基于法向量和曲率的三维边缘检测方法

摘要

In order to detect the heading window in the 3D point cloud of thin seam obtained by a 3D laser scanner ,a 3D edge detection method that utilize a partial differential properties of a 3D point cloud data utilization ,including the normal vector and curvature ,is introduced .Firstly ,the normal vector and curvature at each point are calculated using the least squares method ;Then statistical analysis on normal vector and filter candidate edge points ,and finally using region growing algorithm divides the candidate edge points ,in order to determine whether a point is an edge point .Experiments show that this method can quickly and efficiently detect the edge points .%在利用三维激光扫描仪获取薄煤层三维点云数据的基础上，为了检测出薄煤层掘进窗口，采用了一种利用三维点云数据局部微分性质，包括法向量以及曲率，来进行三维边缘检测的方法。首先，使用最小二乘法计算出各点的法向量和曲率；再利用法向量进行统计分析筛选出候选边缘点，最后采用区域生长算法对候选边缘点进行分割，从而判断各点是否为边缘点。实验证明该方法能够快速有效的检测出边缘点。