海洋测绘2023，Vol.43Issue(6)：6-11,6.DOI:10.3969/j.issn.1671-3044.2023.06.002
基于阈值自适应确定的多波束点云滤波算法
An adaptive threshold-based multi-beam point cloud filtering algorithm
摘要
Abstract
An adaptive threshold-based multi-beam point cloud filtering algorithm is proposed for point cloud denoising of underwater terrain multi-beam measurement.Firstly,the virtual grid is designed to number the multi-beam point clouds in different zones,and the significant outliers can be eliminated by using the quadratic stratified statistics method;Secondly,normalizing the gradient angle between the seed points in the grid and each point in the neighborhood,and k-Medoids clustering is introduced to update the slope threshold adaptively;Lastly,according to the multi-level filter window,the point cloud is iterated step by step to obtain the refined terrain point cloud.The experimental results in two experimental areas show that the proposed algorithm can effectively remove the noise and non-topographic points of multi-beam point clouds,effectively improve the adaptability of slope threshold,and significantly improve the filtering accuracy,which can be applied to large-scale automatic cloud filtering of multi-beam points.关键词
点云滤波/坡度滤波/阈值自适应/k-Medoids聚类/多尺度窗口/多波束声纳Key words
point cloud filtering/slope filtering/threshold adaptive/k-Medoids clustering/multi-level window/multi-beam sonar分类
天文与地球科学引用本文复制引用
沈蔚,杨智松,廖德亮,卢泉水,徐康进..基于阈值自适应确定的多波束点云滤波算法[J].海洋测绘,2023,43(6):6-11,6.基金项目
上海市科委重点研发项目(17DZ1204902). （17DZ1204902）
