本文關(guān)鍵詞： 三維點(diǎn)云 區(qū)域生長(zhǎng) 分割 視點(diǎn)特征直方圖 分類識(shí)別　出處：《儀器儀表學(xué)報(bào)》2017年09期 　論文類型：期刊論文

【摘要】：鐵路限界侵入檢測(cè)對(duì)保障高速鐵路安全具有重要意義,基于激光三維點(diǎn)云分割與分類識(shí)別的異物侵入檢測(cè)具有準(zhǔn)確、直觀的優(yōu)點(diǎn),在諸如隧道口和站臺(tái)的鐵路重點(diǎn)區(qū)域監(jiān)測(cè)中具有廣泛應(yīng)用前景。設(shè)計(jì)了一種帶動(dòng)二維激光雷達(dá)進(jìn)行俯仰運(yùn)動(dòng)的裝置用于鐵路三維點(diǎn)云的采集,基于法線方向一致性原則提出采用區(qū)域生長(zhǎng)分割算法解決歐氏聚類分割和隨機(jī)采樣一致性(RANSAC)分割造成的過(guò)分割和欠分割問(wèn)題;針對(duì)分割后的單物體點(diǎn)云,提出利用視點(diǎn)特征直方圖(VFH)進(jìn)行不同目標(biāo)的三維點(diǎn)云特征提取,基于不同物體VFH建立KD樹(shù),并利用最近點(diǎn)搜索方法完成單物體點(diǎn)云分類識(shí)別。鐵路場(chǎng)景典型物體的分類實(shí)驗(yàn)結(jié)果表明,本算法對(duì)鐵路場(chǎng)景典型物體的分類識(shí)別準(zhǔn)確率大于90%。
[Abstract]:Railway boundary intrusion detection is of great significance to ensure the safety of high-speed railway. The foreign body intrusion detection based on laser 3D point cloud segmentation and classification recognition has the advantages of accuracy and intuition. It has a wide application prospect in the monitoring of railway key area such as tunnel entrance and platform. A kind of device which can drive 2-D lidar to carry on pitching motion is designed for railway 3D point cloud acquisition. Based on the principle of normal-direction consistency, a region growing segmentation algorithm is proposed to solve the problems of over-segmentation and under-segmentation caused by Euclidean clustering segmentation and random sampling consistency segmentation. Aiming at the point cloud of a single object after segmentation, this paper presents a method of extracting 3D point cloud features from different objects by using view feature histogram (VFH), and builds KD tree based on different objects VFH. The experimental results show that the accuracy of this algorithm is more than 90% for typical objects in railway scene.
【作者單位】： 北京交通大學(xué)機(jī)械與電子控制工程學(xué)院;北京控制工程研究所;
【基金】：國(guó)家重點(diǎn)研發(fā)計(jì)劃(2016YFB1200100)項(xiàng)目資助
【分類號(hào)】：TP391.41;U298
【正文快照】： 0引言侵入鐵路限界的物體嚴(yán)重影響運(yùn)營(yíng)安全,在車站站臺(tái)、咽喉區(qū)、隧道口、通道門等重點(diǎn)區(qū)域,識(shí)別侵入物體的具體位置、大小和類別具有重要意義。以防護(hù)網(wǎng)為代表的接觸式檢測(cè)方法無(wú)法獲知物體的大小進(jìn)而評(píng)估其危害,非接觸式檢測(cè)中的視頻分析方法會(huì)受到天氣及光線條件的影響[1],，

本文編號(hào)：1489559