In this paper,there are transparent objects such as windows when building indoor point cloud maps with lidar,which leads to noise generated by the lidar's wiring harness through the window and affects the accuracy of the map.To solve this problem,a wall recognition method suitable for indoor three-dimensional point cloud maps is proposed.With this method,the position of the window is further identified,and the noise and cluster points outside the window are removed.The former identifies the wall points from the density of each point distribution in the three-dimensional point cloud map;the latter locates the exterior wall and window position through the wall coordinates,thereby removing noise and invalid features.The experiment verifies the method in the indoor map of three scenes.The results show that the accuracy of this method in the extraction of walls and windows is above 95%,and it can ef-fectively remove the noise outside the window.And the recall rate of window extraction can reach 100% in specific scenarios.This method can be used for window wall recognition and denoising in simple and complex indoor environ-ments,and has good results in indoor environments with many features.
关键词
三维激光点云/室内墙面识别/室内窗户检测/窗外噪点去除
Key words
3D laser point cloud/Interior wall recognition/Indoor window inspection/Noise removal outside the window
维普
万方数据