Laser & Optoelectronics Progress, Volume. 56, Issue 6, 062801(2019)
Method for Filtering Dense Noise from Laser Scanning Data
Figures & Tables(9)
Fig. 1. Spatial distribution of noise. (a) Point clouds data nearby TLS; (b) vertical profile along one direction
Fig. 2. Intensity map of point cloud. (a) All point clouds; (b) point clouds after points with intensity less than 2σ removed
Fig. 4. Denoising results for all point clouds. (a) Data 1, original data; (b)data 1, Cloud compare; (c) data 1, statistical filter & radius filter; (d) data 1, proposed method; (e) data 2, original data; (f) data 2, Cloud compare; (g) data 2, statistical filter & radius filter; (f) data 2, proposed method
Fig. 5. Denoising results for edges of partial buildings and partial electric wires from data 1. (a) Original data; (b) Cloud compare; (c) statistical filter & radius filter; (d) proposed method
Fig. 6. Denoising results for edges of partial buildings and partial electric wires from data 2. (a) Original data; (b) Cloud compare; (c) statistical filter & radius filter; (d) proposed method
Table 1. Parameters for proposed method and Cloud compare software
View tableTable 1. Parameters for proposed method and Cloud compare software
Test data Proposed method Statistical filter & radius filter Cloud compare Minimum segmentation angle Intensity critical value /dB Range critical value /m T 1T 2Number of neighboring points Multiple of standard deviations Search radius /m R /mφ /(°)θ /(°)1 0.10 0.5 1186 460 10 d 0.1 40 3 0.5 0.5 2 0.08 0.4 1162 538 10 d 0.1 40 3 0.5 0.5
Table 2. Denoising accuracy of proposed method, statistical filter & radius filter and Cloud compare
View tableTable 2. Denoising accuracy of proposed method, statistical filter & radius filter and Cloud compare
Data Horizontal direction / (°) K N /%K /%RK /%Proposed method Statistical filter & radius filter Cloud compare Proposed method Statistical filter & radius filter Cloud compare Proposed method Statistical filter & radius filter Cloud compare 1 72-73 90.4 55.8 52.3 98.7 59.6 62.3 95.6 58.4 60.3 146-147 92.3 57.3 59.8 95.5 66.8 69.7 94.4 63.8 65.8 271-272 94.9 65.2 50.1 96.5 65.1 65.1 95.3 61.1 61.6 332-333 93.3 56.3 55.7 96.3 59.6 60.3 94.4 57.6 57.0 Average 92.7 58.7 54.5 96.8 62.78 64.4 94.9 60.2 61.2 2 40-42 93.9 62.9 73.8 96.0 66.4 81.3 95.1 63.2 78.3 159-161 93.5 64.9 67.6 96.3 66.7 80.2 95.4 66.1 77.6 215-217 91.7 67.5 61.7 98.7 62.1 75.2 97.2 60.7 71.4 323 - 325 92.5 58.2 60.9 98.7 73.8 75.6 96.9 71.1 69.3 Average 92.9 61.1 66.0 97.4 67.2 78.1 96.2 65.3 74.2
Table 3. Operation efficiency and ratio of number of denoised points to original points of proposed method, statistical filter & radius filter and Cloud compare
View tableTable 3. Operation efficiency and ratio of number of denoised points to original points of proposed method, statistical filter & radius filter and Cloud compare
Data Operation efficiency Ratio of number of denoised points to original points /% Proposed method /min Statistical filter & radius filter /min Cloud compare /min Proposed method Statistical filter & radius filter Cloud compare 1 1.5 1.2 >30 97.4 61.3 72.2 2 2.4 2.0 >30 97.5 62.7 70.6
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Shichao Chen, Huayang Dai, Cheng Wang, Xiaohuan Xi, Li Guan. Method for Filtering Dense Noise from Laser Scanning Data[J]. Laser & Optoelectronics Progress, 2019, 56(6): 062801
Paper Information
Category: Remote Sensing and Sensors
Received: Sep. 14, 2018
Accepted: Sep. 29, 2018
Published Online: Jul. 30, 2019
The Author Email: Xi Xiaohuan (xixh@radi.ac.cn)
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