Adaptive correction of ship trajectory based on 3D reconstruction outlier removal
In order to ensure the safety of the ship,adaptive correction of the ship's trajectory is achieved by removing outliers through 3D reconstruction.Using the mean difference method to filter ship 3D point cloud data,optimizing the mean difference method through the variable window variance ratio method,and improving the filtering accuracy of ship 3D point cloud.Based on the filtered 3D point cloud data of ships,combined with octree adaptive mesh,the ship is reconstructed in 3D to more accurately fit the surface shape of the ship.Therefore,projecting an octree adaptive grid on the screen to gener-ate a projection polygon,detecting its intersection with the user determined rectangular bounding box,defining points within the octree adaptive grid that do not intersect with the rectangular bounding box as outliers,and removing them can more ac-curately calculate ship navigation and complete adaptive correction of ship trajectories.The experimental results show that the total error of point cloud filtering in the proposed method is controlled within 1.5％,which can effectively suppress the influence of external points caused by sea clutter and other factors.Moreover,the planned route has high consistency with the original route,ensuring the safe operation of ships.
octree adaptive meshship trajectory3D reconstructionexclusion of outliersprojection polygon
万方数据
维普
