片的林地信息提取,而激光雷达数据对单木冠形边缘的刻画能力受林分密度的影响较大。针对单木信息提取的研究并不多见或算法不足的现状,利用激光雷达点云数据,进行了单棵树提取方法的研究。基于圆检测的理论,检测局部极值点,计算其他点到中心点的距离,通过聚类,提取了单棵树的位置、树高及胸径信息。采用吉林省长春市城区林区的LiDAR点云数据进行了自动提取的实验,并利用同区的航空影像进行了检验;实验结果表明,该方法具有较好的实用价值与普适性,单木提取的精度可达到90%以上。     

面向三维点云单目标跟踪的提案聚合网络

与二维可见光图像相比,三维点云在空间中保留了物体真实丰富的几何信息,能够应对单目标跟踪问题中存在尺度变换的视觉挑战。针对三维目标跟踪精度受到点云数据稀疏性导致的信息缺失影响,以及物体位置变化带来的形变影响这两个问题,在端到端的学习模式下提出了由三个模块构成的提案聚合网络,通过在最佳提案内定位物体的中心来确定三维边界框从而实现三维点云中的单目标跟踪。首先,将模板和搜索区域的点云数据转换为鸟瞰伪图,模块一通过空间和跨通道注意力机制丰富特征信息;然后,模块二用基于锚框的深度互相关孪生区域提案子网给出最佳提案;最后,模块三先利用最佳提案对搜索区域的感兴趣区域池化操作来提取目标特征,随后聚合了目标与模板特征,利用稀疏调制可变形卷积层来解决点云稀疏以及形变的问题并确定了最终三维边界框。在KITTI跟踪数据集上把所提方法与最新的三维点云单目标跟踪方法进行比较的实验结果表明：在汽车类综合性实验中,真实场景中所提方法在成功率上提高了1.7个百分点,精确率上提高了0.2个百分点;在多类别扩展性实验上,即在汽车、货车、骑车人以及行人这4类上所提方法的平均成功率提高了0.8个百分点,平均精确率提高了2.8个百分点。可见,所提方法能够解决三维点云中的单目标跟踪问题,使得三维目标跟踪结果更加精确。     

基于知识的车载LiDAR地物自动分类

车载LiDAR已广泛应用于三维数字城市建模、道路信息数据采集等领域。海量点云信息中不同地物目标的自动识别和分类是LiDAR数据后处理的难点之一。根据不同地物目标物理特性、空间拓扑关系及其在点云中的相关特征知识,建立地物分类规则,依据分类知识进行地物自动识别和分类。通过实测数据分类试验,证明该方法可以较好实现建筑物、树木、线杆、行人等不同地物的自动识别和分类。     

自动驾驶汽车虚拟测试中的树木点云生成方法

自动驾驶汽车虚拟测试已成为自动驾驶或车路协同测试评价的一个重要手段,三维激光雷达数据模拟生成是自动驾驶汽车虚拟测试中的重要任务之一,目前多采用基于飞行时间原理的几何模型方法生成激光雷达三维点云数据,该方法生成点云实时性较差。布告牌是虚拟场景中常采用的树木建模方法,由于布告牌仅由两个矩形面片即八个三角形面片组成,直接采用布告牌方法生成的三维点云数据难以反映树木的真实空间信息。针对上述问题,提出了一种基于布告牌空间变换的快速树木三维点云生成方法。以布告牌的纹理图像为依据,根据纹理透明度获取树木二维平面点云分布,经二维树木点云的轮廓提取,结合树木结构的先验知识进行旋转、随机偏移和尺度变换,以更少的三角形面片数和更小的计算代价获得树木的三维点云数据。提出了一种空间直方图三维点云相似度评价方法,将三维点云空间量化为若干个子空间,获得三维点云的投影空间直方图,采用巴氏系数计算投影空间直方图相似度,以投影空间直方图加权相似度作为点云相似度评价值。实验结果表明,基于布告牌空间变换方法和几何模型方法生成的云杉等三种树木的三维点云数据的平均相似度在90%以上,且该方法生成树木点云的时间仅是几何模型法的1%,因此布告牌空间变换树木三维点云生成方法快速且准确,可以满足自动驾驶汽车虚拟测试的性能要求。     

Urban 3D segmentation and modelling from street view images and LiDAR point clouds

3D urban maps with semantic labels and metric information are not only essential for the next generation robots such autonomous vehicles and city drones, but also help to visualize and augment local environment in mobile user applications. The machine vision challenge is to generate accurate urban maps from existing data with minimal manual annotation. In this work, we propose a novel methodology that takes GPS registered LiDAR (Light Detection And Ranging) point clouds and street view images as inputs and creates semantic labels for the 3D points clouds using a hybrid of rule-based parsing and learning-based labelling that combine point cloud and photometric features. The rule-based parsing boosts segmentation of simple and large structures such as street surfaces and building facades that span almost 75% of the point cloud data. For more complex structures, such as cars, trees and pedestrians, we adopt boosted decision trees that exploit both structure (LiDAR) and photometric (street view) features. We provide qualitative examples of our methodology in 3D visualization where we construct parametric graphical models from labelled data and in 2D image segmentation where 3D labels are back projected to the street view images. In quantitative evaluation we report classification accuracy and computing times and compare results to competing methods with three popular databases: NAVTEQ True, Paris-Rue-Madame and TLS (terrestrial laser scanned) Velodyne.     

Delineation of individual deciduous trees in plantations with low-density LiDAR data

Delineation of individual deciduous trees with Light Detection and Ranging (LiDAR) data has long been sought for accurate forest inventory in temperate forests. Previous attempts mainly focused on high-density LiDAR data to obtain reliable delineation results, which may have limited applications due to the high cost and low availability of such data. Here, the feasibility of individual deciduous tree delineation with low-density LiDAR data was examined using a point-density-based algorithm. First a high-resolution point density model (PDM) was developed from low-density LiDAR point cloud to locate individual trees through the horizontal spatial distribution of LiDAR points. Then, individual tree crowns and associated attributes were delineated with a 2D marker-controlled watershed segmentation. Additionally, the PDM-based approach was compared with a conventional canopy height model (CHM) based delineation. The results demonstrated that the PDM-based approach produced an 89% detection accuracy to identify deciduous trees in our study area. The tree attributes derived from the PDM-based algorithm explained 81% and 83% of tree height and crown width variations of forest stands, respectively. The conventional CHM-based tree attributes, on the other hand, could explain only 71% and 66% of tree height and crown width, respectively. Our results suggest that the application of the PDM-based individual tree identification in deciduous forests with low-density LiDAR data is feasible and has relatively high accuracy to predict tree height and crown width, which are highly desired in large-scale forest inventory and analysis.     

基于区域结构特征的城区LiDAR数据快速分类

机载激光雷达能够及时准确地获取大量具有精确三维位置信息的三维点云数据,在数字城市、森林防火、智能交通等领域有着广泛的应用。城市中心区域的三维点云数据往往会因为高大树木或植被的遮挡,造成建筑物等人造目标识别特别困难。本文通过直接的二次多项式拟合方式提取高大树木等植被与建筑物目标典型局部区域的区域信息,构建区域目标敏感的结构特征,进而,通过模糊逻辑即可完成三维点云数据的建筑物目标敏感的分类任务。实验结果表明,该方法能够快速有效地实现较大尺度范围内LiDAR点云数据的分类,具有较好的应用前景和推广能力。     

Three-dimensional surface reconstruction of tree canopy from lidar point clouds using a region-based level set method

In this article, a novel method is proposed for three-dimensional (3D) canopy surface reconstruction of trees using a region-based level set method. Both individual tree crowns and clusters of trees are first marked for further exploration. Multiple horizontal slices corresponding to different heights are obtained. The 3D structure of tree canopy is built using raw data from lidar point clouds. Also, new applications are proposed based on the new method for 3D forest reconstruction. The biomass parameters of the forest, including tree intersection area, tree equivalent crown radius, and canopy volume, can be calculated from stacking 2D slices of trees. Tree types are also identified and classified. The results indicate that this approach is effective for 3D surface reconstruction of forests including individual trees and clusters of trees, and that critical forest parameters (such as tree intersection area, tree position, and canopy volume) can be derived for the evaluation and measurement of biophysical parameters of forests.     

一种优化的消失点估计方法及误差分析

空间一组平行直线在图像平面上所成的像的交点称为消失点. 消失点可以提供大量的场景三维结构信息. 本文提出一种新的优化的消失点估计方法. 该方法基于随机采样一致算法(Random sample consensus, RANSAC)对图像空间中的线段进行聚类, 通过最小化Sampson误差获得消失点的极大似然估计(Maximum likelihood estimation, MLE). 该方法不需要预知摄像机参数及直线的三维位置信息. 为了对该算法进行定量评估, 构造了基于反向传播的消失点误差传递模型. 实验结果验证了本文提出算法的有效性.     

Tree Height and Diameter Extraction with 3D Reconstruction in a Forest based on TLS

In view of the low accuracy of Tree Height(TH) and Diameter at Breast Height(DBH) estimation,as well as the difficulty of individual tree modeling in dense forest,a method to extract forest structure parameters(TH and DBH) and reconstruct a Three-Dimensional(3D) model of forest in subtropical environment based on TLS point cloud data is proposed.The first step is to apply a multi-scale method to extract the ground points for the generation of Digital Elevation Model(DEM).Secondly,using similarity of principal direction between neighboring points and distribution density of points,trunk and other plant organs are separated.Next the trunk points are processed to automatically estimate the tree position and DBH by iterative least squares cylinder fitting;the tree height is automatically estimated by using the octree segmentation.Finally,by combining with the technology of individual tree modeling,a plot-scale 3D forest scene has been reconstructed by planting individual tree model on the terrain model iteratively.The results showed that the correlation coefficient of DBH is R²=0.996,and the average relative error was 2.09%,RMSE was 0.66 cm;the correlation coefficient of tree height is R²=0.972,and the average relative error was 2.16% with RMSE of 0.92 m.The plot-scale reconstructed 3D model of the forest can express the true shape of forest.     

伪点云修正增强激光雷达数据

目的 激光雷达在自动驾驶中具有重要意义,但其价格昂贵,且产生的激光线束数量仍然较少,造成采集的点云密度较稀疏。为了更好地感知周围环境,本文提出一种激光雷达数据增强算法,由双目图像生成伪点云并对伪点云进行坐标修正,进而实现激光雷达点云的稠密化处理,提高3D目标检测精度。此算法不针对特定的3D目标检测网络结构,是一种通用的点云稠密化方法。方法 首先利用双目RGB图像生成深度图像,根据先验的相机参数和深度信息计算出每个像素点在雷达坐标系下的粗略3维坐标,即伪点云。为了更好地分割地面,本文提出了循环RANSAC （random sample consensus）算法,引入了一个分离平面型非地面点云的暂存器,改进复杂场景下的地面分割效果。然后将原始点云进行地面分割后插入KDTree （k-dimensional tree）,以伪点云中的每个点为中心在KDTree中搜索若干近邻点,基于这些近邻点进行曲面重建。根据曲面重建结果,设计一种计算几何方法导出伪点云修正后的精确坐标。最后,将修正后的伪点云与原始激光雷达点云融合得到稠密化点云。结果 实验结果表明,稠密化的点云在视觉上具有较好的质量,物体具有更加完整的形状和轮廓,并且在KITTI （Karlsruhe Institute of Technology and Toyota Technological Institute）数据集上提升了3D目标检测精度。在使用该数据增强方法后,KITTI数据集下AVOD （aggregate view object detection）检测方法的AP_3D-Easy （average precision of 3D object detection on easy setting）提升了8.25%,AVOD-FPN （aggregate view object detection with feature pyramid network）检测方法的AP_BEV-Hard （average precision of bird’s eye view on hard setting）提升了7.14%。结论 本文提出的激光雷达数据增强算法,实现了点云的稠密化处理,并使3D目标检测结果更加精确。     

Computer-based synthetic data to assess the tree delineation algorithm from airborne LiDAR survey

Small Footprint LiDAR (Light Detection And Ranging) has been proposed as an effective tool for measuring detailed biophysical characteristics of forests over broad spatial scales. However, by itself LiDAR yields only a sample of the true 3D structure of a forest. In order to extract useful forestry relevant information, this data must be interpreted using mathematical models and computer algorithms that infer or estimate specific forest metrics. For these outputs to be useful, algorithms must be validated and/or calibrated using a sub-sample of ‘known’ metrics measured using more detailed, reliable methods such as field sampling. In this paper we describe a novel method for delineating and deriving metrics of individual trees from LiDAR data based on watershed segmentation. Because of the costs involved with collecting both LiDAR data and field samples for validation, we use synthetic LiDAR data to validate and assess the accuracy of our algorithm. This synthetic LiDAR data is generated using a simple geometric model of Loblolly pine (Pinus taeda) trees and a simulation of LiDAR sampling. Our results suggest that point densities greater than 2 and preferably greater than 4 points per m2 are necessary to obtain accurate forest inventory data from Loblolly pine stands. However the results also demonstrate that the detection errors (i.e. the accuracy and biases of the algorithm) are intrinsically related to the structural characteristics of the forest being measured. We argue that experiments with synthetic data are directly useful to forest managers to guide the design of operational forest inventory studies. In addition, we argue that the development of LiDAR simulation models and experiments with the data they generate represents a fundamental and useful approach to designing, improving and exploring the accuracy and efficiency of LiDAR algorithms.