点云–第三种代表

爱德华·韦布里

点云代表了世界的最佳状态:是最新的,并且每一个细节都是众所周知的。大多数文章都特别关注此类点云的数据采集,因为它们是从以下方法获得的:

  1. 激光雷达时间戳反射,其优点是指示观察点和表面点之间的“空”空间;
  2. 图像通过运动(SfM)和密集图像匹配(DIM)技术进行结构化,并具有丰富的色彩点。

如今,它们不仅可以通过高端专业设备获得,而且使用低成本(消费性)硬件(例如智能手机摄像头)和(相对)为自动驾驶汽车开发的廉价激光雷达系统,可以越来越多地捕获点云。和室内机器人。这一发展也弥合了室外到室内制图的空白。我们所有人度过了80%以上生命的室内“隐身地带”尚未被捕获,并由点云完全体现出来。换句话说,我们所知道的世界-因此是它自己的最佳模型-越来越多地被点云正确,频繁地,密集地感知并且具有更多(派生)属性。

但是,仅仅因为所有这些点云都可用,并不意味着它们已被充分利用。取而代之的是,点云仍被误用于派生具有相对较低细节水平(LOD)的多面3D城市模型。获得更好的LOD的必要步骤并不是那么容易,尤其是因为细节在点云本身中。确定哪些点有助于(希望)水密多边形网格的哪个多边形解锁来自Animal Farm(乔治·奥威尔)的著名报价的新版本:“所有点都相等。但是有些观点比其他观点更为平等”。只有最终用户才能决定哪些点真正重要-如果将大多数点处理为3D城市模型后将其丢弃(从而失去连接),则这是不可能的。

此外,此建模步骤需要时间,并且需要大量的人工。大多数建筑物具有某种建筑设计,因此不能简单地将其挤压成具有任意屋顶形状的砌块。因此,满足用户要求的LOD2模型的全自动处理似乎有问题,以至于大多数数字孪生模型仍然部分是“手工制造”的。这样的3D模型一经发布就过时了,而且没人知道这些城市模型代表现实的程度如何,因为没有保持与其原始点云的链接。

其他研究人员选择基于体素的,类似于Minecraft的体积表示。主要缺点是需要设置固定的方向和固定的采样率。但是,由于它们看起来不现实,因此与多面体表示相比,人们不太可能将它们视为真实。

关于处理巨大点云的一种说法是,它们很大。是的,是的,这就是为什么对于这么大的“ 3D”(通常通常只有2.5D)城市模型也可以说很多的原因。例如,点云的一个很大的优点是它们相对简单:实际上只是一堆具有某些属性的X,Y,Z坐标。公认的基于文件的标准(LAS / LAZ)已证明了其在传播点云方面的价值。来自点云的智能结构化和(快速)查询保持在DBMS中,点云的细节持续不断,这是第四个方面,它是一项持续不断的研究活动,其结果令人鼓舞。

因此,点云的处理很重要,但是关键问题(如上所述)是有效地用于探索性可视化和分析目的。首先,“丰富”点云范例通过将密集的3D点云充实了全面的几何,辐射度和语义特性,突显了密集3D点云的概念。当点云本身意识到这些属性时,它们将变为“智能”。如果基于点云,则决策的可见性分析可提供更为详细和现实的结果,尤其是在必须考虑植被的情况下。

荷兰点云高度模型AHN2-AHN3中的变化检测–理学硕士,学生项目,TU Delft。

让我们不要忘记人类皮质的功能。我们人类仍然非常善于检测3D场景中的细节。在3D建模过程中可能丢失的一些突出点可能比场景中的所有其他点更重要。建筑物的哪些部分按设计建造,哪些不是?点云的这种探索性使用得到了分析工具(如基于点云的更改检测)的支持,还得到了屏幕上高端3D点云可视化工具的支持,甚至在基于点云的增强现实环境中更好。

最后但并非最不重要的一点,为什么要花大量的时间,精力和金钱来收集点云,将它们视为输入数据,将其处理为导数然后丢弃呢?如果您考虑一下,那就太荒谬了。取而代之的是,我认为点云应被视为第三种表示形式,与多面体表面表示形式和体积体素表示形式一样。但是它们可以通过探索性的可视化和分析提供更多的洞察力(因为它们或多或少是现实)。因此,我的建议是:直接使用它们!

*Edward Verbree是荷兰代尔夫特理工大学的助理教授。他感谢撰写此专栏的帮助和启发,感谢Martijn Meijers,Peter van Oosterom和Mathias Lemmens,以及TU Delft的许多地理学和GIMA硕士课程的学生。*

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