面向航带平差的机载LiDAR系统误差处理方法研究
|
摘要
作为一种全新的数据获取手段,机载激光雷达(Light Detection And Ranging,LiDAR)系统的精度一直是各方关注的焦点。能否将其成果作为基础测绘产品直接应用,这是开展机载LiDAR大规模工程化应用必须面对的问题。系统误差是影响机载LiDAR系统精度的主要因素,如何消除或削弱系统误差影响,提高空间数据获取精度是机载LiDAR数据处理领域的研究热点和技术前沿,具有重要理论意义和工程实用价值。本文系统地归纳总结了机载LiDAR系统数据处理的相关理论,重点研究机载LiDAR数据中系统误差处理方法,以航带平差方法为理论核心,提出了基于航带平差的机载LiDAR系统误差处理新方法,并通过实验进行了验证,有效提高了LiDAR系统精度。全文主要研究内容如下:
①机载LiDAR数据系统误差源理论分析与估计。机载LiDAR系统集成了多个子系统,其定位精度会受到来自姿态、测距、GPS定位、系统集成等多种误差的影响。这些子系统对激光脚点的定位结果的影响一般表现为系统性的,会在不同程度上歪曲定位结果。为了获取高精度的三维地表信息,就必须研究这些误差的大小和影响规律,并采取一定的措施来减小这些误差的影响。本文从机载LiDAR系统几何定位方程出发、基于误差传播规律推导了机载LiDAR系统的综合误差计算公式,分别研究了姿态角、GPS、激光测距、扫描角等多种误差源对激光脚点定位精度的影响规律,从理论上分析了机载LiDAR系统定位精度;进而全面总结和回顾了现有的系统误差消除方法。
②机载LiDAR航带平差理论基础。包括机载LiDAR数据的表面表达方式、对航带平差有特殊影响的典型数据特点、航带平差的基本数学模型、主要的航带平差处理工作。在此基础上提出了完整的航带平差流程,对航带平差中涉及到的关键问题进行了研究并给出了解决方案。
③提出了基于无控制三维表面最小高程差(Least Z-Difference,LZD)和最小法向距离(Least Normal Distance,LND)两种匹配算法,有效消除机载LiDAR点云数据航带间的系统误差。实验表明:使用LND和LZD两种方式进行机载LiDAR航带平差获取的结果均可以满足工程生产的精度需求;与商业软件TerraMatch的结果相比,LZD的精度和TerraMatch的精度相当,且两种方式在TerraMatch软件平差失败时也能成功的完成航带平差任务。
④首次将高斯-马尔柯夫模型引入到基于无控制三维表面匹配的机载LiDAR航带平差方法中。实验表明,在对高斯-马尔科夫模型进行合理的参数配置后,能够显著提高平差的精度。
⑤将传统摄影测量中的航带法区域网平差原理扩展到机载LiDAR点云数据处理中,提出了机载LiDAR航带区域网平差方法,可有效降低逐航带平差导致的误差累积。
As a new means of data acquisition, accuracy of airborne LiDAR(Light Detection And Ranging) system has been the focus of attention. Whether the results can be applied directly to basic surveying and mapping products is a question we must answer when carrying out large-scale airborne LiDAR engineering application. While systematic errors are the main factors of affecting the accuracy of airborne LiDAR system, elimination of systematic error has been a key issue affecting and constraining the development and application of airborne LiDAR. Therefore, to attain high-accuracy airborne LiDAR data, it is of great theoretic and practical value to research the key techniques and methods of the elimination of systematic errors.This paper takes the strip adjustment as the key technique and main research content. The related theory, techniques and methods of airborne LiDAR data’s systematic error processing are studied to an extent. Facing to the advanced theories of airborne LiDAR strip adjustment, grasping the status and trends of technological development, according to characteristics of LiDAR data, combining of theoretical analysis, the method design, algorithm implementation, new strip adjustment methods are proposed and fulfilled. The main content and research issues of this thesis are listed as following.
①Analyze the error sources and their influences on the airborne LiDAR data qualitively and quantitively. Airborne LiDAR system integrates multiple subsystems, its positioning accuracy will be influenced by INS, ranging, GPS positioning, system integration and other errors. Impact of these subsystems on the results of laser footprint positioning will usually render a systemic, distorted position results in varying degrees. In order to achieve three dimensional surface information of high precision, we have to study size and influence of those errors’, and to take certain measures to reduce the effect of these errors. From the position equation of airborne LiDAR system, this paper analyses the error propagation of LiDAR system. The errors such as the INS, GPS positioning, ranging, laser scan angle are discussed detailedly, the influenced rule of those errors are deeply studied. The academic positon precision are discuss and the stimulant numerical value of LiDAR system are deduced by the precision of its composite.
②Study the LiDAR strip adjustment theory. LiDAR strip adjustment’s performance potential as well as limitations several aspects should be considered, including surface representation, error characteristics of LiDAR, surface comparisons, modeling, and adjustment techniques. So our paper reviews these fundamentals of the underlying theory, and then the most important techniques of LiDAR strip adjustment are discussed. on this basis makes a complete strip adjustment process; the key issues involved in the study are given solution.
③Propose Least Z-Difference(LZD) and Least Normal Distance(LND) two matching algorithms based on 3D surface matching without control points. Effectively eliminate airborne LiDAR point cloud data systematic errors between strips. Experimental results show that: the accuracy of airborne LiDAR strip adjustment based on LND and LZD can both meet the project accuracy requirements; compared to commercial software TerraMatch, LZD and TerraMatch accuracy are at the same level, and the proposed algorithm can successfully complete the task of strip adjustment when TerraMatch software failure.
④Introduce the Gauss-Markoff model to the three-dimensional surface matching based on uncontrolled airborne LiDAR strip adjustment method for the first time.Experimental results show that after reasonable parameters configuration of the Gauss-Markoff model, improved strip adjustment method can significantly improve the adjustment accuracy.
⑤extend traditional photogrammetric strip block adjustment principle to airborne LiDAR point cloud data processing, propose a airborne LiDAR strips block adjustment method which can effectively reduce the strip adjustment caused by error accumulation .
①机载LiDAR数据系统误差源理论分析与估计。机载LiDAR系统集成了多个子系统,其定位精度会受到来自姿态、测距、GPS定位、系统集成等多种误差的影响。这些子系统对激光脚点的定位结果的影响一般表现为系统性的,会在不同程度上歪曲定位结果。为了获取高精度的三维地表信息,就必须研究这些误差的大小和影响规律,并采取一定的措施来减小这些误差的影响。本文从机载LiDAR系统几何定位方程出发、基于误差传播规律推导了机载LiDAR系统的综合误差计算公式,分别研究了姿态角、GPS、激光测距、扫描角等多种误差源对激光脚点定位精度的影响规律,从理论上分析了机载LiDAR系统定位精度;进而全面总结和回顾了现有的系统误差消除方法。
②机载LiDAR航带平差理论基础。包括机载LiDAR数据的表面表达方式、对航带平差有特殊影响的典型数据特点、航带平差的基本数学模型、主要的航带平差处理工作。在此基础上提出了完整的航带平差流程,对航带平差中涉及到的关键问题进行了研究并给出了解决方案。
③提出了基于无控制三维表面最小高程差(Least Z-Difference,LZD)和最小法向距离(Least Normal Distance,LND)两种匹配算法,有效消除机载LiDAR点云数据航带间的系统误差。实验表明:使用LND和LZD两种方式进行机载LiDAR航带平差获取的结果均可以满足工程生产的精度需求;与商业软件TerraMatch的结果相比,LZD的精度和TerraMatch的精度相当,且两种方式在TerraMatch软件平差失败时也能成功的完成航带平差任务。
④首次将高斯-马尔柯夫模型引入到基于无控制三维表面匹配的机载LiDAR航带平差方法中。实验表明,在对高斯-马尔科夫模型进行合理的参数配置后,能够显著提高平差的精度。
⑤将传统摄影测量中的航带法区域网平差原理扩展到机载LiDAR点云数据处理中,提出了机载LiDAR航带区域网平差方法,可有效降低逐航带平差导致的误差累积。
As a new means of data acquisition, accuracy of airborne LiDAR(Light Detection And Ranging) system has been the focus of attention. Whether the results can be applied directly to basic surveying and mapping products is a question we must answer when carrying out large-scale airborne LiDAR engineering application. While systematic errors are the main factors of affecting the accuracy of airborne LiDAR system, elimination of systematic error has been a key issue affecting and constraining the development and application of airborne LiDAR. Therefore, to attain high-accuracy airborne LiDAR data, it is of great theoretic and practical value to research the key techniques and methods of the elimination of systematic errors.This paper takes the strip adjustment as the key technique and main research content. The related theory, techniques and methods of airborne LiDAR data’s systematic error processing are studied to an extent. Facing to the advanced theories of airborne LiDAR strip adjustment, grasping the status and trends of technological development, according to characteristics of LiDAR data, combining of theoretical analysis, the method design, algorithm implementation, new strip adjustment methods are proposed and fulfilled. The main content and research issues of this thesis are listed as following.
①Analyze the error sources and their influences on the airborne LiDAR data qualitively and quantitively. Airborne LiDAR system integrates multiple subsystems, its positioning accuracy will be influenced by INS, ranging, GPS positioning, system integration and other errors. Impact of these subsystems on the results of laser footprint positioning will usually render a systemic, distorted position results in varying degrees. In order to achieve three dimensional surface information of high precision, we have to study size and influence of those errors’, and to take certain measures to reduce the effect of these errors. From the position equation of airborne LiDAR system, this paper analyses the error propagation of LiDAR system. The errors such as the INS, GPS positioning, ranging, laser scan angle are discussed detailedly, the influenced rule of those errors are deeply studied. The academic positon precision are discuss and the stimulant numerical value of LiDAR system are deduced by the precision of its composite.
②Study the LiDAR strip adjustment theory. LiDAR strip adjustment’s performance potential as well as limitations several aspects should be considered, including surface representation, error characteristics of LiDAR, surface comparisons, modeling, and adjustment techniques. So our paper reviews these fundamentals of the underlying theory, and then the most important techniques of LiDAR strip adjustment are discussed. on this basis makes a complete strip adjustment process; the key issues involved in the study are given solution.
③Propose Least Z-Difference(LZD) and Least Normal Distance(LND) two matching algorithms based on 3D surface matching without control points. Effectively eliminate airborne LiDAR point cloud data systematic errors between strips. Experimental results show that: the accuracy of airborne LiDAR strip adjustment based on LND and LZD can both meet the project accuracy requirements; compared to commercial software TerraMatch, LZD and TerraMatch accuracy are at the same level, and the proposed algorithm can successfully complete the task of strip adjustment when TerraMatch software failure.
④Introduce the Gauss-Markoff model to the three-dimensional surface matching based on uncontrolled airborne LiDAR strip adjustment method for the first time.Experimental results show that after reasonable parameters configuration of the Gauss-Markoff model, improved strip adjustment method can significantly improve the adjustment accuracy.
⑤extend traditional photogrammetric strip block adjustment principle to airborne LiDAR point cloud data processing, propose a airborne LiDAR strips block adjustment method which can effectively reduce the strip adjustment caused by error accumulation .
引文
[1]徐景中.基于LIDAR点云的DTM重建及道路特征提取的关键技术研究[D].武汉:武汉大学,2008.
[2]张小红,刘经南.机载激光扫描测高数据滤波[J].测绘科学,2004,29(6):50-53.
[3]黄先锋,李卉等.机载激光扫描数据误差分析与精度改善研究进展[J].遥感信息,2007,(3):91-95.
[4]管海燕.LiDAR与影像结合的地物分类及房屋重建研究[D].武汉:武汉大学,2009.
[5]尤红建.激光三维遥感数据处理及建筑物重建[D].测绘出版社,2006.
[6]赖旭东.机载激光雷达数据处理中若干关键技术的研究[D].武汉:武汉大学,2006.
[7] Baltsavias E P.Airborne Laser scanning:existing systems and firms and other resources[J].ISPRS Journal of Photogrammetry and Remote Sensing,1999, 54(2):164-198.
[8] Pfeifer N, Briese C.Geometrical aspects of airborne and terrestrial laser Scanning[J].International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences,2007,3(3/W52):311-319.
[9] Katzenbeisser R.About the calibration of LIDAR sensors[C].International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences 2003,4 (Part 3/W13),59-64.
[10] Huising E J, Gomes Pereira L M.Errors and accuracy estimates of laser data acquired by various laser scanning systems for topographic applications[J].ISPRS Journal of Photogrammetry and Remote Sensing,1998,53(5):245-261.
[11] Schenk T. Modeling and analyzing systematic errors in airborne laser scanners[D]. USA:The Ohio State University,2001.
[12] Habib A,Bang K,Kersting A P,Lee D C.Error budget of LiDAR systems and quality control of the derived Data[J].Photogrammetric Engineering and Remote Sensing, 2009,75(9):1093-1108.
[13] Triglav-Cekada M,Crosilla F,Kosmatin-Fras M. A Simplified Analytical Model for A-Priori Lidar Point Positioning Error Estimation and a Review of Lidar Error Sources[J].Photogramm.Eng.Remote Sensing,2009,75:1425-1439.
[14]尤红建,江月松,李树楷.机载遥感直接对地定位的误差分析和精度估计[J].测绘学报,1998,1:86-90.
[15]刘少创,尤红建,刘彤.机载激光测距-扫描成像制图系统的定位原理与误差分析[J].武汉测绘科技大学学报,1999,24(2):124-128.
[16]刘基余,李松.机载激光测深系统测深误差源的研究[J].武汉测绘科技大学学报,2000,25(6):491-495.
[17]江月松.机载GPS、姿态和激光扫描测距集成定位系统的精确定位方程、误差分析与精度评估[J].遥感学报,2001,5(4):241-247.
[18]刘经南,张小红,李征航.影响机载激光扫描测高精度的系统误差分析[J].武汉大学学报, 2002,27(2):111-117.
[19] Briese C.Breakline modelling from airborne laser scanner data[D].TU Vienna: Institute of Photogrammetry and Remote Sensing,2004.
[20]邬建伟.机载LIDAR系统检校和航带平差方法研究[D].武汉:武汉大学,2008.
[21] Thiel K H,Wehr A.Operational data processing for imaging laser altimeter data[C]. Proceedings of the Fourth International Airborne Remote Sensing Conference and Exhibition,ERIM,June,21–24,Ottawa,Canada.1999.
[22]尤瑞哲,游勋乔.空载雷射扫描安置角自动化率定[J],航测及遥测学刊论文,2003,8(3):15-32.
[23]刘荣宽,徐伟城,史天元,刘进金.空载光达系统检校初探[J].第二十四届测量学术及应用研讨会论文集,2005:447-456.
[24]王成,Menenti M,Stoll M P,李传荣,唐伶俐.机载激光雷达数据的误差分析及校正[J].遥感学报,2007,11(3):390-397.
[25]张小红.机载激光雷达测量技术理论与方法[M].武汉大学出版社,2007.
[26]尤瑞哲,蔡欣怡.空載雷射掃瞄測高資料區域平差模式之建立與可行性之研究[J].航測及遙測學刊,2005,10(1):15-25.
[27] Habib A, Kersting A P, Bang K I,Al-Durgham M.A strip adjustment procedure to mitigate the impact of inaccurate mounting parameters in parallel LiDAR strips. The Photogrammetric Record,2009,24(126):171-195.
[28] Habib A, Kersting A P, Bang K.Impact of LiDAR system calibration on the relative and absolute accuracy of the adjusted point cloud[J].EuroCOW Workshop on Integrated Systems for Sensor Georeferencing and Navigation,Working Group 1/5, Spin,2010:171-195.
[29] Crombaghs M,Min E D,Bruegelmann R.On the adjustment of overlapping strips of laser altimeter height data[J].International Archives of Photogrammetry and Remote Sensing,2000(33):230-237.
[30] Kager H,Kraus K.Height discrepancies between overlapping laser strips simultaneous fitting of aerial laser scanner strips.Optical 3D-Measurement Techniques V-Applications in manufacturing,quality control,robotics,navigation,mobile mapping,medical imaging and animation.Vienna/Austria, October 1-4 2001, Gruen/Kahmen(Eds.), Wichmann,2001.
[31] Kornus W,Ruiz A.Strip adjustment of LIDAR data[C].ISPRS Workshop on 3-D reconstruction from airborne laserscanner and InSAR data.Dresden,Germany,2003.
[32]童俊雄.空载光达系统误差分析与航带平差方法之探讨[D].台湾:国立成功大学,2005.
[33] Vosselman G,Maas H G.Adjustment and fitering of raw laser altimetry data[C].In Proceeding of OEEPE workshop on Airborne laser scanning and interferometric SAR for detailed digital elevation model,Stockholm: OEEPE Official Publication,2001.
[34] Kilian J, Haala N, Englich M.Capture and evaluation of airborne laser scanner data[J].International Archives of Photogrammetry and Remote Sensing,1996,31:383.
[35] Morin K, El-Sheimy N. A comparison of airborne laser scanning adjustment methods[C].ISPRS WGII/2 Three-Dimensional Mapping from InSAR and LIDAR Workshop Proceedings,Banff,Alberta,Canada,2001.
[36] Behan A,Mass H-G,Vosselman G.Steps towards quality improvement of airborne laser scanner data[J],Internet Publication,Delft University of Technology, Faculty of Civil Engineering and Geosciences,Section of Photogrammetry and Remote Sensing, 2000.
[37] Favey E.Investigation and improvement of airborne laser scanning technique for monitoring surface elevation changes of glaciers[D].ETH.Zurich:Technische wissensch aften,2001.
[38] Burman H.Calibration and orientation of airborne image and laser scanner data using GPS and INS[D].Stockolm: Royal Institute Technology,2000.
[39] Burman H.Laser strip adjustment for data calibration and verification[J]. International Archives of Photogrammetry and Remote Sensing,2002(34):67-72.
[40] Soininen A,Burman H. TerraMatch for MicroStation.Terrasolid Ltd,Finland,2005.
[41] Morin K,El-Sheimy N.Post-mission adjustment of airborne laser scanning data[C],Proceedings XXII FIG International Congress,Washington DC,USA,19-26 April,2002.
[42] Toth C K. Calibrating airborne LIDAR systems[C].Proc.ISPRS Commission II, Symposium,20-23 August,Xian,China.Availableat,2002.
[43] Filin S.Recovery of systematic biases in laser altimeters using natural surfaces[J].International Archives of Photogrammetry and Remote Sensing, 2001,34:85-91.
[44] Filin S.Recovery of systematic biases in laser altimetry data using natural surfaces[J].ISPRS Journal of Photogrammetric Engineering and Remote Sensing, 2003,69:1235-1242.
[45] Schiel E O,Wehr A, EUSBERGA K. Operational calibration of airborne laserscanners by using LASCAL[C].Proceedings of the 9th Saint Petersburg international conference on integrated navigation system,Saint Petersburg,Russina,2002:81-89.
[46] Skalouda J, Lichti D. Rigorous approach to boresight self-calibration in airborne laser scanning[J].ISPRS Journal of Photogrammetry and Remote Sensing,2006, 61(1):47-59.
[47]许晓东.机载激光扫描测高系统的安置角误差检校[J].中国科技论文在线.2006.
[48] Brenner C,Dild C,Ripperda N. Coarse orientation of terrestrial laserscans in urban environments[J].ISPRS Journal of Photogrammetry & Remote Sensing,2008,63: 4-18.
[49] Ressl C,Mandlburgera G,Pfeifer N.Investigating adjustment of airborne laser scanning strips without usage of GNSS/IMU trajectory data[C].In Proceedings of ISPRS Workshop,Laser scanning 2009,Paris,France,1-2 September,2009:195-200.
[50]章大勇,吴文启,吴美平.机载激光雷达系统标定方法[J].光学精密工程,2009,17(11):2806-2813.
[51] Bang K I.Alternative methodologies for LiDAR system Calibration[D].alberta:universty of calgary,2010.
[52] Bang K I,Habib A F,Kersting A.Estimation of biases in LiDAR system calibration parameters using overlapping strips[J],The Canadian Journal of Remote Sensing, 2010.
[53]袁枫.机载LIDAR数据处理与土地利用分类研究[D].北京:中国矿业大学,2010.
[54] Morin K.Calibration of airborne laser scanners[D].alberta:The University of Calgary,2002.
[55] Bang K I,Kersting A P,Habib A,Lee D Ch.Lidar system calibration using point cloud coordinates in overlapping strips[C].ASPRS 2009 Annual Conference.2009. www.asprs.org/publications/proceedings/baltimore09/0011.pdf,2009.
[56] Vosselman G.Strip offset estimation using linear features[C].Proceedings of the 3rd International LIDAR Workshop,07-09 October,Columbus,Ohio,2002.
[57] Lee J,Yu K J,Ki Y,Habib A F.Adjustment of discrepancies between LIDAR data strips using linear features[J].IEEE Geosci.Remote Sens.Lett,2007,4:475-479.
[58] Habib A,Kersting A P,Ruifang Z,Durgham A M,Kim C,Lee D C. LIDAR strip adjustment using conjugate linear features in overlapping strips[C].In Proceedings of International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences,Beijing,China,July 3-11 2008:385-390.
[59] Friess P.Toward a rigorous methodology for airborne laser mapping[C].Proceedings International Calibration and Orientation Workshop EuroCOW 2006,Castelldefels, Spain,25-27 January,2006.
[60] Rentsch M,Krzystek P.LiDAR strip adjustment using automatically reconstructed roof shapes[C].In Proceedings of International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences,Hannover,Germany,June 2-5 2009:158-164.
[61] Maas H G., Least squares matching with airborne laserscanning data in a TIN structure[J].International Archives of Photogrammetry and Remote Sensing, 2000,33:548-555.
[62] Maas H G. Methods for measuring height and planimetry discrepancies in airborne laserscanner data[J].Photogrammetric Engineering & Remote Sensing,2002,68: 933-940.
[63] Maas H G.Fast determination of parametric house models from dense airborne laserscanner data[C],International Archives of Photogrammetry and Remote Sensing, Bangkok,Thailand,April 21-23,1999.
[64] Maas H G. On the use of pulse reflectance data for laserscanner strip adjustment[J].International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences,2001,33:53-56.
[65] Vosselman G.On the estimation of planimetric offsets in laser altimetry data[C],International Archives of Photogrammetry and Remote Sensing,2002,34(Part 3A):375–380.
[66] Bretar F,Pierrot-Oeseilligny M,Roux M.Estimating image accuracy of airborne laser data with local 3D-offsets[J].International Archives of Photogrammetry and Remote Sensing,2003,34(3-W13):20-26.
[67] Han D,Lee J,Kim Y,Yu K.Adjustment for disrepencies between ALS data strips using contour tree algorithm[J],ACIVS,LNCS 4179,2006:1026-1036.
[68] Bang K I,Habib A F,Kusevic K,Mrstik P.Integration of terrestrial and airborne LiDAR data for system calibration[J],The International Archives of thePhotogrammetry,Remote Sensing and Spatial Information Sciences,2008,WG I/2:391-398.
[69]张同刚.无控制DEM匹配与差异探测及其在泥石流灾害地区的应用[D].成都:西南交通大学,2004.
[70]张同刚,岑敏仪,吴兴华.无控制DEM表面差异探测研究[J].测绘科学,2006,31 (3):36-38.
[71]张同刚,岑敏仪,吴兴华.无控制DEM匹配的最小法向距离算法[J].自然科学进展,2006, 16(7):565-573.
[72]张同刚,岑敏仪,冯义从.用于无控制DEM匹配LZD和ICP算法的比较[J].中国图象图形学报,2006,11(5).714-719.
[73] Robert J M P.Theory and applications of weighted least squares surface matching for accurate spatial data registration[D]. Australia: The University of Newcastle, 2004:17-18.
[74] Li Z L, Zh U X, Cen M Y and Ding X L.Robust surface matching for automated detection of local deformations using Least-Median-of-Squares estimator[J].Photogrammetric Engineering & Remote Sensing,2001,67:1283-1292.
[75]金为铣,杨先宏,邵鸿潮,崔仁愉.摄影测量学[M].武汉:武汉大学出版社,1996.
[76] Shan J, Toth C K. Topographic Laser Ranging and Scanning:Principles and Processing.Boca Raton:CRC Press,2008.
[77]赖旭东.机载激光雷达数据处理中若干关键技术的研究[D].武汉:武汉大学,2006.
[78] Wehr A,Lohr U.Airborne laser scanning-an introduction and overview[J].ISPRS Journal of Photogrammetry & Remote Sensing,1999,54:68–82.
[79]赖旭东.机载激光雷达基础原理与应[M].北京:电子工业出版社,2010.
[80]曾齐红.机载激光雷达点云年数据处理与建筑物三维重建[D].上海:上海大学,2009.
[81]罗洪波.LiDAR点云数据处理中滤波与内插方法的研究与比较[D].武汉:武汉大学,2008.
[82]刘沛.多源数据辅助机载LIDAR数据处理的关键技术研究[D].北京:中国测绘科学研究院,2008.
[83] Applanix.POSAV pecification,http://www.applanix.com/media/downloads/products/ specs/POSAV_SPECS.pdf,2007.
[84] Vaughn C R,Button J L, Krabill W.Georeferencing of airborne laser altimeter measurements[J].International Journal of Remote Sensing,1996,17(11):2185-2200.
[85]冯聪慧.机载激光雷达系统数据处理方法的研究[D].郑州:解放军信息工程大学,2007.
[86]袁修孝.GPS辅助空中三角测量原理及应用[M].北京:测绘出版社,2001.
[87]李树楷.遥感时空信息集成技术及其应用[M].北京:科学出版社,2003.
[88] Krabill W B,Wright C W,Swift R N.Airborne laser mapping of assateague national seashore beach[J].Photogrammmetic Engineering and Remote Sensing,2000,66:65-71.
[89] Favey E. Investigation and improvement of airborne laser scanning technique for monitoring surface elevation changes of glaciers[D].ETH.Zurich:Technische wissensch aften,2001.
[90]刘荣宽,徐伟城,史天元,刘进金.空载光达系统率定初探[C].第二十四届测量学术与应用研讨会论文集,国立政治大学,9月8-9日,2005.
[91]孙步阳.机载激光雷达航带拼接技术研究[D].武汉:中国地质大学,2009.
[92] Shannon C E.A mathematical theory of communication[J].Bell System Technical Journal,1948,27:379–423,623–656.
[93] Shannon C E.Communication in the presence of noise[C],Proceedings of Institute of Radio Engineers,1949,37(1):10-21.
[94] Csanyi May N.A rigorous approach to comprehensive performance analysis of state-of-theart airborne mobile mapping systems[D],USA:Ohio The Ohio State University,2008.
[95] Kraus K.Least Squares Matching for Airborne Laser Scanner Data[C].Fifth International Symposium Turkish-German Joint Geodetic Days,L.Gründig,O.Altan (ed.),3(29-31),2006.
[96] Akca D,Grün A.Recent advantages in least squares 3D surface matching[C].Optical 3D Measurement Techniques VII,2005 (II):197-206.
[97] Besl P J,Mckay N D.A method of registration of 3d shapes[J].IEEE Transactionson Pattern Analysis and Machine Intelligenee,1992,14(2):239-256.
[98]邓非.LIDAR数据与数字影像的配准[D].武汉:武汉大学,2006.
[99]梁欣廉,张继贤,李海涛等.激光雷达应用中的几种数据表达方式[J].遥感信息,2005,(6):60-64.
[100] Sithole G, Vosselman G.Comparison of filtering algorithms[C],Workshop:3D reconstruction from airborne laserscanner and InSAR data,URL:http:// www.geo.tudelft.nl/frs/isprs/filtertest,2003.
[101]陈刚,张芯.基于四叉树的LIDAR点云数据组织研究[J].测绘通报,2008,11:21-23.
[102] Lindenberger J.Laser-Profilmenssungen zur topographischen Gelandeaufnahme[D]. Stuttgart University:Institute for Photogrammetry,1993.
[103] Zhang C.Updating of cartographic road databases by image analysis[D]. Switzerland: the Institute of Geodesy and Photogrammetry,2003.
[104]李勇,吴华意.基于形态学梯度的机载激光扫描数据滤波方法[J].遥感学报, 2008,12(4):633-639.
[105] Kraus K, Pfeifer N.Determination of terrain models in wooded areas with airborne laser scanner data[J].ISPRS Journal of Photogrammetry & Remote sensing.1998, 53:193-203.
[106] Vosselman G.Slope based filtering of laser altimetry data[J].International Archives of Photogrammetry and Remote Sensing,2000,33(B3/2):935-942.
[107] Axelsson P.DEM generation from laser scanner data using adaptive TIN models[J].International Archives of the Photogrammetry,Remote Sensing and Spatial Information Sciences XXXIII,2000:110-117.
[108]张小红,刘经南.机载激光扫描测高数据滤波[J].测绘科学,2004,128(16):50-54.
[109]赖旭东.一种针对激光雷达强度图像的滤波算法研究[J].武汉:武汉大学学报, 2005(2):158-160.
[110] Sithole G,Vosselman G.Experimental comparison of filter algorithms for bare-Earth extraction from airborne laser scanning point clouds[J],ISPRS Journal of Photogrammetry & Remote Sensing,2004,59:85-101.
[111] Sithole G,Vosselman G.Filtering of airborne laser scanner data based on segmented point clouds[C],ISPRS WG III/3,III/4,V/3 Workshop Laser scanning 2005,the Netherlands,2005.
[112] Habib A, Kersting A P, Bang K, Lee D C.Alternative methodologies for the internal quality control of parallel LiDAR strips.IEEE Transactions on Geoscience and Remote Sensing,2010,48(1):221-236.
[113] Latypov D.Estimating relative Lidar accuracy information from overlapping flightLines [J].ISPRS Journal ofPhotogrammetry & Remote Sensing,2001,56:236-245.
[114] Elberink S O,Mass H G.The use of anisotropic height texture measures for the segmentation of airborne laser scanner data[J],International Archives of Photogrammetry and Remote Sensing,2000,XXXIII(B3):678-684.
[115] V(o|¨)gtle T, Steinle E.3D modeling of building using laser scanning and spectral information[J].Interational Archives of Photogrammetry and Remote Sensing, 2000,XXXIII(B3):927-934.
[116] Alharthy A,Bethel J.Heuristic filtering and 3D feature extraction from LiDAR data[J],International Archives of Photogrammetry and Remote Sensing,2002, XXXIII:29-35.
[117] Alharthy A,Bethel J,Mikhail E M.Analysis and accuracy assessment of airborne laserscanning system,International Archives of Photogrammetry and Remote Sensing, 2004,XXXV(B2):144-149.
[118] Rottensteiner F, Briese Ch. A new method for extraction in urban areas from high resolution LIDAR data[J],ISPRS Journal of Photogrammetry and Remote Sensing, 2002,XXXIII:295-301.
[119] Clode S,Kootsookos P,Rottensteiner F.The automatic extraction of roads from LiDAR data[C].ISPRS 2004,12-23 July,Turkey:Istanbul,2004.
[120] Clode S,Rottensteiner F,Kootsookos P.Improving city model determination by using road detection from LiDAR data[C],In Joint Workshop of ISPRS and the German Association for Pattern Recognition (DAGM),Object Extraction for 3D City Models, Road Databases and Traffic Monitoring-Concepts,Algorithms,and Evaluation(CMRT05), 29-30 August,Austria:Vienna,2005.
[121] Csanyi N, Toth C K.Improvement of Lidar data accuracy using Lidar Specific ground targets[J],Photogrammetric Engineering & Remote Sensing,2007,4:385-396.
[122] Csanyi N,Toth C K,Grejner-Brzezinska D,Ray J.Improvement of LIDAR data accuracy using LIDAR specific ground targets[J],ASPRS 2005 Annual Conference Baltimore, Maryland,CD-ROM,2005.
[123] Roseholm D,Torelegard K.Three dimensional absolute orientation of stereo models using digital elevation models[J].Photogrammetric Engineering and Remote Sensing, 1988,54:1385-1389.
[124] Wolf P R,Dewitt B A.Elements of photogrammetry with applications in GIS[M]. Boston:McGraw-Hill,2000.
[125]王列平,余学祥.两种等价权函数的抗差效果分析[J].测绘通报,1998:5-7.
[126] Akca D.Full automatic registration of laser scanner point clouds[J].Optical 3D Measurement Techniques,2003,VI:330-337.
[127] Gruen A,Akca D.Least squares 3D surface and curve matching[J].ISPRS Journal of Photogrammetry and Remote Sensing,2005,59(3):151-174.
[128] Makadia A,Patterson,A,Daniilidis K.Fully automatic registration of 3D point clouds[J]. Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition,2006,I:1297-1304.
[129] Stamos I,Leordeanu M. Automated feature-based range registration of urban scenes of large scale[J].Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition,2003,2:555-561.
[130] Jaw J J,Chuang T Y.Automatic 3-D line-based matching and spatial similarity transformation[C].CD-ROM Proceedings of the 26th Asian Conference on Remote Sensing,Hanoi,Vietnam,2005.
[131] Ghanma M.Integration of photogrammetry and LiDAR[D].Canada:University of Calgary,2006.
[132] Wang L Y,Liu Zh J,Song W D,Li H T.Airborne LiDAR strip adjustment based on LSM[C].2010 3rd International Congress on Image and Signal Processing.China: ShangHai,October 16-18,2010.
[133] Wang L Y,Liu Zh J,Song W D,Li H T.Airborne LiDAR strip adjustment based on least z-difference algorithm[C].The International Conference on Multimedia Technology. China: Ningbo,Oct.29-31,2010.
[134]王丽英,宋伟东,刘正军.机载LiDAR航带法区域网平差方法研究[J].测绘科学,2011,36 (3):56-58.
[2]张小红,刘经南.机载激光扫描测高数据滤波[J].测绘科学,2004,29(6):50-53.
[3]黄先锋,李卉等.机载激光扫描数据误差分析与精度改善研究进展[J].遥感信息,2007,(3):91-95.
[4]管海燕.LiDAR与影像结合的地物分类及房屋重建研究[D].武汉:武汉大学,2009.
[5]尤红建.激光三维遥感数据处理及建筑物重建[D].测绘出版社,2006.
[6]赖旭东.机载激光雷达数据处理中若干关键技术的研究[D].武汉:武汉大学,2006.
[7] Baltsavias E P.Airborne Laser scanning:existing systems and firms and other resources[J].ISPRS Journal of Photogrammetry and Remote Sensing,1999, 54(2):164-198.
[8] Pfeifer N, Briese C.Geometrical aspects of airborne and terrestrial laser Scanning[J].International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences,2007,3(3/W52):311-319.
[9] Katzenbeisser R.About the calibration of LIDAR sensors[C].International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences 2003,4 (Part 3/W13),59-64.
[10] Huising E J, Gomes Pereira L M.Errors and accuracy estimates of laser data acquired by various laser scanning systems for topographic applications[J].ISPRS Journal of Photogrammetry and Remote Sensing,1998,53(5):245-261.
[11] Schenk T. Modeling and analyzing systematic errors in airborne laser scanners[D]. USA:The Ohio State University,2001.
[12] Habib A,Bang K,Kersting A P,Lee D C.Error budget of LiDAR systems and quality control of the derived Data[J].Photogrammetric Engineering and Remote Sensing, 2009,75(9):1093-1108.
[13] Triglav-Cekada M,Crosilla F,Kosmatin-Fras M. A Simplified Analytical Model for A-Priori Lidar Point Positioning Error Estimation and a Review of Lidar Error Sources[J].Photogramm.Eng.Remote Sensing,2009,75:1425-1439.
[14]尤红建,江月松,李树楷.机载遥感直接对地定位的误差分析和精度估计[J].测绘学报,1998,1:86-90.
[15]刘少创,尤红建,刘彤.机载激光测距-扫描成像制图系统的定位原理与误差分析[J].武汉测绘科技大学学报,1999,24(2):124-128.
[16]刘基余,李松.机载激光测深系统测深误差源的研究[J].武汉测绘科技大学学报,2000,25(6):491-495.
[17]江月松.机载GPS、姿态和激光扫描测距集成定位系统的精确定位方程、误差分析与精度评估[J].遥感学报,2001,5(4):241-247.
[18]刘经南,张小红,李征航.影响机载激光扫描测高精度的系统误差分析[J].武汉大学学报, 2002,27(2):111-117.
[19] Briese C.Breakline modelling from airborne laser scanner data[D].TU Vienna: Institute of Photogrammetry and Remote Sensing,2004.
[20]邬建伟.机载LIDAR系统检校和航带平差方法研究[D].武汉:武汉大学,2008.
[21] Thiel K H,Wehr A.Operational data processing for imaging laser altimeter data[C]. Proceedings of the Fourth International Airborne Remote Sensing Conference and Exhibition,ERIM,June,21–24,Ottawa,Canada.1999.
[22]尤瑞哲,游勋乔.空载雷射扫描安置角自动化率定[J],航测及遥测学刊论文,2003,8(3):15-32.
[23]刘荣宽,徐伟城,史天元,刘进金.空载光达系统检校初探[J].第二十四届测量学术及应用研讨会论文集,2005:447-456.
[24]王成,Menenti M,Stoll M P,李传荣,唐伶俐.机载激光雷达数据的误差分析及校正[J].遥感学报,2007,11(3):390-397.
[25]张小红.机载激光雷达测量技术理论与方法[M].武汉大学出版社,2007.
[26]尤瑞哲,蔡欣怡.空載雷射掃瞄測高資料區域平差模式之建立與可行性之研究[J].航測及遙測學刊,2005,10(1):15-25.
[27] Habib A, Kersting A P, Bang K I,Al-Durgham M.A strip adjustment procedure to mitigate the impact of inaccurate mounting parameters in parallel LiDAR strips. The Photogrammetric Record,2009,24(126):171-195.
[28] Habib A, Kersting A P, Bang K.Impact of LiDAR system calibration on the relative and absolute accuracy of the adjusted point cloud[J].EuroCOW Workshop on Integrated Systems for Sensor Georeferencing and Navigation,Working Group 1/5, Spin,2010:171-195.
[29] Crombaghs M,Min E D,Bruegelmann R.On the adjustment of overlapping strips of laser altimeter height data[J].International Archives of Photogrammetry and Remote Sensing,2000(33):230-237.
[30] Kager H,Kraus K.Height discrepancies between overlapping laser strips simultaneous fitting of aerial laser scanner strips.Optical 3D-Measurement Techniques V-Applications in manufacturing,quality control,robotics,navigation,mobile mapping,medical imaging and animation.Vienna/Austria, October 1-4 2001, Gruen/Kahmen(Eds.), Wichmann,2001.
[31] Kornus W,Ruiz A.Strip adjustment of LIDAR data[C].ISPRS Workshop on 3-D reconstruction from airborne laserscanner and InSAR data.Dresden,Germany,2003.
[32]童俊雄.空载光达系统误差分析与航带平差方法之探讨[D].台湾:国立成功大学,2005.
[33] Vosselman G,Maas H G.Adjustment and fitering of raw laser altimetry data[C].In Proceeding of OEEPE workshop on Airborne laser scanning and interferometric SAR for detailed digital elevation model,Stockholm: OEEPE Official Publication,2001.
[34] Kilian J, Haala N, Englich M.Capture and evaluation of airborne laser scanner data[J].International Archives of Photogrammetry and Remote Sensing,1996,31:383.
[35] Morin K, El-Sheimy N. A comparison of airborne laser scanning adjustment methods[C].ISPRS WGII/2 Three-Dimensional Mapping from InSAR and LIDAR Workshop Proceedings,Banff,Alberta,Canada,2001.
[36] Behan A,Mass H-G,Vosselman G.Steps towards quality improvement of airborne laser scanner data[J],Internet Publication,Delft University of Technology, Faculty of Civil Engineering and Geosciences,Section of Photogrammetry and Remote Sensing, 2000.
[37] Favey E.Investigation and improvement of airborne laser scanning technique for monitoring surface elevation changes of glaciers[D].ETH.Zurich:Technische wissensch aften,2001.
[38] Burman H.Calibration and orientation of airborne image and laser scanner data using GPS and INS[D].Stockolm: Royal Institute Technology,2000.
[39] Burman H.Laser strip adjustment for data calibration and verification[J]. International Archives of Photogrammetry and Remote Sensing,2002(34):67-72.
[40] Soininen A,Burman H. TerraMatch for MicroStation.Terrasolid Ltd,Finland,2005.
[41] Morin K,El-Sheimy N.Post-mission adjustment of airborne laser scanning data[C],Proceedings XXII FIG International Congress,Washington DC,USA,19-26 April,2002.
[42] Toth C K. Calibrating airborne LIDAR systems[C].Proc.ISPRS Commission II, Symposium,20-23 August,Xian,China.Availableat,2002.
[43] Filin S.Recovery of systematic biases in laser altimeters using natural surfaces[J].International Archives of Photogrammetry and Remote Sensing, 2001,34:85-91.
[44] Filin S.Recovery of systematic biases in laser altimetry data using natural surfaces[J].ISPRS Journal of Photogrammetric Engineering and Remote Sensing, 2003,69:1235-1242.
[45] Schiel E O,Wehr A, EUSBERGA K. Operational calibration of airborne laserscanners by using LASCAL[C].Proceedings of the 9th Saint Petersburg international conference on integrated navigation system,Saint Petersburg,Russina,2002:81-89.
[46] Skalouda J, Lichti D. Rigorous approach to boresight self-calibration in airborne laser scanning[J].ISPRS Journal of Photogrammetry and Remote Sensing,2006, 61(1):47-59.
[47]许晓东.机载激光扫描测高系统的安置角误差检校[J].中国科技论文在线.2006.
[48] Brenner C,Dild C,Ripperda N. Coarse orientation of terrestrial laserscans in urban environments[J].ISPRS Journal of Photogrammetry & Remote Sensing,2008,63: 4-18.
[49] Ressl C,Mandlburgera G,Pfeifer N.Investigating adjustment of airborne laser scanning strips without usage of GNSS/IMU trajectory data[C].In Proceedings of ISPRS Workshop,Laser scanning 2009,Paris,France,1-2 September,2009:195-200.
[50]章大勇,吴文启,吴美平.机载激光雷达系统标定方法[J].光学精密工程,2009,17(11):2806-2813.
[51] Bang K I.Alternative methodologies for LiDAR system Calibration[D].alberta:universty of calgary,2010.
[52] Bang K I,Habib A F,Kersting A.Estimation of biases in LiDAR system calibration parameters using overlapping strips[J],The Canadian Journal of Remote Sensing, 2010.
[53]袁枫.机载LIDAR数据处理与土地利用分类研究[D].北京:中国矿业大学,2010.
[54] Morin K.Calibration of airborne laser scanners[D].alberta:The University of Calgary,2002.
[55] Bang K I,Kersting A P,Habib A,Lee D Ch.Lidar system calibration using point cloud coordinates in overlapping strips[C].ASPRS 2009 Annual Conference.2009. www.asprs.org/publications/proceedings/baltimore09/0011.pdf,2009.
[56] Vosselman G.Strip offset estimation using linear features[C].Proceedings of the 3rd International LIDAR Workshop,07-09 October,Columbus,Ohio,2002.
[57] Lee J,Yu K J,Ki Y,Habib A F.Adjustment of discrepancies between LIDAR data strips using linear features[J].IEEE Geosci.Remote Sens.Lett,2007,4:475-479.
[58] Habib A,Kersting A P,Ruifang Z,Durgham A M,Kim C,Lee D C. LIDAR strip adjustment using conjugate linear features in overlapping strips[C].In Proceedings of International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences,Beijing,China,July 3-11 2008:385-390.
[59] Friess P.Toward a rigorous methodology for airborne laser mapping[C].Proceedings International Calibration and Orientation Workshop EuroCOW 2006,Castelldefels, Spain,25-27 January,2006.
[60] Rentsch M,Krzystek P.LiDAR strip adjustment using automatically reconstructed roof shapes[C].In Proceedings of International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences,Hannover,Germany,June 2-5 2009:158-164.
[61] Maas H G., Least squares matching with airborne laserscanning data in a TIN structure[J].International Archives of Photogrammetry and Remote Sensing, 2000,33:548-555.
[62] Maas H G. Methods for measuring height and planimetry discrepancies in airborne laserscanner data[J].Photogrammetric Engineering & Remote Sensing,2002,68: 933-940.
[63] Maas H G.Fast determination of parametric house models from dense airborne laserscanner data[C],International Archives of Photogrammetry and Remote Sensing, Bangkok,Thailand,April 21-23,1999.
[64] Maas H G. On the use of pulse reflectance data for laserscanner strip adjustment[J].International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences,2001,33:53-56.
[65] Vosselman G.On the estimation of planimetric offsets in laser altimetry data[C],International Archives of Photogrammetry and Remote Sensing,2002,34(Part 3A):375–380.
[66] Bretar F,Pierrot-Oeseilligny M,Roux M.Estimating image accuracy of airborne laser data with local 3D-offsets[J].International Archives of Photogrammetry and Remote Sensing,2003,34(3-W13):20-26.
[67] Han D,Lee J,Kim Y,Yu K.Adjustment for disrepencies between ALS data strips using contour tree algorithm[J],ACIVS,LNCS 4179,2006:1026-1036.
[68] Bang K I,Habib A F,Kusevic K,Mrstik P.Integration of terrestrial and airborne LiDAR data for system calibration[J],The International Archives of thePhotogrammetry,Remote Sensing and Spatial Information Sciences,2008,WG I/2:391-398.
[69]张同刚.无控制DEM匹配与差异探测及其在泥石流灾害地区的应用[D].成都:西南交通大学,2004.
[70]张同刚,岑敏仪,吴兴华.无控制DEM表面差异探测研究[J].测绘科学,2006,31 (3):36-38.
[71]张同刚,岑敏仪,吴兴华.无控制DEM匹配的最小法向距离算法[J].自然科学进展,2006, 16(7):565-573.
[72]张同刚,岑敏仪,冯义从.用于无控制DEM匹配LZD和ICP算法的比较[J].中国图象图形学报,2006,11(5).714-719.
[73] Robert J M P.Theory and applications of weighted least squares surface matching for accurate spatial data registration[D]. Australia: The University of Newcastle, 2004:17-18.
[74] Li Z L, Zh U X, Cen M Y and Ding X L.Robust surface matching for automated detection of local deformations using Least-Median-of-Squares estimator[J].Photogrammetric Engineering & Remote Sensing,2001,67:1283-1292.
[75]金为铣,杨先宏,邵鸿潮,崔仁愉.摄影测量学[M].武汉:武汉大学出版社,1996.
[76] Shan J, Toth C K. Topographic Laser Ranging and Scanning:Principles and Processing.Boca Raton:CRC Press,2008.
[77]赖旭东.机载激光雷达数据处理中若干关键技术的研究[D].武汉:武汉大学,2006.
[78] Wehr A,Lohr U.Airborne laser scanning-an introduction and overview[J].ISPRS Journal of Photogrammetry & Remote Sensing,1999,54:68–82.
[79]赖旭东.机载激光雷达基础原理与应[M].北京:电子工业出版社,2010.
[80]曾齐红.机载激光雷达点云年数据处理与建筑物三维重建[D].上海:上海大学,2009.
[81]罗洪波.LiDAR点云数据处理中滤波与内插方法的研究与比较[D].武汉:武汉大学,2008.
[82]刘沛.多源数据辅助机载LIDAR数据处理的关键技术研究[D].北京:中国测绘科学研究院,2008.
[83] Applanix.POSAV pecification,http://www.applanix.com/media/downloads/products/ specs/POSAV_SPECS.pdf,2007.
[84] Vaughn C R,Button J L, Krabill W.Georeferencing of airborne laser altimeter measurements[J].International Journal of Remote Sensing,1996,17(11):2185-2200.
[85]冯聪慧.机载激光雷达系统数据处理方法的研究[D].郑州:解放军信息工程大学,2007.
[86]袁修孝.GPS辅助空中三角测量原理及应用[M].北京:测绘出版社,2001.
[87]李树楷.遥感时空信息集成技术及其应用[M].北京:科学出版社,2003.
[88] Krabill W B,Wright C W,Swift R N.Airborne laser mapping of assateague national seashore beach[J].Photogrammmetic Engineering and Remote Sensing,2000,66:65-71.
[89] Favey E. Investigation and improvement of airborne laser scanning technique for monitoring surface elevation changes of glaciers[D].ETH.Zurich:Technische wissensch aften,2001.
[90]刘荣宽,徐伟城,史天元,刘进金.空载光达系统率定初探[C].第二十四届测量学术与应用研讨会论文集,国立政治大学,9月8-9日,2005.
[91]孙步阳.机载激光雷达航带拼接技术研究[D].武汉:中国地质大学,2009.
[92] Shannon C E.A mathematical theory of communication[J].Bell System Technical Journal,1948,27:379–423,623–656.
[93] Shannon C E.Communication in the presence of noise[C],Proceedings of Institute of Radio Engineers,1949,37(1):10-21.
[94] Csanyi May N.A rigorous approach to comprehensive performance analysis of state-of-theart airborne mobile mapping systems[D],USA:Ohio The Ohio State University,2008.
[95] Kraus K.Least Squares Matching for Airborne Laser Scanner Data[C].Fifth International Symposium Turkish-German Joint Geodetic Days,L.Gründig,O.Altan (ed.),3(29-31),2006.
[96] Akca D,Grün A.Recent advantages in least squares 3D surface matching[C].Optical 3D Measurement Techniques VII,2005 (II):197-206.
[97] Besl P J,Mckay N D.A method of registration of 3d shapes[J].IEEE Transactionson Pattern Analysis and Machine Intelligenee,1992,14(2):239-256.
[98]邓非.LIDAR数据与数字影像的配准[D].武汉:武汉大学,2006.
[99]梁欣廉,张继贤,李海涛等.激光雷达应用中的几种数据表达方式[J].遥感信息,2005,(6):60-64.
[100] Sithole G, Vosselman G.Comparison of filtering algorithms[C],Workshop:3D reconstruction from airborne laserscanner and InSAR data,URL:http:// www.geo.tudelft.nl/frs/isprs/filtertest,2003.
[101]陈刚,张芯.基于四叉树的LIDAR点云数据组织研究[J].测绘通报,2008,11:21-23.
[102] Lindenberger J.Laser-Profilmenssungen zur topographischen Gelandeaufnahme[D]. Stuttgart University:Institute for Photogrammetry,1993.
[103] Zhang C.Updating of cartographic road databases by image analysis[D]. Switzerland: the Institute of Geodesy and Photogrammetry,2003.
[104]李勇,吴华意.基于形态学梯度的机载激光扫描数据滤波方法[J].遥感学报, 2008,12(4):633-639.
[105] Kraus K, Pfeifer N.Determination of terrain models in wooded areas with airborne laser scanner data[J].ISPRS Journal of Photogrammetry & Remote sensing.1998, 53:193-203.
[106] Vosselman G.Slope based filtering of laser altimetry data[J].International Archives of Photogrammetry and Remote Sensing,2000,33(B3/2):935-942.
[107] Axelsson P.DEM generation from laser scanner data using adaptive TIN models[J].International Archives of the Photogrammetry,Remote Sensing and Spatial Information Sciences XXXIII,2000:110-117.
[108]张小红,刘经南.机载激光扫描测高数据滤波[J].测绘科学,2004,128(16):50-54.
[109]赖旭东.一种针对激光雷达强度图像的滤波算法研究[J].武汉:武汉大学学报, 2005(2):158-160.
[110] Sithole G,Vosselman G.Experimental comparison of filter algorithms for bare-Earth extraction from airborne laser scanning point clouds[J],ISPRS Journal of Photogrammetry & Remote Sensing,2004,59:85-101.
[111] Sithole G,Vosselman G.Filtering of airborne laser scanner data based on segmented point clouds[C],ISPRS WG III/3,III/4,V/3 Workshop Laser scanning 2005,the Netherlands,2005.
[112] Habib A, Kersting A P, Bang K, Lee D C.Alternative methodologies for the internal quality control of parallel LiDAR strips.IEEE Transactions on Geoscience and Remote Sensing,2010,48(1):221-236.
[113] Latypov D.Estimating relative Lidar accuracy information from overlapping flightLines [J].ISPRS Journal ofPhotogrammetry & Remote Sensing,2001,56:236-245.
[114] Elberink S O,Mass H G.The use of anisotropic height texture measures for the segmentation of airborne laser scanner data[J],International Archives of Photogrammetry and Remote Sensing,2000,XXXIII(B3):678-684.
[115] V(o|¨)gtle T, Steinle E.3D modeling of building using laser scanning and spectral information[J].Interational Archives of Photogrammetry and Remote Sensing, 2000,XXXIII(B3):927-934.
[116] Alharthy A,Bethel J.Heuristic filtering and 3D feature extraction from LiDAR data[J],International Archives of Photogrammetry and Remote Sensing,2002, XXXIII:29-35.
[117] Alharthy A,Bethel J,Mikhail E M.Analysis and accuracy assessment of airborne laserscanning system,International Archives of Photogrammetry and Remote Sensing, 2004,XXXV(B2):144-149.
[118] Rottensteiner F, Briese Ch. A new method for extraction in urban areas from high resolution LIDAR data[J],ISPRS Journal of Photogrammetry and Remote Sensing, 2002,XXXIII:295-301.
[119] Clode S,Kootsookos P,Rottensteiner F.The automatic extraction of roads from LiDAR data[C].ISPRS 2004,12-23 July,Turkey:Istanbul,2004.
[120] Clode S,Rottensteiner F,Kootsookos P.Improving city model determination by using road detection from LiDAR data[C],In Joint Workshop of ISPRS and the German Association for Pattern Recognition (DAGM),Object Extraction for 3D City Models, Road Databases and Traffic Monitoring-Concepts,Algorithms,and Evaluation(CMRT05), 29-30 August,Austria:Vienna,2005.
[121] Csanyi N, Toth C K.Improvement of Lidar data accuracy using Lidar Specific ground targets[J],Photogrammetric Engineering & Remote Sensing,2007,4:385-396.
[122] Csanyi N,Toth C K,Grejner-Brzezinska D,Ray J.Improvement of LIDAR data accuracy using LIDAR specific ground targets[J],ASPRS 2005 Annual Conference Baltimore, Maryland,CD-ROM,2005.
[123] Roseholm D,Torelegard K.Three dimensional absolute orientation of stereo models using digital elevation models[J].Photogrammetric Engineering and Remote Sensing, 1988,54:1385-1389.
[124] Wolf P R,Dewitt B A.Elements of photogrammetry with applications in GIS[M]. Boston:McGraw-Hill,2000.
[125]王列平,余学祥.两种等价权函数的抗差效果分析[J].测绘通报,1998:5-7.
[126] Akca D.Full automatic registration of laser scanner point clouds[J].Optical 3D Measurement Techniques,2003,VI:330-337.
[127] Gruen A,Akca D.Least squares 3D surface and curve matching[J].ISPRS Journal of Photogrammetry and Remote Sensing,2005,59(3):151-174.
[128] Makadia A,Patterson,A,Daniilidis K.Fully automatic registration of 3D point clouds[J]. Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition,2006,I:1297-1304.
[129] Stamos I,Leordeanu M. Automated feature-based range registration of urban scenes of large scale[J].Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition,2003,2:555-561.
[130] Jaw J J,Chuang T Y.Automatic 3-D line-based matching and spatial similarity transformation[C].CD-ROM Proceedings of the 26th Asian Conference on Remote Sensing,Hanoi,Vietnam,2005.
[131] Ghanma M.Integration of photogrammetry and LiDAR[D].Canada:University of Calgary,2006.
[132] Wang L Y,Liu Zh J,Song W D,Li H T.Airborne LiDAR strip adjustment based on LSM[C].2010 3rd International Congress on Image and Signal Processing.China: ShangHai,October 16-18,2010.
[133] Wang L Y,Liu Zh J,Song W D,Li H T.Airborne LiDAR strip adjustment based on least z-difference algorithm[C].The International Conference on Multimedia Technology. China: Ningbo,Oct.29-31,2010.
[134]王丽英,宋伟东,刘正军.机载LiDAR航带法区域网平差方法研究[J].测绘科学,2011,36 (3):56-58.
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |