机载LiDAR输电线路杆塔快速定位方法研究

杆塔位置是机载激光雷达电力巡检应用中进行输电线路点云分段、杆塔提取、变化检测的基础。为了提高其自动定位的精度和效率，提出了一种适用于复杂地形的高压输电线路杆塔自动定位方法。首先在分析了输电线路点云相对高度、垂直和水平分布特征基础上，采用格网预处理剔除低位点格网、聚类分析确定候选类簇，然后利用格网垂直连续分布系数、高程分布系数和凸包系数等识别杆塔点所在格网，并以邻近格网中心作为杆塔水平位置。实验结果表明：相比前人的方法，算法的杆塔定位精度提高了11.7%，查准率和召回率分别提高了50%和20%，尤其是在地形起伏大且不连续的情况下具有较好的普适性。

Study on Power Pylon Fast Positioning in Transmission Line from Airborne LiDAR Data

Precise spatial position of power pylon is the basis for the transmission line point cloud segmentation， power pylon points extraction， and change monitoring in airborne Light Detection and Ranging （LiDAR） power inspection application. In order to improve the algorithm efficiency of its automatic positioning and the accuracy and robustness， an automatic positioning method for the high-voltage transmission line of complex terrain is proposed. Firstly， according to the analysis of the relative height， vertical and horizontal distribution characteristics of the airborne point cloud of the transmission line， a grid preprocessing is used to remove low-level point grid and a grid cluster analysis is applied to determine the candidate clusters， and then based on the grid vertical continuous distribution coefficient， elevation distribution coefficient， convex hull coefficient and so on， the grids where the power pylon points are located， are identified and the adjacent grid center serves as the horizontal position of the power pylon. The experimental results show that compared with the previous methods， the accuracy of the proposed algorithm has increased by 11.7%， the precision and recall rate has increased by 50% and 25% respectively， especially when the terrain is rough and discontinuous， it has better robustness.