一种三维激光扫描点云拟合的抗差加权整体最小二乘法

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英文篇名：Robust Weighted Total Least Squares Method for Terrestrial Laser Scanning Point Cloud Fitting 作者：蒋荣华 ; 刘超 英文作者：JIANG Ronghua;LIU Chao;Anhui University of Science and Technology; 关键词：三维激光扫描 ; 点云 ; 加权整体最小二乘 ; 抗差估计 ; 入射角 ; 定权 英文关键词：terrestrial laser scanning;;point clouds;;weighted total least squares;;robust estimation;;incidence angle;;weighing 中文刊名：CHTB 英文刊名：Bulletin of Surveying and Mapping 机构：安徽理工大学测绘学院; 出版日期：2017-09-25 出版单位：测绘通报 年：2017 期：No.486 基金：国家自然科学基金(41404004);; 安徽省博士后基金(2015B044);; 安徽理工大学科研启动基金(11152) 语种：中文; 页：CHTB201709009 页数：6 CN：09 ISSN：11-2246/P 分类号：41-45+68

摘要

针对三维激光扫描中点云不等精度且易受粗差影响的问题,提出了一种基于入射角定权的抗差加权总体最小二乘的拟合方法。该方法在采用入射角定权的基础上,进行基于标准化残差和中位数的抗差加权整体最小二乘估计,获得待定参数估值,并通过Gauss-Newton迭代算法,推导了模型的迭代计算方法。以平面拟合和球面拟合为例,分别通过仿真数据和实测数据对算法进行验证,结果表明,对于含有粗差的点云,新方法可以获得更为理想的参数估值,其性能优于抗差整体最小二乘和加权整体最小二乘,可以更好地进行三维激光扫描的点云拟合。
        In point clouds fitting of terrestrial laser scanner,the data observed with unequal and the accuracy is affected greatly by gross error.In order to overcome this shortcoming,a robust weighted total least squares method based on the theory of incidence angle weighting is adopted in this paper,and an incidence angle cosine formula to spherical point cloud is deduced.So as to get the coefficient and inspection,this method uses the theory of incident angle to determine weights and utilizes the standardized residuals to construct the weight factor function,and the square root of the variance component estimator with robustness is obtained by the median method.There use experiments based on the simulation and measured data of plane fitting and the sphere fitting as example to verification algorithm,the experiment indicates that the robust WTLS(RWTLS) method exhibits satisfactory robustness,the accuracy of the obtained parameters is high,it is superior to the robust total least squares and weighted total least squares method.It has perfect performance on point clouds of terrestrial laser scanner.

引文

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