林区环境复杂,导致林用装备在实现自动化、 智能化时存在一定的困难,需要采用较为可靠的传感器及技术手段对立木进行识别.但是由于立木树径差异大,现有的检测手段难以准确的检出.为实现林区活立木的检测,可以通过二维激光扫描仪进行数据采集,通过对二维激光数据的滤波、 分割和检测等手段将活立木从林区场景中检测到.本文将图像处理中所采用的正切变换圆检测方法引入到二维激光扫描数据处理中,通过分析极坐标特点,推导出极坐标下正切变换公式.将小圆木柱作为幼木,在实验室内搭建幼木仿真环境,使用LMS511 Pro二维激光扫描仪采集仿真场景的二维激光数据,并进行数据处理.试验证明,采用正切变换的方法可以在扫描数据点个数较少时检测出被测目标是否由圆弧组成,并给出了判定系数为0.7,准确率可达90%.%In complex forest environment , forestry equipment has some difficulties in the realization of intelligent automation , which demand robust sensor and technical method to recognize stumpage .However , due to large differences in tree diameter , the ex-isting means of detection is difficult to accurately detect .In order to realize the detection of stumpage in forest , the data acquisition can be carried out by 2D laser scanner.Through the filtering, segmentation and detection of 2D laser data, stumpage can be separa-ted from the forest.In this paper, the tangent transform circle detection method used in image processing is introduced into 2D laser scanning data processing .By analyzing the characteristics of polar coordinates , the tangent transforming formula in polar coordinates is derived.Take some small wooden as young trees and build the seedlings in the laboratory simulation environment .The LMS511 Pro 2D laser scanner is used to collect the 2D laser data of the simulation scene , and then the data are processed .The experiment shows that using the tangent transform can detect the arc -like object in spite of little scanning points , and the coefficient of determination 0.7 is given at the end of this paper , in which the accuracy rate can be up to 90%.
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