Laser Point Cloud Research Articles

LiDAR-based SLAM pose estimation via GNSS graph optimization algorithm

LiDAR simultaneous localization and mapping (SLAM) is widely used in positioning and navigation. By illuminating a series of light spots on the surface of an object, orientation and pose information is obtained. However, improving the accuracy of the pose optimization algorithm without affecting the position information is difficult. Therefore, this study combines the graph optimization algorithm and the Global Navigation Satellite System (GNSS) to optimize the coordinates of the target object in the LiDAR SLAM pose. A GNSS pose estimation algorithm is proposed to show the relationship between positioning algorithms with and without GNSS pose optimization by analyzing the deviation of the distance, level, and height laser point cloud coordinates. The results show that with GNSS pose optimization, the deviations in distance, level, and height are 99% smaller than those without GNSS pose optimization. Furthermore, we demonstrate the effectiveness of the proposed graph optimization algorithm and GNSS optimization of LiDAR SLAM. Finally, this study highlights the directions for the application of wireless communication technology in the field of LiDAR SLAM.

A high-precision hazard ranging method for transmission lines based on laser point cloud

Abstract To ensure the safe operation of the line, it is necessary to discover the hidden danger in time and accurately. This paper proposes a high-precision hidden danger-ranging method for transmission lines based on the laser point cloud. This method uses LiDAR to form a data acquisition system, which is installed in the fixed position of the transmission line channel power tower to obtain the point cloud data of the channel field at regular intervals, according to a certain rule. Two ends of the suspension points and some of the conductor point cloud data are used to fit the whole conductor in three-dimensional space and carry out the precise hidden danger ranging through the fitted conductor combined with the point cloud data and ranging. By comparing the original conductor point cloud data with the fitted conductor data to verify the reliability of the conductor fitting, and verifying the feasibility of the conductor arc prolapse measurement method based on the measured arc prolapse of the conductor and the distance to the ground, it can provide more timely and effective early warning information for the safety of the transmission line channel.

Investigating Dual-Source Satellite Image Data and ALS Data for Estimating Aboveground Biomass

Accurate estimation of above-ground biomass (AGB) in forested areas is essential for studying forest ecological functions, surface carbon cycling, and global carbon balance. Over the past decade, models that harness the distinct features of multi-source remote sensing observations for estimating AGB have gained significant popularity. It is worth exploring the differences in model performance by using simple and fused data. Additionally, quantitative estimation of the impact of high-cost laser point clouds on satellite imagery of varying costs remains largely unexplored. To address these challenges, model performance and cost must be considered comprehensively. We propose a comprehensive assessment based on three perspectives (i.e., performance, potential and limitations) for four typical AGB-estimation models. First, different variables are extracted from the multi-source and multi-resolution data. Subsequently, the performance of four regression methods is tested for AGB estimation with diverse indicator combinations. Experimental results prove that the combination of multi-source data provides a highly accurate AGB regression model. The proposed regression and variables rating approaches can flexibly integrate other data sources for modeling. Furthermore, the data cost is discussed against the AGB model performance. Our study demonstrates the potential of using low-cost satellite data to provide a rough AGB estimation for larger areas, which can allow different remote sensing data to meet different needs of forest management decisions.

Research on AGV composition algorithm based on variable and complex environment

Aiming at the traditional Gmapping algorithm with constant number of particles, which lead to the failure of composition in variable and complex environments, based on SLAM mapping technology, this paper proposed an Adaptive Sampling (AS) algorithm, which increased the number of sampling particles when the fluctuation of the 2D laser point cloud is larger than a certain threshold, and the experimental results shown that the algorithm was able to reasonably utilize the system resources, and effectively enhanced the algorithm’s ability to compose maps in a variable and complex environment. In addition, in order to make the system have a better effect of building maps in complex environments, this paper also integrated the firefly algorithm (AF) with it, and utilized AF’s high aggregation ability to improve the distribution of sampling particles, which then improved the estimation ability of the filter. Verified by offline real environment experiments, the results shown that the optimized algorithm significantly improves the map building ability of the system.

An effective point cloud registration method for three-dimensional reconstruction of pressure piping

Abstract At present, industrial scenes with sparse features and weak textures are widely encountered, and the three-dimensional reconstruction of such scenes is a recognized problem. Pressure pipelines have a wide range of applications in fields such as petroleum engineering, chemical engineering, and hydropower station engineering. However, there is no mature solution for the three-dimensional reconstruction of pressure pipes. The main reason is that the typical scenes in which pressure pipes are found also have relatively few features and textures. Traditional three-dimensional reconstruction algorithms based on feature extraction are largely ineffective for such scenes that are lacking in features. In view of the above problems, this paper proposes an improved interframe registration algorithm based on point cloud fitting with cylinder axis vector constraints. By incorporating geometric feature parameters of a cylindrical pressure pipeline, specifically the axis vector of the cylinder, to constrain the traditional iterative closest point algorithm, the accuracy of point cloud registration can be improved in scenarios lacking features and textures, and some environmental uncertainties can be overcome. Finally, using actual laser point cloud data collected from pressure pipelines, the proposed fitting-based point cloud registration algorithm with cylinder axis vector constraints is tested. The experimental results show that under the same conditions, compared with other open-source point cloud registration algorithms, the proposed method can achieve higher registration accuracy. Moreover, integrating this algorithm into an open-source three-dimensional reconstruction algorithm framework can lead to better reconstruction results.

Development of multi-sensors fusion monitoring system for shaft wall deformation

Ensuring shaft safety is crucial for underground coal mining. The prevailing method for monitoring shaft deformation involves manual measurements conducted regularly, necessitating numerous surveyors to descend into the shaft. This approach is laborious and time-consuming, and its reliance on human intervention significantly affects accuracy. An emerging alternative employs an enhanced laser slam scanner comprising laser ranging and inertial navigation angle measurement modules. The accuracy of the inertial navigation angle often requires refinement through laser point cloud registration to mitigate errors. However, existing research has not explored the utilization of a single inertial navigation sensor within a shaft, which potentially influences measurement outcomes. To investigate the impact of inertial navigation angle measurement errors from lidar scanners on shaft interior measurements and propose corresponding error reduction methods, this study developed a multisensor fusion system for monitoring shaft wall deformations. Three experiments were conducted to assess the accuracy of this monitoring system: a laboratory experiment, a simulated experiment, and a real shaft experiment. The results demonstrated that the maximum mean absolute errors (MAEs) in the laboratory and simulated shaft experiments were 0.06 cm and 0.30 cm, respectively, validating the reliability of the point cloud processing algorithm. In the real shaft experiment, the maximum MAE was 0.48 cm, confirming the measurement accuracy of the monitoring system. Compared to manual measurements, the system reduced the measurement time by 48% and streamlined the process from 12 to 3 steps. These findings highlight the monitoring system’s centimeter-level accuracy, efficiency in reducing measurement time, simplification of the measurement process, and elimination of the need for human entry into the shaft.

Axial characteristic extraction algorithm of film cooling holes based on laser point cloud

Axial characteristic extraction algorithm of film cooling holes based on laser point cloud

Research on Lightweight Method of Segment Beam Point Cloud Based on Edge Detection Optimization

In order to reduce the loss of laser point cloud appearance contours by point cloud lightweighting, this paper takes the laser point cloud data of the segment beam of the expressway viaduct as a sample. After comparing the downsampling algorithm from many aspects and angles, the voxel grid method is selected as the basic theory of the research. By combining the characteristics of the normal vector data of the laser point cloud, the top surface point cloud edge data are extracted and the voxel grid method is fused to establish an optimized point cloud lightweighting algorithm. The research in this paper shows that the voxel grid method performs better than the furthest point sampling method and the curvature downsampling method in retaining the top surface data, reducing the calculation time and optimizing the edge contour. Moreover, the average offset of the geometric contour is reduced from 2.235 mm to 0.664 mm by the edge-optimized voxel grid method, which has a higher retention. In summary, the edge-optimized voxel grid method has a better effect than the existing methods in point cloud lightweighting.

LGD: A fast place recognition method based on the fusion of local and global descriptors

Place recognition, which is also known as loop detection, has been one of the main problems in the field of robot navigation, and it is crucial in realizing high-performance simultaneous localization and mapping (SLAM). Most of the existing methods directly construct local or global descriptors with point clouds, ignoring the offset of different visits in the same place. To overcome the current limitations, this study emphasizes the importance of point cloud features in improving the environment recognition precision and proposes an innovative framework that combines local features that are spatially invariant and prominent descriptive global features as a representation of a laser scanner frame. The feature center of the laser point cloud is obtained by computing local feature points with spatial invariance, which improves the offset between the original point cloud and the feature center. Furthermore, a coarse-to-fine hierarchical recognition strategy is developed to improve the efficiency of place recognition. An evaluation with different offsets and synthesis is conducted on the publicly available KITTI and self-developed CHDloop datasets. The experimental results show that the proposed method can improve time efficiency by more than 18% compared to the SC and ISC, and there are also significant improvements in the recall rate and accuracy in slight lane-change scenarios. Moreover, the proposed method can obtain rich lane-change loops in moderate and large lane-change scenarios where the SC and ISC fail to obtain effective loops. The proposed method can be used as a lightweight and interpretable approach for place recognition, which not only can be quickly deployed in any SLAM framework but can also efficiently handle more complex place recognition issues in urban environments.

Study on Real-Time Spatial Distance Acquisition Method of Transmission Line Based on Laser Point Cloud and Image Monitoring

This paper introduces the principle of safety distance diagnosis of transmission lines by using airborne LiDAR detection technology. This project intends to realize the effective segmentation of ground objects and non-ground objects through the point cloud automatic filtering technology considering the surface fluctuation characteristics. Then, this paper realizes the initial recognition of ground objects based on spatial dimension information. Then this paper extracts the ground object information based on the image data with high precision. The 3D nodes of transmission lines are obtained by Hough transform and block centroid algorithm, and the floor features are extracted by area growth algorithm. The plant feature is extracted by using plant vertex and boundary point. The distance between the power line and the surrounding objects can be measured, and the elevation of the wire and the surrounding environment can be judged accordingly. The algorithm is tested by using the observation data of unmanned airborne LiDAR, and the simulation results show that the proposed method is feasible. Through the identification of buildings, plants and other objects along the line, the harm degree of them on the power line is judged and the effective treatment is carried out. This ensures the safe operation of transmission lines.

Building facade structure extraction method based on three-dimensional laser point cloud by considering semantic information

ABSTRACT Building facade structures serve as important data support for three-dimensional (3D) building modelling. A building facade structure extraction method based on 3D Laser Point Cloud Data (LPCD) by considering semantic information is proposed. The proposed method mainly involves three steps. First, an improved 3D LPCD semantic segmentation method is introduced to extract and label point clouds as the building structure and walls. Second, structure line segments are recognized from the initial building facade structure based on the Regulated Block RANSAC (RB-RANSAC) algorithm. Third, geometric information such as distance, vector and positional relationship between structure line segments is considered to optimize the initial building facade structure. The proposed method can effectively extract and fit segment structures by considering the semantic and geometric information, obtaining significantly accurate and concise building facade structures. Case studies on 3D LPCD of local buildings and open-source datasets (Semantic3D) prove the extraction accuracy and efficiency of the proposed method.

Modelling and protection of grotto temples based on iterative closest point and Poisson

As a non-renewable cultural heritage, grotto temples face many value threats and the crises of rapid extinction. Due to the unique environment, diverse volume and complex geometric structure of grotto temples, cultural relic protection faces huge challenges. Digitisation has become the most important and effective preventive protection method. This study proposes a comprehensive modeling method, which uses three-dimensional (3D) laser scanning technology to obtain the point cloud data of grotto ruins, close range photogrammetry to obtain multi-angle and high-resolution two-dimensional (2D) image data, and through the fusion modelling of the laser point cloud and image dense matching point cloud, a complete geometric model of grotto is obtained. The registration method of the improved algorithm is based on Euclidean distance residual. The performance is better, with residuals mainly distributed in the range of 0.02 to 0.03 mm. In terms of texture mapping, the accuracy of model mapping is adjusted by adjusting the constraints of control points. The gray values of 50 pixels around the control points show significant gradient changes in the X direction, while the changes in the Y direction are relatively small. These methods and technologies provide practical and effective means for the protection and preservation of cultural relics in grotto temples.

Visual reconstruction method of architectural space under laser point cloud big data

In order to solve the problem that the reconstruction accuracy and integrity are affected due to the large amount of point cloud data in the process of building space reconstruction, the visual reconstruction method of building space under laser point cloud big data is studied. The three-dimensional laser scanner is used to collect the laser point cloud big data in the building space, and the laser point cloud big data is organized and processed through three steps: hierarchical calculation of the point cloud pyramid, thinning treatment and block treatment. From the processing results of laser point cloud big data, the line features of building space are extracted based on the improved Mean-shift method, and the continuous broken lines in the point cloud data of building space are extracted by using the double radius threshold line tracing method. According to the feature extraction results of point cloud data in building space, the visual reconstruction of building space is completed through the process of translation matching and space matching. The experimental results show that this method can realize the visual reconstruction of architectural space, and the average reconstruction accuracy is higher than that of 97 %, and the reconstruction completion and smoothness are higher than 95 %.

Online path planning of pork cutting robot using 3D laser point cloud

PurposeThe purpose of this paper is to propose an new online path planning method for porcine belly cutting. With the proliferation in demand for the automatic systems of pork production, the development of efficient and robust meat cutting algorithms are hot issues. The uncertain and dynamic nature of the online porcine belly cutting imposes a challenge for the robot to identify and cut efficiently and accurately. Based on the above challenges, an online porcine belly cutting method using 3D laser point cloud is proposed.Design/methodology/approachThe robotic cutting system is composed of an industrial robotic manipulator, customized tools, a laser sensor and a PC.FindingsAnalysis of experimental results shows that by comparing with machine vision, laser sensor-based robot cutting has more advantages, and it can handle different carcass sizes.Originality/valueAn image pyramid method is used for dimensionality reduction of the 3D laser point cloud. From a detailed analysis of the outward and inward cutting errors, the outward cutting error is the limiting condition for reducing the segments by segmentation algorithm.

Combining Cylindrical Voxel and Mask R-CNN for Automatic Detection of Water Leakages in Shield Tunnel Point Clouds

Water leakages can affect the safety and durability of shield tunnels, so rapid and accurate identification and diagnosis are urgently needed. However, current leakage detection methods are mostly based on mobile LiDAR data, making it challenging to detect leakage damage in both mobile and terrestrial LiDAR data simultaneously, and the detection results are not intuitive. Therefore, an integrated cylindrical voxel and Mask R-CNN method for water leakage inspection is presented in this paper. This method includes the following three steps: (1) a 3D cylindrical-voxel data organization structure is constructed to transform the tunnel point cloud from disordered to ordered and achieve the projection of a 3D point cloud to a 2D image; (2) automated leakage segmentation and localization is carried out via Mask R-CNN; (3) the segmentation results of water leakage are mapped back to the 3D point cloud based on a cylindrical-voxel structure of shield tunnel point cloud, achieving the expression of water leakage disease in 3D space. The proposed approach can efficiently detect water leakage and leakage not only in mobile laser point cloud data but also in ground laser point cloud data, especially in processing its curved parts. Additionally, it achieves the visualization of water leakage in shield tunnels in 3D space, making the water leakage results more intuitive. Experimental validation is conducted based on the MLS and TLS point cloud data collected in Nanjing and Suzhou, respectively. Compared with the current commonly used detection method, which combines cylindrical projection and Mask R-CNN, the proposed method can achieve water leakage detection and 3D visualization in different tunnel scenarios, and the accuracy of water leakage detection of the method in this paper has improved by nearly 10%.

Intelligent extraction of road cracks based on vehicle laser point cloud and panoramic sequence images

In light of the limited efficacy of conventional methods for identifying pavement cracks and the absence of comprehensive depth and location data in two-dimensional photographs, this study presents an intelligent strategy for extracting road cracks. This methodology involves the integration of laser point cloud data obtained from a vehicle-mounted system and a panoramic sequence of images. The study employs a vehicle-mounted LiDAR measurement system to acquire laser point cloud and panoramic sequence image data simultaneously. A convolutional neural network is utilized to extract cracks from the panoramic sequence image. The extracted sequence image is then aligned with the laser point cloud, enabling the assignment of RGB information to the vehicle-mounted three dimensional (3D) point cloud and location information to the two dimensional (2D) panoramic image. Additionally, a threshold value is set based on the crack elevation change to extract the aligned roadway point cloud. The three-dimensional data pertaining to the cracks can be acquired. The experimental findings demonstrate that the use of convolutional neural networks has yielded noteworthy outcomes in the extraction of road cracks. The utilization of point cloud and image alignment techniques enables the extraction of precise location data pertaining to road cracks. This approach exhibits superior accuracy when compared to conventional methods. Moreover, it facilitates rapid and accurate identification and localization of road cracks, thereby playing a crucial role in ensuring road maintenance and traffic safety. Consequently, this technique finds extensive application in the domains of intelligent transportation and urbanization development. The technology exhibits significant promise for use in the domains of intelligent transportation and city development.

Fusion of airborne multimodal point clouds for vegetation parameter correction extraction in burned areas.

Most experimental studies use unimodal data for processing, the RGB image point cloud cannot separate the shrub and tree layers according to the visible vegetation index, and the airborne laser point cloud is difficult to distinguish between the ground and grass ranges, to address the above problems, a multi-band information image fusing the LiDAR point cloud and the RGB image point cloud is constructed. In this study, data collected from UAV platforms, including RGB image point clouds and laser point clouds, were used to construct a fine canopy height model (using laser point cloud data) and high-definition digital orthophotos (using image point cloud data), and the orthophotos were fused with a canopy height model (CHM) by selecting the Difference Enhancement Vegetation Index (DEVI) and Normalised Green-Blue Discrepancy Index (NGBDI) after comparing the accuracy of different indices. Morphological reconstruction of CHM + DEVI/NGBDI fusion image, remove unreasonable values; construct training samples, using classification regression tree algorithm, segmentation of the range of the burned areas and adaptive extraction of vegetation as trees, shrubs and grasslands, tree areas as foreground markers using the local maximum algorithm to detect the tree apexes, the non-tree areas are assigned to be the background markers, and the Watershed Transform is performed to obtain the segmentation contour; the original laser point cloud is divided into chunks according to the segmented single-tree contour, and the highest point is traversed to search for the highest point, and corrected for the height of the single-tree elevations one by one. Accuracy analysis of the vegetation information extracted by the method with the measured data showed that the improved method increased the overall recall rate by 4.1%, the overall precision rate by 3.7%, the overall accuracy F1 score by 3.9%, and the tree height accuracy by 8.8%, 1.4%, 1.7%, 6.4%, 1.8%, and 0.3%, respectively, in the six sampling plots. The effectiveness of the improved method is verified, while the higher the degree of vegetation mixing in the region the better the extraction effect of the improved algorithm.

Accurate solution of the SAIL model by leaf inclination angle calculation based on laser point clouds

ABSTRACT The canopy radiative transfer model enables quantitative inversion of vegetation biophysical parameters by rapidly simulating spectral information. However, structural input parameters, such as the leaf inclination angle distribution (LAD), are often set to empirical values in classic models, leading to simulation errors. Laser point cloud technology has developed rapidly in recent years, and the 3D structure of vegetation can be detailed using laser sensors and processing software, providing the necessary conditions for accurate solutions of radiative transfer models of the canopy. However, the mechanisms for improving existing models of canopy radiative transfer by introducing laser point clouds have not yet been theoretically analyzed in detail. In this study, a precise solution was proposed by incorporating the accurate LAD obtained from laser point clouds into the intermediate function of the traditional Scattering by Arbitrarily Inclined Leaves (SAIL) model, which is a widely used multiangle radiative transfer model. The calculation of the leaf inclination angle and the derivation of the improved model were detailed in this paper. Experiments from different observation angles and bands compared the similarity between the actual measured spectra and the simulated spectra for both the traditional SAIL model and the proposed model with accurate structural parameters. The overall similarity of the proposed model with respect to the conventional SAIL model was improved, indicating that introducing laser point clouds improved the simulation accuracy. The proposed model achieved more significant improvements in the blue 450 nm and red 670 nm bands. Moreover, the similarity improvements differed between different angles. Finally, we analyzed the sensitivity of the structural parameters of the SAIL model and the proposed model using local and global sensitivity analysis methods.

HAVANA: Hard Negative Sample-Aware Self-Supervised Contrastive Learning for Airborne Laser Scanning Point Cloud Semantic Segmentation

Deep Neural Network (DNN)-based point cloud semantic segmentation has presented significant breakthrough using large-scale labeled aerial laser point cloud datasets. However, annotating such large-scaled point clouds is time-consuming. Self-Supervised Learning (SSL) is a promising approach to this problem by pre-training a DNN model utilizing unlabeled samples followed by a fine-tuned downstream task involving very limited labels. The traditional contrastive learning for point clouds selects the hardest negative samples by solely relying on the distance between the embedded features derived from the learning process, potentially evolving some negative samples from the same classes to reduce the contrastive learning effectiveness. This work proposes a hard-negative sample-aware self-supervised contrastive learning algorithm to pre-train the model for semantic segmentation. We designed a k-means clustering-based Absolute Positive And Negative samples (AbsPAN) strategy to filter the possible false-negative samples. Experiments on two typical ALS benchmark datasets demonstrate that the proposed method is more appealing than supervised training schemes without pre-training. Especially when the labels are severely inadequate (10% of the ISPRS training set), the results obtained by the proposed HAVANA method still exceed 94% of the supervised paradigm performance with full training set.

Methodology for retrospectively developing a BIM model from point cloud scans using ongoing building project as case study

Purpose The purpose of this study is to explore the suggestions that construction processes could be considerably improved by integrating building information modelling (BIM) with 3D laser scanning technologies. This case study integrated 3D laser point cloud scans with BIM to explore the effects of BIM adoption on ongoing construction project, whilst evaluating the utility of 3D laser scanning technology for producing structural 3D models by converting point cloud data (PCD) into BIM. Design/methodology/approach The primary data acquisition adopted the use of Trimble X7 laser scanning process, which is a set of data points in the scanned space that represent the scanned structure. The implementation of BIM with the 3D PCD to explore the precision and effectiveness of the construction processes as well as the as-built condition of a structure was precisely captured using the 3D laser scanning technology to recreate accurate and exact 3D models capable of being used to find and fix problems during construction. Findings The findings indicate that the integration of BIM and 3D laser scanning technology has the tendency to mitigate issues such as building rework, improved project completion times, reduced project cost, enhanced interdisciplinary communication, cooperation and collaboration amongst the project duty holders, which ultimately enhances the overall efficiency of the construction project. Research limitations/implications The acquisition of data using 3D laser scanner is usually conducted from the ground. Therefore, certain aspects of the building could potentially disturb data acquisition; for example, the gable and sections of eaves (fascia and soffit) could be left in a blind spot. Data acquisition using 3D laser scanner technology takes time, and the processing of the vast amount of data acquired is laborious, and if not carefully analysed, could result in errors in generated models. Furthermore, because this was an ongoing construction project, material stockpiling and planned construction works obstructed and delayed the seamless capture of scanned data points. Originality/value These findings highlight the significance of integrating BIM and 3D laser scanning technology in the construction process and emphasise the value of advanced data collection methods for effectively managing construction projects and streamlined workflows.