Application of 3D information extraction technology of ground obstacles in the flight trajectory planning of UAV airborne geophysical exploration
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摘要: 无人机航空物探已成为航空物探技术的新兴分支,为了获取高质量的无人机航空物探测量数据,应按照航空物探应用特点规划无人机飞行轨迹。围绕无人机三维航迹规划和自主避障需求,基于无人机激光雷达点云数据的三维地障信息提取技术,实现地面点和非地面点(电力杆塔、电力线点和植被点等)的提取。通过对地形信息构建和电力杆塔、电力线三维重建,为无人机三维航迹规划软件提供重要基础数据。Abstract: UAV airborne geophysical exploration has become an emerging branch of airborne geophysical exploration technology. To obtain high-quality measured data in UAV airborne geophysical exploration, it is necessary to plan UAV flight trajectory according to the application characteristics of airborne geophysical exploration. Focusing on the demand for 3D planning of UAV flight trajectory and autonomous obstacle avoidance, this paper studied the 3D information extraction technology of ground obstacles based on point cloud data of UAV LiDAR and extracted ground points and non-ground points (e.g., transmission towers, power line points, and vegetation points). The construction of terrain information and the 3D reconstruction of transmission towers and power lines will provide important primary data for UAV 3D flight trajectory planning software.
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Key words:
- airborne lidar /
- UAV /
- power line extraction /
- filtering
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