A new hierarchical moving curve-fitting algorithm for filtering lidar data for automatic DTM generation

Recent advances in laser scanning hardware have allowed rapid generation of high-resolution digital terrain models (DTMs) for large areas. However, the automatic discrimination of ground and non-ground light detection and ranging (lidar) points in areas covered by densely packed buildings or dense vegetation is difficult. In this paper, we introduce a new hierarchical moving curve-fitting filter algorithm that is designed to automatically and rapidly filter lidar data to permit automatic DTM generation. This algorithm is based on fitting a second-degree polynomial surface using flexible tiles of moving blocks and an adaptive threshold. The initial tile size is determined by the size of the largest building in the study area. Based on an adaptive threshold, non-ground points and ground points are classified and labelled step by step. In addition, we used a multi-scale weighted interpolation method to estimate the bare-earth elevation for non-ground points and obtain a recovered terrain model. Our experiments in four study areas showed that the new filtering method can separate ground and non-ground points in both urban areas and those covered by dense vegetation. The filter error ranged from 4.08% to 9.40% for Type I errors, from 2.48% to 7.63% for Type II errors, and from 5.01% to 7.40% for total errors. These errors are lower than those of triangulated irregular network filter algorithms.     

基于Matrix Profile的时间序列分割技术改进

时间序列分割是数据挖掘领域中的一个重要研究方向.目前基于矩阵轮廓(matrix profile, MP)的时间序列分割技术得到了越来越多研究人员的关注,并且取得了不错的研究成果.不过该技术及其衍生算法仍然存在不足:首先,基于矩阵轮廓的快速低代价语义分割算法中对给定活动状态的时间序列分割时,最近邻之间通过弧进行连接,会出现弧跨越非目标活动状态匹配相似子序列问题;其次,现有提取分割点算法在提取分割点时采用给定长度窗口,容易得到与真实值偏差较大的分割点,降低准确性.针对以上问题,提出一种限制弧跨越的时间序列分割算法(limit arc curve cross-FLOSS, LAC-FLOSS),该算法给弧添加权重,形成一种带权弧,并通过设置匹配距离阈值解决弧的跨状态子序列误匹配问题.此外,提出一种改进的提取分割点算法(improved extract regimes, IER),它通过纠正弧跨越(corrected arc crossings, CAC)序列的形状特性,从波谷中提取极值,避免直接使用窗口在非拐点处取到分割点的问题.在公开数据集datasets＿seg和Mobi Act上面进行...     

利用Kolmogorov-Smirnov统计的区域化图像分割

目的 为了在未知或无法建立图像模型的情况下,实现统计图像分割,提出一种结合Voronoi几何划分、K-S(Kolmogorov-Smirnov)统计以及M-H(Metropolis-Hastings)算法的图像分割方法.方法 首先利用Voronoi划分将图像域划分成不同的子区域,而每个子区域为待分割同质区域的一个组成部分,并利用K-S统计定义类属异质性势能函数,然后应用非约束吉布斯表达式构建概率分布函数,最后采用M-H算法进行采样,从而实现图像分割.结果 采用本文算法,分别对模拟图像、合成图像、真实光学和SAR图像进行分割实验,针对模拟图像和合成图像,分割结果精度均达到98%以上,取得较好的分割结果.结论 提出基于区域的图像分割算法,由于该算法中图像分割模型的建立无需原先假设同质区域内像素光谱测度的概率分布,因此提出算法具有广泛的适用性.为未知或无法建立图像模型的统计图像分割提供了一种新思路.     

Object tracking in image sequences using point features

This paper presents an object tracking technique based on the Bayesian multiple hypothesis tracking (MHT) approach. Two algorithms, both based on the MHT technique are combined to generate an object tracker. The first MHT algorithm is employed for contour segmentation. The segmentation of contours is based on an edge map. The segmented contours are then merged to form recognisable objects. The second MHT algorithm is used in the temporal tracking of a selected object from the initial frame. An object is represented by key feature points that are extracted from it. The key points (mostly corner points) are detected using information obtained from the edge map. These key points are then tracked through the sequence. To confirm the correctness of the tracked key points, the location of the key points on the trajectory are verified against the segmented object identified in each frame. If an acceptable number of key-points lie on or near the contour of the object in a particular frame (n-th frame), we conclude that the selected object has been tracked (identified) successfully in frame n.     

一种基于分离地面点的障碍物识别方法

Velodyne 64线雷达被广泛应用于自主车的环境感知功能中。为了在该雷达产生的大量数据中识别出障碍物信息,本文提出了一种新的基于分离地面点的障碍物识别算法。首先从原始数据集中提取出特征点集并建立地面模型;利用地面模型识别出地面点并将其从数据集中滤除;将地面点分离后的数据集投影至平面栅格中,并利用区域生长法聚类。该算法能够准确、高效地识别出障碍物。     

Creating 3D city models with building footprints and LIDAR point cloud classification: A machine learning approach

The increasing availability of open geospatial data, such as building footprint vector data and LiDAR (Light Detection and Ranging) point clouds, has provided opportunities to generate large-scale 3D city models at low cost. However, using unclassified point clouds with building footprints to estimate building heights may yield erroneous results due to potential errors and anomalies in both datasets and their integration. Some of the points within footprints often reflect irrelevant objects other than roofs, leading to biases in height estimation, and few studies have developed systematic methods to filter them out. In this paper, a LiDAR point classification methodology is proposed that extracts only rooftop points for building height estimation. The LiDAR points are characterized by point, footprint, and neighborhood-based features and classified by the Random Forest (RF) algorithm into four classes – rooftop, wall, ground, and high outlier. The percentage of correctly classified points among 15,577 sample points in Columbus, Ohio, amounts to 96.5%. Conducting this classification separately for different building types (commercial, residential, skyscraper, and small constructions) does not significantly change the overall accuracy. The footprint-based features contribute most to predicting the classes correctly. Height validation results based on a sample of 498 buildings show that (1) using average or median heights with classified points provides the best estimates, minimizing the disparities between computed heights and ground truth and (2) the RF method yields outcomes much closer to ground truth than earlier classification approaches. Some outcomes are visualized in 3D format using Google Earth 3D Imagery and ArcScene.     

An Automation System of Rooftop Detection and 3D Building Modeling from Aerial Images

This paper presents a prototype system of rooftop detection and 3D building modeling from aerial images. In this system, without the knowledge of the position and orientation information of the aerial vehicle a priori, the parameters of the camera pose and ground plane are first estimated by simple human?Ccomputer interaction. Next, after an over-segmentation of the aerial image by the Mean-Shift algorithm, the rooftop regions are coarsely detected by integrating multi-scale SIFT-like feature vectors with SVM-based visual object recognition. 2D cues alone however might not always be sufficient to separate regions such as parking lots from building roofs. Thus in order to further refine the accuracy of the roof-detection result and remove the misclassified non-rooftop regions such as parking lots, we further resort to 3D depth information estimated based on multi-view geometry. More specifically, we determine whether a candidate region is a rooftop or not according to its height information relative to the ground plane, whereas the candidate region??s height information is obtained by a novel, hierarchical, asymmetry correlation-based corner matching scheme. The output of the system will be a water-tight triangle mesh based 3D building model texture mapped with the aerial images. We developed an interactive 3D viewer based on OpenGL and C+?+ to allow the user to virtually navigate the reconstructed 3D scene with mouse and keyboard. Experimental results are shown on real aerial scenes.     

A two-stage algorithm for ground filtering of airborne laser scanning data

ABSTRACT

A two-stage algorithm is proposed in this article for ground filtering of airborne laser scanning (ALS) data. Input ALS data are initially preprocessed for outliers removal. The first stage removes the non-ground objects from preprocessed ALS data based on the geometrical reasoning, which is applied over piecewise local neighbourhoods around selected points. The second stage retrieved the ground points falsely recognized as non-ground in the first stage using geometrical similarity of ground points in their surroundings. The proposed algorithm was tested and validated comprehensively using complex and heterogeneous landscapes of selected 10 ALS data sets and additional 15 International Society of Photogrammetry and Remote Sensing data samples. The ground points were filtered out in these data sets and data samples at average total error and kappa coefficient of 3.66% and 89.15%, respectively. The proposed algorithm performs satisfactorily in the complex terrain cases such as mixed vegetation and houses on sloping terrain, low vegetation, complex objects, low and small objects, scene border, and discontinuity. The proposed algorithm is straightforward and, consequently, computationally efficient. Thus, it has potential for wider use in industry.     

Color image segmentation based on multiobjective artificial bee colony optimization

This paper presents a new color image segmentation method based on a multiobjective optimization algorithm, named improved bee colony algorithm for multi-objective optimization (IBMO). Segmentation is posed as a clustering problem through grouping image features in this approach, which combines IBMO with seeded region growing (SRG). Since feature extraction has a crucial role for image segmentation, the presented method is firstly focused on this manner. The main features of an image: color, texture and gradient magnitudes are measured by using the local homogeneity, Gabor filter and color spaces. Then SRG utilizes the extracted feature vector to classify the pixels spatially. It starts running from centroid points called as seeds. IBMO determines the coordinates of the seed points and similarity difference of each region by optimizing a set of cluster validity indices simultaneously in order to improve the quality of segmentation. Finally, segmentation is completed by merging small and similar regions. The proposed method was applied on several natural images obtained from Berkeley segmentation database. The robustness of the proposed ideas was showed by comparison of hand-labeled and experimentally obtained segmentation results. Besides, it has been seen that the obtained segmentation results have better values than the ones obtained from fuzzy c-means which is one of the most popular methods used in image segmentation, non-dominated sorting genetic algorithm II which is a state-of-the-art algorithm, and non-dominated sorted PSO which is an adapted algorithm of PSO for multi-objective optimization.     

快速在线主动学习的图像自动分割算法*

提出经前馈神经网络快速在线学习、构建像素分类模型进行图像分割的算法。首先利用谱残差法计算像素显著度,通过对少数高显著度点的分布进行多尺度分析,获得符合人眼视觉特性的显著图和注视区域。然后从注视区域和非注视区域随机抽样构成由正负样本像素组成的训练集,在线训练一个两分类的随机权前馈神经网络模型。最后使用该模型分类全图像素,实现图像分割。实验表明,文中算法在谱残差法基础上提升对图像中显著目标的分割性能,分割结果与人类视觉感知匹配度较好。     

基于线特征及迭代最近点算法的地基建筑物点云自动配准方法

为克服迭代最近点(ICP)算法易陷入局部最优的缺陷，提出一种基于线特征及ICP算法的地基建筑物点云自动配准方法。首先，基于法向一致性进行建筑物点云平面分割；接着，采用alpha-shape算法进行点簇轮廓线提取，并拆分和拟合处理得到特征线段；然后，以线对作为配准基元，以线对夹角和距离作为相似性测度进行同名特征匹配，实现建筑物点云的粗配准；最后，以粗配准结果为初值，进一步采用ICP算法完成点云精确配准。利用两组部分重叠的建筑物点云进行配准实验，实验结果表明，采用由粗到精的配准方法能有效改善ICP算法对初值依赖的问题，实现具有部分重叠的建筑物点云的有效配准。     

无需阈值支持的机载LiDAR点云数据滤波方法

点云数据滤波仍旧是现阶段机载LiDAR数据后处理的首要步骤,但其发展尚未完全成熟。在回顾和总结已有滤波算法的基础上,将统计学中偏度与峰度的概念引入到算法中,提出了一种新的基于偏度平衡的地面点与非地面点非监督分类方法,利用统计矩原理从LiDAR点云数据生成的DSM中有效地提取DTM。该方法区别传统算法的最大的优势在于无需参数或者阈值支持,并且相对于LiDAR点云数据的格式和分辨率是独立的。实验结果证明,该方法切实可行,具有较强的适应性,并且能够较好地满足精度要求。     

联合显著性与MRF的SAR建筑物分割算法

针对经典马尔可夫随机场（MRF）在进行高分辨率SAR图像分割时存在容易受到斑点噪声干扰等问题,提出一种基于建筑物指数相似度距离及MRF模型（BISD-MRF）的高分辨率SAR建筑物分割算法。基于较复杂SAR场景下建筑物目标可能呈现多种形态结构的问题,设计一种多尺度显著性建筑物指数（MSBI）方案来提取建筑物目标的显著性特征,并通过强度信息重构、纹理显著性提取、频谱显著性信息统计来分别提取不同类型区域的显著性信息,构建适用于SAR建筑物目标的显著性模型。在此基础上,将MSBI值引入到改进的基于改进余弦函数的势函数模型中,利用余弦函数对邻域像素MSBI值进行相似性度量,同时利用特征空间语义信息对像素及其邻域像素标签信息进行有效约束,以提升势函数模型对高分辨率SAR建筑物目标的表征能力。不同平台下的建筑物分割实验结果表明,与MRF、MBI、FRFCM等算法相比,本文算法分割性能平均提升了4.3~10.7个百分点,更适用于较复杂场景下高分辨率SAR建筑物的分割任务。     

SEGMENTATION OF NATURAL IMAGES USING ANISOTROPIC DIFFUSION AND LINKING OF BOUNDARY EDGES

We present a segmentation method of natural images that uses an anisotropic diffusion algorithm and a region growing algorithm. We propose a modified version of the anisotropic diffusion algorithm as a precise edge-preserving smoothing technique modified by using boundary edges. We incorporate a linking algorithm for boundary edges based on a directional potential function into the anisotropic diffusion algorithm to improve the ability of edge-preserving smoothing. As a result, unnecessary details of images are effectively smoothed before performing a region growing algorithm. Therefore, the proposed method is suitable for an accurate segmentation of natural images. Several simulated examples are presented that demonstrate the effectiveness of the proposed technique.     

基于多分辨统计模型和曲面恢复的腹部图像分割算法

针对腹部器官边缘模糊、形状差异大、小样本集合难建立统计模型等问题,提出了基于多分辨率统计集成模型和曲面缺失数据恢复的混合图像分割算法。该算法根据器官模型的纹理特征,建立外观轮廓模型;并定义标志点自信度。对于自信度较高的点,使用基于主动图像搜索和模型变形的方法进行分割;将自信度较低的点视为未知点,利用统计模型和自信度高的已知点进行数据恢复。实验结果表明,该混合算法可成功地降低器官分割的平均误差。     

基层层次光流的半自动时空视频分割技术

在新一代MPEG-4视频编码标准中，为了支持面向对象编码和实现基于内容的应用，视频的半自动分割成为关键技术之一，为此提出了一种基于层次光流的半自动时空视频分割算法。该算法由空域分割和时域分割组成。在空域分割中，提出的基于点的图形用户界面（PBGUI），在用户的协助下，能够精确地定义需要分割的视频对象（VO）。时域分割根据空域分割的结果采用层次光流算法对视频对象进行边界和整体跟踪。实验结果表明，利用该算法，能够精确地分割出视频对象。     

基于层次光流的半自动时空视频分割技术

在新一代 MPEG- 4视频编码标准中 ,为了支持面向对象编码和实现基于内容的应用 ,视频的半自动分割成为关键技术之一 ,为此提出了一种基于层次光流的半自动时空视频分割算法 .该算法由空域分割和时域分割组成 .在空域分割中 ,提出的基于点的图形用户界面 (PBGU I) ,在用户的协助下 ,能够精确地定义需要分割的视频对象 (VO) .时域分割根据空域分割的结果采用层次光流算法对视频对象进行边界和整体跟踪 .实验结果表明 ,利用该算法 ,能够较精确地分割出视频对象 .     

基于三角网格的交互式数据分割研究

为了有效地提高三角网格模型数据分割的效率和准确性,设计了一种交互式的数据分割算法--基于夹角追踪的区域边界生成方法.该方法在自动提取三角网格模型特征点的基础上,交互地选取区域边界的起点和终点,由起点和终点建立一个方向向量.沿着方向向量,以夹角追踪的方式查找其它的边界点,直到起点和终点在同一三角形中.根据三角网格所具有的特征,设计了新的区域边界光顺算法和域内顶点的查找方法.部分典型算例表明了该设计算法的正确性和有效性.     

Automatic detection of building roofs from point clouds produced by the dense image matching technique

Three-dimensional (3D) spatial information of object points is a vital requirement for many disciplines. Laser scanning technology and techniques based on image matching have been used extensively to produce 3D dense point clouds. These data are used frequently in various applications, such as the generation of digital surface model (DSM)/digital terrain model (DTM), extracting objects (e.g., buildings, trees, and roads), 3D modelling, and detecting changes. The aim of this study was to extract the building roof points automatically from the 3D point cloud data created via the image matching techniques with optical aerial images (with red, green, and blue band (RGB) and infrared (IR)). In the first stage of the study, as an alternative to laser scanning technology, which is more expensive than optical imaging systems, the 3D point clouds were produced by matching high-resolution images using a Semi Global Matching algorithm. The normalized difference vegetation index (NDVI) values for each point were calculated using the spectral information (RGB + IR) in the 3D point cloud data, and the points that represented the vegetation cover were determined using these values. In the second stage, existing ground and non-ground points that were free of vegetation cover were determined within the point cloud. Subsequently, only the points on the roof of the building were detected automatically using the proposed algorithm. Thus, points of the roofs of buildings located in areas with different topographic characteristics were detected automatically detected using only images. It was determined that the average values of correctness (Corr), completeness (Comp), and quality (Q) of the pixel-based accuracy analysis metrics were 95%, 98%, and 93%, respectively, in the selected test areas. According to the results of the accuracy analysis, it is clear that the proposed algorithm is very successful in automatic extraction of building roof points.