点云去除和特征保存:基于局部密度和全球统计数据的自适应内核方法
Lianchao Wang1, Yijin Chen1, Wenhui Song1
1College of Geoscience and Surveying Engineering, China University of Mining and Technology (Beijing), Beijing 100083, China.
Sensors (Basel, Switzerland)
|March 28, 2024
概括
本研究引入了适应性内核方法,用于户外场景中的点云无声化. 该方法有效地消除噪声,同时保持关键的结构特征,提高3D数据质量.
科学领域:
- 计算机视觉 计算机视觉
- 地理空间数据处理.
- 信号处理 信号处理
背景情况:
- 点云噪声对下游任务 (如分类和3D重建) 有重大影响.
- 对户外LiDAR数据的有效消除噪音仍然是一个关键的挑战.
研究的目的:
- 从现实世界户外场景中开发适应性消除噪音的点云方法.
- 提高处理的点云数据的准确性和结构完整性.
主要方法:
- 提出了基于局部密度和全球统计 (AKA-LDGS) 的自适应内核方法.
- 用贝叶斯估计理论来构建否定框架.
- 动态设置先前概率使用空间关系和距离LiDAR.
- 用多变量高斯分布用于实点和非参数KDE用于噪点.
主要成果:
- 成功删除了户外点云数据集中的噪音.
- 保存了点云的基本结构特征.
- 在处理现实世界户外场景噪音方面表现出有效性.
结论:
- 在具有挑战性的户外环境中,AKA-LDGS方法为点云消噪提供了有效的解决方案.
- 这种方法提高了点云数据的可靠性,用于随后的分析和应用.
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