Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography (한국측량학회지)

Korean Society of Surveying, Geodesy, Photogrammetry and Cartography (한국측량학회)
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Segmentation of Airborne LIDAR Data: From Points to Patches

항공 라이다 데이터의 분할: 점에서 패치로

  • 이임평 (서울시립대학교 도시과학대학 지적정보학과)
  • Published : 2006.03.01
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Abstract

Recently, many studies have been performed to apply airborne LIDAR data to extracting urban models. In order to model efficiently the man-made objects which are the main components of these urban models, it is important to extract automatically planar patches from the set of the measured three-dimensional points. Although some research has been carried out for their automatic extraction, no method published yet is sufficiently satisfied in terms of the accuracy and completeness of the segmentation results and their computational efficiency. This study thus aimed to developing an efficient approach to automatic segmentation of planar patches from the three-dimensional points acquired by an airborne LIDAR system. The proposed method consists of establishing adjacency between three-dimensional points, grouping small number of points into seed patches, and growing the seed patches into surface patches. The core features of this method are to improve the segmentation results by employing the variable threshold value repeatedly updated through a statistical analysis during the patch growing process, and to achieve high computational efficiency using priority heaps and sequential least squares adjustment. The proposed method was applied to real LIDAR data to evaluate the performance. Using the proposed method, LIDAR data composed of huge number of three dimensional points can be converted into a set of surface patches which are more explicit and robust descriptions. This intermediate converting process can be effectively used to solve object recognition problems such as building extraction.

최근 들어 항공 라이다 데이터를 도시모델링에 활용하려는 많은 연구들이 진행되고 있다. 도시모델을 구성하는 인공 구조물을 효율적으로 추출하기 위해서는 측정된 3차원 점의 집합으로부터 평면패치를 자동으로 추출하는 것이 중요하다. 평면 패치의 자동 추출에 대한 상당한 연구가 수행되었지만 아직도 추출의 정확도와 완전성 및 계산의 효율성 측면에서 만족할 만한 결과를 얻지 못하고 있다. 이에 본 연구는 항공 라이다 측량으로 취득된 3차원 점의 집합을 자동으로 분할하여 표면패치를 구성하는 효율적인 방법의 개발을 목표로 한다. 제안된 방법은 3차원 점간의 인접성을 수립하고, 소량의 인접점을 그룹핑하여 초기패치를 생성하고, 이를 성장시켜 표면패치를 생성하는 과정으로 구성된다. 제안된 방법은 패치를 성장시키는 과정에서 통계적 분석에 기반하여 가변적으로 설정되는 임계값을 이용하여 분할 결과의 질을 향상시키고, Priority Heap과 순차적최소제곱법에 기반한 효율적인 계산 방법을 사용하였다는 점이 특징적이다. 제안된 방법을 다양한 실측 라이다 데이터에 적용하여 성능을 검증하였다. 제안한 분할 방법을 통해 대용량 3차원 점으로 구성되는 라이다 데이터는 명시적이고 강인한 표현 형태인 표면 패치의 집합으로 변환될 수 있었다. 이러한 중간 변환 과정을 통해 빌딩 추출과 같은 객체 인식의 문제를 효과적으로 해결할 수 있다.

Keywords

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