Recovering Missing Trajectory Data for Mobile Laser Scanning Systems

被引:6
作者
Zhong, Mianqing [1 ]
Sui, Lichun [1 ]
Wang, Zhihua [2 ]
Yang, Xiaomei [2 ]
Zhang, Chuanshuai [3 ]
Chen, Nan [1 ]
机构
[1] Changan Univ, Inst Remote Sensing & Geog Informat Engn, Xian 710054, Peoples R China
[2] Chinese Acad Sci, State Key Lab Resources & Environm Informat Syst, Inst Geog Sci & Nat Resources Res, Beijing 100101, Peoples R China
[3] Minist Nat Resource PRC, Topog Surveying Brigade 1, Xian 710054, Peoples R China
基金
中国国家自然科学基金;
关键词
mobile laser scanning; scanner trajectory; point density; scanning line; AUTOMATED EXTRACTION; ROAD SURFACE; VERTICAL CLEARANCE; STREET-SCENE; TERRESTRIAL; MARKINGS; FEATURES; BOUNDARY;
D O I
10.3390/rs12060899
中图分类号
X [环境科学、安全科学];
学科分类号
08 ; 0830 ;
摘要
Trajectory data are often used as important auxiliary information in preprocessing and extracting the target from mobile laser scanning data. However, the trajectory data stored independently may be lost and destroyed for various reasons, making the data unavailable for the relevant models. This study proposes recovering the trajectory of the scanner from point cloud data following the scanning principles of a rotating mirror. Two approaches are proposed from different input conditions: Ordered three-dimensional coordinates of point cloud data, with and without acquisition time. We recovered the scanner's ground track through road point density analysis and restored the position of the center of emission of the laser based on plane reconstruction on a single scanning line. The validity and reliability of the proposed approaches were verified in the four typical urban, rural, winding, and viaduct road environments using two systems from different manufacturers. The result deviations of the ground track and scanner trajectory from their actual position were a few centimeters and less than 1 decimeter, respectively. Such an error is sufficiently small for the trajectory data to be used in the relevant algorithms.
引用
收藏
页数:21
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