Intelligent Extraction Method of Railway Station Overhead Catenary Wire Features from Point Cloud Guided by Knowledge
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摘要:
为解决铁路站场接触网点云噪声分布不规律及语义分割难度大的问题，提出一种智能提取方法，以增强接触网异常检测能力. 首先，对站场接触网场景数据进行深入分析，构建导线及钢轨顶面点云提取的知识框架；其次，考虑站场接触网点云空间特征，设计站场关键要素点云的分割与融合滤波方法；然后，建立站场接触网强空间语义约束规则，提出知识引导的导线特征智能精细提取方法；基于此，采用WHU-TLS等站场点云数据集，搭建实验平台并开展实验分析，实验结果表明：在部分点云缺失以及噪声干扰等复杂环境下，本文方法易于操作且自动化程度高，相比传统导线特征提取方法耗时最少，100 m范围内站场接触网导线特征提取的平均精度达到±5 mm，能够有效支撑铁路站场接触网几何特征的智能检测.
Abstract:To address the irregular noise distribution and the high difficulty of semantic segmentation in railway yard catenary point clouds, and to enhance the detection of catenary anomalies. First, the railway yard catenary scene data is analyzed, and a knowledge framework is constructed for extracting catenary wire and rail top surface point clouds. Second, a segmentation and fusion filtering method is designed, considering the spatial characteristics of railway yard point clouds. Third, strong spatial semantic constraint rules are established to guide the fine extraction of wire features. The method was tested using WHU-TLS and other railway yard point cloud datasets. An experimental platform was built for analysis. The results show that, in complex environments with partial missing of point cloud data and noise interference, the proposed method is easy to operate and highly automated. Compared to traditional methods for extracting wire features, it requires the least time and achieves an average precision of ±5 mm in extracting contact wire features within a 100 m range, effectively supporting the intelligent detection of geometric features in railway station contact networks.
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图 8 站场点云分类滤波抽稀结果
Figure 8. Results of point cloud classification, filtering, and thinning
图 10 接触网导线与钢轨顶面分割结果
Figure 10. Catenary wire and rail top surface segmentation results
表 1 软硬件配置
Table 1. Hardware and software configuration
环境配置 详细信息 硬件 CPU 12th Gen Intel Core i7-12700H 内存 16 GB 显卡 NVIDIA GeForce RTX 3060 软件 系统 Windows11 软件 PCL1.12.1、VS2019 
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表 2 接触网导线点云分割算法对比
Table 2. Accuracy of contact wire point cloud extraction
方法 处理范围 耗时 鲁棒性 精确度 本文方法 长距离 最少 一般 最好 RANSAC 短距离 较多 较强 一般 3D Hough 短距离 最多 较强 最差
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表 3 接触网导线特征提取结果
Table 3. Exaction results of contact wire features
mm 组号 导高 实测
导高导高
差值拉出值 实测拉出值 拉出值差值 1 5306 5311 −5 193 199 −6 2 5300 5297 3 197 205 −8 3 5304 5310 −6 214 212 2 4 5304 5305 −1 220 218 2 5 5299 5294 5 223 223 0 6 5303 5297 6 230 231 −1 7 6449 6447 2 200 202 −2 8 6447 6450 −3 211 218 −7 9 6458 6464 −6 224 225 −1 10 6450 6456 −6 238 243 −5
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