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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/53160
標題: | 以強度資訊進行多時期車載光達點雲特徵匹配與改正 Feature Matching and Adjustment for Multi-Epoch Mobile LiDAR Point Clouds Based on Reflective Intensities |
作者: | Yi-Yen Peng 彭翊雁 |
指導教授: | 韓仁毓(Jen-Yu Han) |
關鍵字: | 車載光達系統,慣性導航系統,反射強度值,影像增顯,影像匹配,自適應分段改正, Mobile LiDAR system,Inertial navigation system (INS),Intensity,Image enhancement,Image matching,Adaptive time-variant adjustment, |
出版年 : | 2015 |
學位: | 碩士 |
摘要: | 車載光達系統於衛星訊號受到遮蔽時,由於慣性導航系統獨立估算載具位置與姿態之誤差將隨時間累積,使得點雲資料之誤差行為不僅具有累積性也與訊號遮蔽時段有關,因此須對點雲進行自適應分段改正。本研究採用路面標線特徵作為自適應分段改正之共軛點,由萃取之路面點雲產製強度影像,並利用影像增顯提升路面特徵之辨識度與對比度,再由影像共軛匹配技術獲取共軛特徵點並反投影回三維空間,以動態門檻之粗差偵測策略提升共軛匹配點之正確性,最後,進入自適應分段改正之流程。實驗成果顯示,所提出的方法可提供精確且足夠的共軛特徵,以利後續自適應分段改正,而多時期點雲間之誤差則可由數十公分之誤差下降至公分等級,能有效消除衛星訊號遮蔽造成之誤差。 Mobile LiDAR systems have been widely used in collecting 3D spatial information due to its high efficiency. However, its positioning quality relies on a good reception of GNSS signals. Therefore, point clouds positioning error accumulates with time when GNSS signal is obstructed. This study presents a fully automatic intensity-based multi-epoch mobile LiDAR point clouds matching and adjustment procedure. The experiment results indicated that the proposed frameworks can provide accurate and sufficient features for the adaptive time-variant adjustment and help to improve the positioning quality for the LiDAR point clouds acquired in a GNSS signal obstructed area. Consequently, the mobile LiDAR systems can be extended to a wider field of applications. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/53160 |
全文授權: | 有償授權 |
顯示於系所單位: | 土木工程學系 |
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ntu-104-1.pdf 目前未授權公開取用 | 7.14 MB | Adobe PDF |
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