基于LiDAR点云的船载砂石体积自动测算系统

doi:10.3969/j.issn.0258-2724.20181051

朱庆^1,2,,
王登星^1,,
王峰¹,
谢潇³,
胡翰¹,
黄爽⁴

基金项目:国家自然科学基金（41631174）；四川省重点研发项目（2018SZ0339）

详细信息

作者简介:
朱庆（1966—），男，教授，博士，博士生导师，研究方向为摄影测量、地理信息系统、虚拟地理环境，E-mail：zhuq66@263.net

中图分类号:V221.3
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出版历程
- 收稿日期:2018-12-25
- 修回日期:2019-08-14
- 网络出版日期:2019-09-04
- 刊出日期:2020-12-15

Automatic Volume Calculation System for Sand and Gravel Carried by Ship Based on LiDAR Point Cloud

摘要

摘要:针对现有船舶运输砂石体积计算主要依赖人工方式称重和纸质运单流转、精度不高且效率很低的难题，采用基于八叉树的点云精简和聚类分析进行复杂环境下船舶点云的自动识别和提取；采用基于改进SK-4PCS （semantic-keypoint-based 4-points congruent sets）的粗配准和基于Point-to-Plane ICP （iterative closest point）的精配准进行空载和满载两期点云由粗到精的高效配准，设计实现了一种利用LiDAR （light detection and ranging）点云数据进行船载砂石自动测算的系统. 采集了江西南昌赣江运砂船数据进行实验验证，从扫描到出结果一艘船的砂石体积自动测算时间少于2 min，同船多次测算结果最大相对误差小于1.00%，砂石体积与实际真值相比的最大误差小于2.00%，满足实际业务需求.
- 三维激光扫描/
- 砂石体积/
- 点云配准/
- 船舶运输
Abstract:The current volume calculation method of sand and gravel carried by ship mainly relies on manual weighing and waybill transfer, which has the problem of low precision and low efficiency. To deal with this, an automatic volume calculation system of sand and gravel carried by ship is developed on the basis of LiDAR (light detection and ranging) point cloud. It uses the cluster analysis and the octree-based point cloud reduction to realize automatic identification and extraction of the point cloud for the target ship in a complex environment. It adopts the coarse registration based on the improved SK-4PCS (semantic-keypoint-based 4-points congruent sets) and fine registration based on the point-to-plane ICP (iterative closest point) to realize the high-efficient registration of no-load and full-load point clouds from coarse to fine level. The experiment is conducted with the data from the gravel transport ships on the Ganjiang River in Nanchang, Jiangxi, showing that the automatic measurement and calculation time of sand and gravel volume for one ship is less than 2 min, the maximum relative error of multiple calculation results is less than 1.00%, and the maximum error between the volume calculation results and real values is less than 2.00%, which meet practical requirements.
- 3D laser scanning/
- sand and gravel volume/
- point cloud registration/
- ship transport

HTML全文

图 1系统架构设计

Figure 1.System architecture design

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图 2系统功能设计

Figure 2.System function design

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图 3点云数据方位纠正

Figure 3.Azimuth correction of point cloud data

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图 4点到点的匹配

Figure 4.Matching of point to point

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图 5点到平面的距离

Figure 5.Distance of point to plane

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图 6系统应用示例

Figure 6.Platform application example

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图 7砂石体积测算系统各阶段数据

Figure 7.Results of sand and gravel volume calculation system at all stages

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图 8体积测算结果误差分析

Figure 8.Error analysis of volume calculation results

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表 1船载砂石体积自动测算系统测试统计结果

Table 1.Statistical results of automatic volume calculation system of sand and gravel carried by ship

船只类型	运砂船编号	点云扫描时间/s	系统计算最长时间/s	体积计算最大值/m³	体积计算最小值/m³	转换系数/（kg•m⁻³）	载砂方量值/kg	δ₁最大值/%	δ₂最大值/%
自卸驳	Y1180	40	59	1270.15	1265.65	1.43	1838	1.53	0.36
自卸驳	HS258	40	56	1138.27	1131.94	1.43	1646	1.66	0.56
自卸驳	Z9	40	42	773.76	771.53	1.43	1094	1.14	0.29
自卸驳	Z1326	40	63	1541.45	1527.63	1.43	2225	1.82	0.91
自卸驳	Z0518	40	51	829.92	827.66	1.43	1181	0.49	0.27
自卸驳	Z0840	40	50	880.15	875.96	1.43	1249	0.77	0.48
落舱驳	L1142	40	46	753.41	749.39	1.62	1231	1.38	0.54
落舱驳	L1287	40	49	754.34	750.68	1.62	1231	1.21	0.49
落舱驳	L1300	40	54	960.88	953.53	1.62	1570	1.61	0.77
落舱驳	L1701	40	45	695.85	694.30	1.62	1139	1.25	0.22

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