CN-120559666-B - Measurement method, device, storage medium and electronic equipment

CN120559666BCN 120559666 BCN120559666 BCN 120559666BCN-120559666-B

Abstract

The invention provides a measuring method, a measuring device, a storage medium and electronic equipment, and relates to the technical field of measurement. The measuring method comprises the steps of obtaining point cloud data and a target image of a target area, determining a first abnormal object and a second abnormal object in the point cloud data based on the target image, and generating measuring data based on the first abnormal object and the second abnormal object, wherein the first abnormal object represents an interference point caused by foreign object reflection in the target area, the second abnormal object represents an interference area formed by the foreign object, and the first density of the first abnormal object is smaller than the second density of the second abnormal object.

Inventors

XIONG WEI
Xue Yukai
Jiao Bingzhu
DAI CHUANYANG
ZHANG LE
XU JIANYONG
REN GUOQING
XIAO ANLIANG
WANG WEIXIAO
LI JUNCHANG
GUO QINGKUN
ZHANG GUOJIAN
Jia Chuanlian
YANG RUI

Assignees

山东省路桥工程设计咨询有限公司

Dates

Publication Date: 20260508
Application Date: 20250516
Priority Date: 20250509

Claims (6)

1.A method of measurement, comprising: Obtaining point cloud data and a target image of a target area; Determining a first abnormal object and a second abnormal object in the point cloud data based on the target image; The method comprises the steps of determining a first abnormal object and a second abnormal object in the point cloud data based on the target image, performing color space conversion on the target image to obtain a color image, determining a candidate interference area in the target image according to a preset color threshold interval and a texture threshold, mapping the point cloud data to a color space corresponding to the target image to obtain mapped point clouds, and dividing the mapped point clouds into the first abnormal object and the second abnormal object according to a density space of the mapped point clouds in the candidate interference area; generating measurement data based on the first abnormal object and the second abnormal object; Wherein the first anomaly object characterizes an interference point caused by reflection of a foreign object in the target region, the second anomaly object characterizes an interference region formed by the foreign object, and a first density of the first anomaly object is smaller than a second density of the second anomaly object; The method comprises the steps of obtaining the motion characteristics of the foreign matters, wherein the motion characteristics represent the dynamic change rule of the foreign matters under the action of wind power and water flow, constructing a height change prediction model of the foreign matters based on the motion characteristics, and constructing a prediction model taking the basic height, swing amplitude, swing frequency and initial phase of the water surface as key parameters; After the height anomaly caused by the dynamic swing of the foreign matter in the point cloud data is compensated based on the height change prediction model, the method further comprises the following steps: The method comprises the steps of obtaining the spatial scale of an abnormal region and effective point cloud data in the abnormal region under the condition that the abnormal region exists after the point cloud data are compensated, generating a curved surface fitting model based on the effective point cloud data if the spatial scale of the abnormal region is larger than a preset scale threshold value, solving the curved surface fitting model to obtain a first height, compensating the abnormal region based on the first height, carrying out interpolation processing on the effective point cloud data to obtain a second height if the spatial scale of the abnormal region is smaller than or equal to the preset scale threshold value, compensating the abnormal region based on the second height, and identifying the abnormal region based on various indexes including that the point cloud density is obviously lower than the surrounding region, the elevation value and the surrounding region have unreasonable mutation.
2. The measurement method according to claim 1, wherein after the obtaining the point cloud data and the target image of the target area, further comprising: acquiring first pose information and second pose information, wherein the first pose information and the second pose information represent the spatial position and the pose angle of target equipment when acquiring point cloud data and target images of a target area; determining a time corresponding relation and a space transformation relation of the point cloud data and the target image based on the first pose information and the second pose information; and carrying out space-time registration on the point cloud data and the target image based on the time corresponding relation and the space transformation relation.
3. The measurement method of claim 1, wherein the generating measurement data based on the first abnormal object and the second abnormal object comprises: And removing the point cloud data corresponding to the first abnormal object from the point cloud data and reconstructing the point cloud data corresponding to the second abnormal object to obtain measurement data.
4. A measuring device applying the measuring method according to any one of claims 1-3, characterized in that the measuring device comprises: the data acquisition module is used for acquiring point cloud data of a target area and a target image; An anomaly determination module for determining a first anomaly object and a second anomaly object in the point cloud data based on the target image; a data generation module for generating measurement data based on the first abnormal object and the second abnormal object; The first abnormal object represents an interference point caused by foreign object reflection in the target area, the second abnormal object represents an interference area formed by the foreign object, and the first density of the first abnormal object is smaller than the second density of the second abnormal object.
5. An electronic device, comprising: One or more processors; A memory for storing one or more programs, Wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the measurement method of any of claims 1-3.
6. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon executable instructions, which when executed by a processor cause the processor to implement the measuring method according to any of claims 1-3.

Description

Measurement method, device, storage medium and electronic equipment Technical Field The present invention relates to the field of measurement technologies, and in particular, to a measurement method, a device, a storage medium, and an electronic apparatus. Background The laser radar point cloud technology is widely applied to various fields such as terrain surveying and environment monitoring. However, various interference factors, such as floating objects on the water surface, vegetation coverage areas or other temporary obstacles, often exist in the actual measurement environment, and these interference factors may cause inaccuracy in the acquired point cloud data. In the related art, filtering or noise reduction processing methods are generally used to deal with the above problems. However, in a complex environment with uneven distribution and different forms of the interfering objects, the related technology is difficult to distinguish abnormal data of different types, and the accuracy of the measured data is directly affected. Disclosure of Invention The invention mainly aims to provide a measuring method, a measuring device, a storage medium and electronic equipment, so that the defects in the prior art are overcome. A first aspect of the invention provides a measurement method comprising: Obtaining point cloud data and a target image of a target area; Determining a first abnormal object and a second abnormal object in the point cloud data based on the target image; generating measurement data based on the first abnormal object and the second abnormal object; The first abnormal object represents an interference point caused by foreign object reflection in the target area, the second abnormal object represents an interference area formed by the foreign object, and the first density of the first abnormal object is smaller than the second density of the second abnormal object. According to an embodiment of the present invention, the determining, based on the target image, a first abnormal object and a second abnormal object in the point cloud data includes: performing color space conversion on the target image to obtain a color image; determining candidate interference areas in the target image according to a preset color threshold interval and a texture threshold; mapping the point cloud data to a color space corresponding to the target image to obtain mapped point cloud; And dividing the mapping point cloud into the first abnormal object and the second abnormal object according to the density space of the mapping point cloud in the candidate interference area. According to an embodiment of the present invention, the dividing the mapping point cloud into the first abnormal object and the second abnormal object according to the density space of the mapping point cloud in the candidate interference area includes: taking any point of the mapping point cloud as a center, and determining a spherical neighborhood with a radius as a preset value; Calculating the spatial density of the center in the spherical neighborhood; determining the mapping point cloud as the first abnormal object under the condition that the space density is greater than or equal to a first preset density threshold value; and determining the mapping point cloud as the second abnormal object under the condition that the space density is smaller than or equal to a second preset density threshold value. According to an embodiment of the present invention, after obtaining the point cloud data and the target image of the target area, the method further includes: acquiring first pose information and second pose information, wherein the first pose information and the second pose information represent the spatial position and the pose angle of target equipment when acquiring point cloud data and target images of a target area; determining a time corresponding relation and a space transformation relation of the point cloud data and the target image based on the first pose information and the second pose information; and carrying out space-time registration on the point cloud data and the target image based on the time corresponding relation and the space transformation relation. According to an embodiment of the present invention, the method further comprises: Obtaining the motion characteristics of the foreign matters, wherein the motion characteristics represent the dynamic change rules of the foreign matters under the action of wind power and water flow; constructing a height variation prediction model of the foreign matter based on the motion characteristics; and compensating the height abnormality caused by the dynamic swing of the foreign matters in the point cloud data based on the height change prediction model. According to an embodiment of the present invention, after the compensating the height abnormality caused by the dynamic swing of the foreign object in the point cloud data based on the height variation prediction model, the metho