一种移动二维激光雷达的点云强度改正方法

一种地面移动二维激光的点云强度改正方法,该方法从影响强度差异的因素入手,根据同类地物反射强度相同这一原则,利用二维激光雷达提取标准漫反射板在不同扫描距离、角度下的强度数据,分别建立基于数据驱动的距离和入射角改正模型,并利用最小二乘法解算改正参数；然后采用移动二维激光扫描系统对实际场景进行移动扫描,获取实际场景的点云距离、扫描角度、强度等信息,再根据已建立的改正模型消除距离和入射角对强度值的影响,使改正后的同质区域强度趋于统一。

A point cloud intensity correction method for ground-based mobile 2D laser scanners is presented. Starting with the factors that cause intensity differences, this method adheres to the principle that the reflected intensity of homogeneous ground features is consistent. Firstly, 2D LiDAR is utilized to collect intensity data of a standard diffuse reflectance plate under varying scanning distances and incident angles, and two data-driven correction models for distance and incident angle are established separately, with the correction parameters solved through the least squares method. Subsequently, a mobile 2D laser scanning system is used to conduct mobile scanning of real-world scenes, obtaining information including point cloud distance, scanning angle, and intensity of the actual scene. Finally, the pre-established correction models are applied to eliminate the impact of scanning distance and incident angle on the intensity values, so that the intensity of homogeneous regions after correction tends to be consistent.

搜集汇总

背景与挑战

背景概述

该数据集介绍了一种移动二维激光雷达的点云强度改正方法，通过建立距离和入射角改正模型来消除强度差异，适用于地面移动扫描系统。数据集属于“人工林重大灾害防控关键技术研究”项目，以文档形式提供，旨在提高点云数据在林业灾害防控中的应用质量。