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基于LiDAR点云的船载砂石体积自动测算系统

朱庆 王登星 王峰 谢潇 胡翰 黄爽

朱庆, 王登星, 王峰, 谢潇, 胡翰, 黄爽. 基于LiDAR点云的船载砂石体积自动测算系统[J]. 西南交通大学学报, 2020, 55(6): 1199-1206. doi: 10.3969/j.issn.0258-2724.20181051
引用本文: 朱庆, 王登星, 王峰, 谢潇, 胡翰, 黄爽. 基于LiDAR点云的船载砂石体积自动测算系统[J]. 西南交通大学学报, 2020, 55(6): 1199-1206. doi: 10.3969/j.issn.0258-2724.20181051
ZHU Qing, WANG Dengxing, WANG Feng, XIE Xiao, HU Han, HUANG Shuang. Automatic Volume Calculation System for Sand and Gravel Carried by Ship Based on LiDAR Point Cloud[J]. Journal of Southwest Jiaotong University, 2020, 55(6): 1199-1206. doi: 10.3969/j.issn.0258-2724.20181051
Citation: ZHU Qing, WANG Dengxing, WANG Feng, XIE Xiao, HU Han, HUANG Shuang. Automatic Volume Calculation System for Sand and Gravel Carried by Ship Based on LiDAR Point Cloud[J]. Journal of Southwest Jiaotong University, 2020, 55(6): 1199-1206. doi: 10.3969/j.issn.0258-2724.20181051

基于LiDAR点云的船载砂石体积自动测算系统

doi: 10.3969/j.issn.0258-2724.20181051
基金项目: 国家自然科学基金(41631174);四川省重点研发项目(2018SZ0339)
详细信息
    作者简介:

    朱庆(1966—),男,教授,博士,博士生导师,研究方向为摄影测量、地理信息系统、虚拟地理环境,E-mail:zhuq66@263.net

  • 中图分类号: V221.3

Automatic Volume Calculation System for Sand and Gravel Carried by Ship Based on LiDAR Point Cloud

  • 摘要: 针对现有船舶运输砂石体积计算主要依赖人工方式称重和纸质运单流转、精度不高且效率很低的难题,采用基于八叉树的点云精简和聚类分析进行复杂环境下船舶点云的自动识别和提取;采用基于改进SK-4PCS (semantic-keypoint-based 4-points congruent sets)的粗配准和基于Point-to-Plane ICP (iterative closest point)的精配准进行空载和满载两期点云由粗到精的高效配准,设计实现了一种利用LiDAR (light detection and ranging)点云数据进行船载砂石自动测算的系统. 采集了江西南昌赣江运砂船数据进行实验验证,从扫描到出结果一艘船的砂石体积自动测算时间少于2 min,同船多次测算结果最大相对误差小于1.00%,砂石体积与实际真值相比的最大误差小于2.00%,满足实际业务需求.

     

  • 图 1  系统架构设计

    Figure 1.  System architecture design

    图 2  系统功能设计

    Figure 2.  System function design

    图 3  点云数据方位纠正

    Figure 3.  Azimuth correction of point cloud data

    图 4  点到点的匹配

    Figure 4.  Matching of point to point

    图 5  点到平面的距离

    Figure 5.  Distance of point to plane

    图 6  系统应用示例

    Figure 6.  Platform application example

    图 7  砂石体积测算系统各阶段数据

    Figure 7.  Results of sand and gravel volume calculation system at all stages

    图 8  体积测算结果误差分析

    Figure 8.  Error analysis of volume calculation results

    表  1  船载砂石体积自动测算系统测试统计结果

    Table  1.   Statistical results of automatic volume calculation system of sand and gravel carried by ship

    船只类型运砂船编号点云扫描
    时间/s
    系统计算最长时间/s体积计算最大值/m3体积计算最小值/m3转换系
    数/(kg•m−3
    载砂方
    量值/kg
    δ1最大值/%δ2最大值/%
    自卸驳Y118040591270.151265.651.4318381.530.36
    自卸驳HS25840561138.271131.941.4316461.660.56
    自卸驳Z94042773.76771.531.4310941.140.29
    自卸驳Z132640631541.451527.631.4322251.820.91
    自卸驳Z05184051829.92827.661.4311810.490.27
    自卸驳Z08404050880.15875.961.4312490.770.48
    落舱驳L11424046753.41749.391.6212311.380.54
    落舱驳L12874049754.34750.681.6212311.210.49
    落舱驳L13004054960.88953.531.6215701.610.77
    落舱驳L17014045695.85694.301.6211391.250.22
    下载: 导出CSV
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出版历程
  • 收稿日期:  2018-12-25
  • 修回日期:  2019-08-14
  • 网络出版日期:  2019-09-04
  • 刊出日期:  2020-12-15

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