一种机载InSAR水体阴影的提取和识别方法

为了解决机载InSAR DEM中水体和阴影区域质量不佳需要区分修复的问题,提出一种综合利用机载InSAR数据源自动提取水体和阴影并加以识别的方法。首先基于InSAR DEM进行粗差点检测,利用粗差点作为种子点在SAR图像中区域生长,提取完整的水体和阴影区域;然后利用沿斜距向高程差和雷达俯角构造约束条件自动识别两者。通过对实测的机载高分辨率InSAR数据进行处理,水体阴影的识别率达到92%以上,其中水体和地形阴影的识别较好,而受制于DEM内在噪声等因素的影响,由树木造成的小块阴影容易造成误分。     

基于机载激光雷达数据的简单规则建筑物模型重建

机载激光雷达数据具有直接描述对象几何特征、便于表达空间不连续变化等优势,是建筑物重建的主要数据源之一。为实现基于激光雷达点云数据的模型自动重建和解决现有方法存在的问题,提出了一种基于特征线提取、面向简单规则建筑物的重建方法。该方法以投影为基础,以平高分解为手段,通过在多个投影平面内逐步确定平面、高程信息实现特征线提取及模型重建。实验表明,该方法能够避免现有方法遇到的若干困难,有效重建简单规则建筑物模型。     

基于DST融合多视图模糊推理赋值的三维目标检测

针对前置激光雷达的点云数据,提出一种基于DST融合多视图模糊推理赋值的有效障碍物分割判别方法.将点云数据转换为体素地图并进行路面分割,得到前、俯视图.在两视图中根据不同的模糊推理规则对某体素属于目标的程度进行基本概率赋值,并通过DST融合判别目标,精确分割目标,从而得到方盒模型参数.将三维识别问题转换为一系列的二维检测问题,与直接利用三维点云信息相比,可以降低数据处理复杂度,提高系统稳定性.在自主研发的自动驾驶汽车上采用前置16线激光雷达和TX2嵌入式开发板进行多次在线试验,并在KITTI上进行对比验证,结果表明所提方法在实际应用中拥有较好的实时性和准确性.     

基于机载LiDAR点云的电力线自动提取

基于机载激光雷达数据提出了一种在林区中电力线自动提取方法,该方法是基于统计分析和二值化图像处理技术设计。首先采用高度阈值,分离出电力线候选数据集,并采用一组标准(例如,高度标准,密度标准和直方图阈值)来对候选集进行统计分析,选择电力线的候选点。然后将候选点转化为二值化图像,并进行形态学优化,采用基于图像的处理技术,利用渐进概率霍夫线性变换对图像进行直线分割。最后将分割出来的电力线二值化图像转换成三维点云,并利用区域增长精细化提取电力线点云。使用不同林区环境下的4组机载激光雷达数据进行实验,实验结果表明,算法在林区环境下能够完整地提取出电力线,且电力线分类精度较高,对于电力巡线具有较高的利用价值。     

机载雷达图像目标识别模型仿真研究

机载视觉雷达对目标准确标识别,关系到航空领域的安全.机载视觉雷达的目标识别多是高空作业,识别的目标图像信息易受到飞机倾斜角度、高空外部噪声干扰、机身异常抖动、被测物体的抖动和采样速度过低等因素的干扰,使得识别目标区域模糊,可识别特征发生严重衰减.传统机载视觉雷达的目标识别方法中,在运动状态下对高空目标的图像衰减特征分割一直很困难,分割过程会出现过分割和欠分割的问题,导致目标识别结果不理想.提出采用机载视觉雷达倾斜状态下的目标识别方法,得到图像中对地目标的运行速度,通过雷达视场距离的标定成像几何原理,将地面目标三维场景投射到二维象平面中,并采用数据链驱动无缝集成模式来运算识别地面目标的实际数量,获取准确的塔机目标识别检测结果.实验结果说明,所提机载视觉雷达倾斜状态下的目标识别模型获取的地面目标识别更加准确,并且具有较高的检测效率和精度.     

激光雷达的多源数据融合点云分类算法研究

根据单档输电线空间分布特性,提出了改进随机采样一致的输电线点云分割方法。首先优化初始样本点选择原则、引入最小二乘原理参数求解等改进策略,提高了随机采样一致性算法输电线模型重建精度;然后以直线-抛物线方程为单根输电线识别的约束条件,利用逐根提取方式实现输电线激光点云分割。选择两组典型代表性的机载激光点云数据进行实验分析,该方法有效解决了数据缺失、点云噪声等复杂背景环境的输电线激光点云分割,准确率、召回率和整体精度最小值分别为99.19%、99.25%、99.10%。较之已有方法,本文方法具有点云分割精度高、算法普适性强的优势;随机采样一致性(RANSAC)算法是常见的激光点云分割方法,但该算法推广至输电线场景时存在点云分割效率低、抗噪性差等不足,不利于高精度的输电线模型重建及后续线路风险检测。     

一种运用PCA的深度学习激光点云分类方法

为了提高机载激光雷达数据的分类精度和避免耗时的点云多特征提取,本文在点云去噪的基础上,对点云数据进行相对高程的特征提取,提出一种基于PCA数据降维与Point-Net相结合而形成的网络模型,并将获取的相对高程特征和原始特征经过降维处理后输入到网络中。运用Point-Net网络模型提取的全局特征进行点云分类,返回每个点分类后的标签,并根据点云的坐标信息和标签进行分类结果可视化,实现机载激光雷达点云数据的分类,最后再对得到的分类结果进行精度分析。分类实验表明,此方法获得的点云分类结果较好。     

三维点云中的二维标记检测

特征检测在物体识别、数据配准等应用中具有至关重要的作用。同一场景中不同采集数据的配准和融合,必须已知或者估算不同数据中的共同特征对应点。然而,许多场景缺少有效对应特征点。解决该问题的一种有效的方法是在场景中添加标记以增加特征。文章提出一种在只含有位置信息的三维点云中自动检测二维标记的方法。该方法首先在三维场景添加黑色圆形薄纸片作为二维标记,利用区域增长法将获取的三维场景的点云数据分割成不同类别,然后基于随机抽样一致性算法的扩展方法依次对分割后的点云进行形状拟合,最后通过检测形状检测该二维标记。该方法能够有效地检测出三维场景中的二维标记,并避免了遮挡、形变等问题,为缺少特征的场景提供了简单可行的特征,可广泛应用于数据配准、物体识别、物体追踪、三维重建等领域。     

激光雷达引导下的红外图像中行人检测

研究了一种利用激光雷达数据引导红外图像进行行人检测与识别的方法。首先针对激光雷达数据,提出了一种利用鲁棒主成分分析进行目标感兴趣区域检测的方法,进而设计了一种窗口滤波算法对前景矩阵进行滤波处理,得到目标感兴趣区域的位置信息。在此基础上,将该位置信息投影到红外图像中获取红外图像中的目标感兴趣区域,进而在红外图像感兴趣区域内利用稀疏编码金字塔算法和支持向量机完成行人识别。实验结果表明了该算法能够有效地完成行人识别。     

基于激光点云的道路可通行区域检测方法

以车载激光雷达获取的点云数据为研究对象,针对无人车道路环境感知的关键技术展开研究。为解决无人驾驶中道路可通行区域检测存在的地面不平整、缓坡、障碍物单一等问题,提出基于激光点云数据的道路可通行区域检测方法。通过基于分段校准的RANSAC算法进行地面分割,解决地面不平整导致的欠分割问题。使用多特征复合判据,利用基于体素化的DBSCAN聚类算法和基于结构特征的障碍物识别方法完成障碍物的分割与识别。结合道路结构以及数据高程突变特征,提取道路边界候选点并拟合得到完整的道路边界线。将道路区域栅格化,根据道路边界悬空障碍物判断并更新可通行区域,实现可通行区域的准确检测。实验结果表明,该方法在复杂道路场景中的边界检测准确率高于95%,可有效检测出障碍物及道路的可通行区域,具有良好的实时性与鲁棒性。     

The Comparison of Urban Tree Crown Extraction based on Airborne LiDARElevation Difference and High Resolution Imagery

With the support of airborne Light Detection and Ranging (LiDAR) data and high spatial resolution aerial imagery,this paper presents an individual tree extraction method that takes the region of urban as the study area.The elevation difference model originated from LiDAR data was used to extract regions of interest including trees. Then,masking was applied to the high spatial resolution aerial imagery to get the same regions. Besides,image segmentations,based on the marked watershed algorithm,were processed on the high spatial resolution aerial imagery and the elevation difference model separately to extract individual tree crowns. Finally,we took a visual interpretation to delineate tree crowns manually and this result was regarded as the reference crowns map. The extraction accuracies were assessed by comparing the spatial relationships of the reference crowns and the automated delineated tree crowns based on the elevation difference model and the high resolution imagery. The results show that the LiDAR data is developed to improve the efficiency of obtaining forest region that the canopy height model include 85.25% forest information. In addition,the tree crowns extraction accuracy based on the high resolution aerial imagery is 57.14%,while another extraction accuracy based on the elevation difference model is 42.47%,which indicated that the marked watershed algorithm proposed in this paper is effective and the high resolution imagery is better than the elevation difference model to extract tree crowns.     

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.     

结合LiDAR单木分割和高光谱特征提取的城市森林树种分类

基于多源遥感数据的城市森林树种分类对城市森林资源调查、森林健康状况评价及科学化管理具有重要意义。以江苏省常熟市虞山国家森林公园内的典型城市森林树种为研究对象,利用同期获取的机载激光雷达(LiDAR)和高光谱数据,针对5个典型城市森林树种进行了树种分类的研究。首先,基于点云距离判断单木分割方法进行单木位置和冠幅提取,并借助实测数据和目视解译结果进行精度验证;然后,在冠幅内提取4组高光谱特征变量,并借助随机森林模型对特征变量进行重要性分析;最后,筛选出重要性高的特征变量进行2个级别的树种分类并借助混淆矩阵进行验证评价。结果表明:基于点云距离判断分割方法的单木位置提取精度较高(探测率为85.7%,准确率为96%,总体精度为90.9%);利用全部特征变量(n=36)对5个树种进行分类,分类的总体精度达到了84%,Kappa系数为0.80;利用优选特征变量(n=9)进行分类,总体精度达83%,Kappa系数为0.79;利用全部特征变量(n=36)对两种森林类型进行分类,分类的总体精度达91.3%,Kappa系数为0.82,其中阔叶树种分类精度为95.6%,针叶树种分类精度为85%;利用优选特征变量(n=9)进行分类,分类的总体精度达90.7%,Kappa系数为0.80,其中阔叶树种分类精度为93.33%,针叶树种分类精度为86.67%。     

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.     

Identifying species of individual trees using airborne laser scanner

Individual trees can be detected using high-density airborne laser scanner data. Also, variables characterizing the detected trees such as tree height, crown area, and crown base height can be measured. The Scandinavian boreal forest mainly consists of Norway spruce (Picea abies L. Karst.), Scots pine (Pinus sylvestris L.), and deciduous trees. It is possible to separate coniferous from deciduous trees using near-infrared images, but pine and spruce give similar spectral signals. Airborne laser scanning, measuring structure and shape of tree crowns could be used for discriminating between spruce and pine. The aim of this study was to test classification of Scots pine versus Norway spruce on an individual tree level using features extracted from airborne laser scanning data. Field measurements were used for training and validation of the classification. The position of all trees on 12 rectangular plots (50×20 m²) were measured in field and tree species was recorded. The dominating species (>80%) was Norway spruce for six of the plots and Scots pine for six plots. The field-measured trees were automatically linked to the laser-measured trees. The laser-detected trees on each plot were classified into species classes using all laser-detected trees on the other plots as training data. The portion correctly classified trees on all plots was 95%. Crown base height estimations of individual trees were also evaluated (r=0.84). The classification results in this study demonstrate the ability to discriminate between pine and spruce using laser data. This method could be applied in an operational context. In the first step, a segmentation of individual tree crowns is performed using laser data. In the second step, tree species classification is performed based on the segments. Methods could be developed in the future that combine laser data with digital near-infrared photographs for classification with the three classes: Norway spruce, Scots pine, and deciduous trees.     

机载X-波段双天线InSAR数据森林树高估测方法

短波长的干涉合成孔径雷达(InSAR)适用于数字表面模型(DSM)提取,但难以提取准确的林下地相位,在缺乏高精度数字高程模型(DEM)的森林区域,短波长InSAR数据估测树高的能力受到限制。针对这一问题,采用机载X-波段单极化(HH)双天线InSAR数据开展了森林树高估测方法研究。双天线InSAR可以忽略时间去相干的影响,并且X-波段波长较短,入射角较大(中心入射角45.77°),地表对干涉去相干的贡献可以忽略,因此可将干涉复相干作为体去相干,对体去相干模型中的结构函数进行勒让德展开,截取第0阶展开式得到了基于相干幅度的森林树高估测模型,利用均匀选取的LiDAR冠层高度模型(CHM)检验样本对估测结果进行严格的精度评价,并与差分法的树高估测结果进行对比。精度评价结果显示:相干幅度法与差分法都得到了较高的估测精度,两者的R~2、RMSE、总精度分别为0.81、0.86;1.20m、0.97m;86.4%、88.7%。研究结果表明:相干幅度与森林树高具有负相关关系,适用于估测树高,基于单极化相干幅度的估测模型也可以得到较高的估测精度,与差分法的估测结果相比,虽然估测精度略有降低,但此方法具有两方面的优势:一方面,估测结果不需要实测样地数据标定,对于没有实测样地数据的森林区域亦能进行高精度的树高估测;另一方面,相干幅度法不需要高精度的DEM,具有更强的实用性。     

Evaluating uncertainty in mapping forest carbon with airborne LiDAR

Airborne LiDAR is increasingly used to map carbon stocks in tropical forests, but our understanding of mapping errors is constrained by the spatial resolution (i.e., plot size) used to calibrate LiDAR with field data (typically 0.1-0.36 ha). Reported LiDAR errors range from 17 to 40 Mg C ha^− 1, but should be lower at coarser resolutions because relative errors are expected to scale with (plot area)^-1/2. We tested this prediction empirically using a 50-ha plot with mapped trees, allowing an assessment of LiDAR prediction errors at multiple spatial resolutions. We found that errors scaled approximately as expected, declining by 38% (compared to 40% predicted from theory) from 0.36- to 1-ha resolution. We further reduced errors at all spatial resolutions by accounting for tree crowns that are bisected by plot edges (not typically done in forestry), and collectively show that airborne LiDAR can map carbon stocks with 10% error at 1-ha resolution — a level comparable to the use of field plots alone.     

An Improved Method for Object Extracting based on Context Information Using Multisouce Data

This paper proposed a new method which combines the airborne LiDAR data with aerial image to extract Rolling Stones on mountainous.Firstly,the aerial image is processed with multi-scale segmentation to get segmentation objects,and the LiDAR data are processed by classification,interpolation,difference for elevation information.Then compute the segmentation object based on visible-band difference vegetation index to remove the interference of vegetation information,and the nonvegetated segmentation objects are obtained.In order to effectively use the shadow,this paper put forward the normalized difference shadow index and use threshold segmentation to get shadow object.And then the automatic extraction algorithm based on the shadow and elevation information is used to preliminary obtain the rolling stones information.Finally,The height threshold filtering is set according to the actual demand to get the final rolling information.This paper took a certain area of Hong Kong aviation image and LiDAR data as experimental data to validate the proposed method.The results show that the method can well extract the Rolling Stones and effectivly distinguish the exposed bedrock,roads and similar spectral information of ground objects as Rolling Stones.The extraction accuracy of Rolling Stones is above 88% which basically satisfies the needs of rockfall in lands department.     

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.