EN输电线路机载LiDAR点云去噪误差分析与质量控制方法
Error Analysis and Quality Control of Point Cloud Denoising for Power Transmission Lines Oriented to Business Accuracy
- 电力大数据 2026年第2期
- 作者机构：
1. 贵州电网有限责任公司运行分公司
2. 许继电气股份有限公司
- 作者简介：
- 基金信息：中国南方电网有限公司科技项目资助 (067500KC23100003)
DOI：
中图分类号：-
纸质出版：2026
- 稿件说明：
移动端阅览
周力, 陶黎明, 杨胜峰, 等. 输电线路机载LiDAR点云去噪误差分析与质量控制方法[J]. 电力大数据, 2026,(2).
Zhou Li, Tao Liming, Yang Shengfeng, et al. Error Analysis and Quality Control of Point Cloud Denoising for Power Transmission Lines Oriented to Business Accuracy[J]. 2026, (2).
摘要
针对输电线路机载 LiDAR 点云去噪缺乏客观真值与业务级精度评价的问题，提出一种基于逆向噪声注入的量化评估框架。该方法依据物理成像机理构建光斑发散、多路径伪影等噪声模型生成完备真值，并建立了包含导线径向收敛误差、弧垂漂移及杆塔保真度的特征级评价体系。系统评估表明：半径滤波虽能去噪，但会引入显著的导线径向收缩误差；统计滤波在应对杆塔强反射伪影时失效；移动最小二乘虽保形性较好，但在极端非均匀噪声下，存在不可忽视的中心漂移风险。基于此，该文提出了面向业务的分级自适应处理策略，通过算法组合与参数寻优，有效解决了单一算法难以兼顾导线精度与杆塔拓扑完整的矛盾，为输电数字化巡检数据质量控制提供了科学依据。
Abstract
To address the lack of objective ground truth and operational-level accuracy evaluation standards in the preprocessing of airborne LiDAR point clouds for transmission lines
this paper proposes a quantitative evaluation framework based on reverse noise injection. Based on the physical imaging mechanism
this method constructs mathematical models for typical noises such as beam divergence and multipath artifacts to generate complete ground truth data. Furthermore
a feature-level evaluation system comprising conductor radial convergence error
sag drift
and tower fidelity is established. Systematic evaluation indicates that while Radius Outlier Removal (ROR) effectively removes noise
it introduces significant conductor radial shrinkage error. Statistical Outlier Removal (SOR) fails to handle high-density strong reflection artifacts on towers. Moving Least Squares (MLS) offers superior shape preservation but poses a non-negligible risk of center drift under extreme non-uniform noise conditions .Consequently
an application-oriented hierarchical adaptive processing strategy is proposed. Through algorithm combination and parameter optimization
this strategy effectively resolves the conflict between achieving micrometer-level accuracy for conductors and maintaining topological completeness for towers
providing a scientific basis for data quality control in digital power transmission inspections.
关键词
Keywords
references
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Munir N, Awrangjeb M, Stantic B. Power Line Extraction and Reconstruction Methods from Laser Scanning Data: A Literature Review[J]. Remote Sensing, 2023, 15(4): 973.
Lu S, Sun H, Feng T. A review of image 3d reconstruction technology and its application in electrical equipment monitoring[C]//2023 2nd Asian Conference on Frontiers of Power and Energy (ACFPE). IEEE, 2023: 84-88.
Farzaneh M, Chisholm W A. Techniques for protecting overhead lines in winter conditions: Dimensioning, icephobic surfaces, de-icing strategies[J]. 2022.
Mahin A U, Islam S N, Ahmed F, et al. Measurement and monitoring of overhead transmission line sag in smart grid: A review[J]. IET generation, transmission & distribution, 2022, 16(1): 1-18.
杨小龙, 袁翰青, 孙辰军, 等. 架空输电线路弧垂及覆冰的在线监测[J]. Journal of Harbin University of Science & Technology, 2023, 28(2).
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郭昌龙, 夏振平, 李超超, 等. 结合改进半径滤波和局部平面拟合的点云去噪算法[J]. Laser & Optoelectronics Progress, 2024, 61(12): 1215003-1215003-9.
Egelhof J, Wolf P, Berns K. Disturbance and particle detection in LiDAR data[C]//IECON 2022–48th Annual Conference of the IEEE Industrial Electronics Society. IEEE, 2022: 1-6.
麻卫峰, 王成, 王金亮, 等. 激光点云输电线精细提取的残差聚类法[J]. 测绘学报, 2020, 49(7): 883-892.
Porcu S, Marche C, Floris A. No-reference objective quality metrics for 3d point clouds: A review[J]. Sensors (Basel, Switzerland), 2024, 24(22): 7383.
张睿智,李强,张晓林.面向混合输电线路巡检的点云数据处理优化方法[J].沈阳工业大学学报,2025,47(04):448-454.
王冕,颜康,罗鑫,等.基于三维点云数据的预处理技术研究与应用[J].电力大数据,2024,27(09):61-68.
王丽欢,任亚宁,郜帆,等.输电角钢塔塔段模型加固试验研究[J].自然灾害学报,2024,33(06):130-142.
李继辉,廖云杰,邬剑,等.固态激光雷达输电线路实时建模及压缩技术[J].激光与红外,2023,53(09):1339-1343.
吴小东,王冲,闻平,等.基于LiDAR+GIS的输电线路建模及巡检应用[J].测绘通报,2025,(01):1-5+21.
樊勇,阮少林.多跨覆冰输电线路脱冰振动分析[J].土木建筑与环境工程,2015,37(S2):178-182.
袁萍.基于偏微分方程的激光光斑图像去噪模型研究[J].激光杂志,2025,46(09):82-87.
杨勇,刘德儿.基于改进欧式聚类镜像反射噪声的去除[J].应用激光,2025,45(02):179-187.
Zou J, Liao Z, Xie Y. An iterative calculation algorithm for transmission line conductor ice cover based on laser point cloud arc dip observation[C]//International Conference on Energy Technology and Electrical Power (ETEP 2024). SPIE, 2025, 13566: 442-447.
Zhang S C, Liu J Z, Niu Z, et al. Power line simulation for safety distance detection using point clouds[J]. IEEE access, 2020, 8: 165409-165418.
王濮, 王成, 习晓环, 等. 多特征约束的输电通道杆塔点云提取[J]. 遥感学报, 2024, 28(10): 2651-2660.
Ren Y, Li T, Xu J, et al. Overall filtering algorithm for multiscale noise removal from point cloud data[J]. IEEE Access, 2021, 9: 110723-110734.
麻卫峰,王成,王金亮,等.基于激光点云的高压输电线覆冰厚度反演[J].电力系统保护与控制,2021,49(04):89-95.
胡志新, 曹刘洋, 裴东芳, 等. 自适应精简点云改进预处理优化三维重建算法[J]. 激光与光电子学进展, 2023, 60(20): 2028005.
毛瑞旭, 王宗实. 架空输电线路的三维数字化设计技术的分析[J]. 建筑工程与管理, 2025, 7(5): 159-162.
Munir N, Awrangjeb M, Stantic B. Power Line Extraction and Reconstruction Methods from Laser Scanning Data: A Literature Review[J]. Remote Sensing, 2023, 15(4): 973.
Lu S, Sun H, Feng T. A review of image 3d reconstruction technology and its application in electrical equipment monitoring[C]//2023 2nd Asian Conference on Frontiers of Power and Energy (ACFPE). IEEE, 2023: 84-88.
Farzaneh M, Chisholm W A. Techniques for protecting overhead lines in winter conditions: Dimensioning, icephobic surfaces, de-icing strategies[J]. 2022.
Mahin A U, Islam S N, Ahmed F, et al. Measurement and monitoring of overhead transmission line sag in smart grid: A review[J]. IET generation, transmission & distribution, 2022, 16(1): 1-18.
杨小龙, 袁翰青, 孙辰军, 等. 架空输电线路弧垂及覆冰的在线监测[J]. Journal of Harbin University of Science & Technology, 2023, 28(2).
钱建国, 魏立, 李游, 等. 基于三维点云的输电线路分类去噪算法研究[J]. APPLIED LASER, 2022, 42(11): 104-112.
郭昌龙, 夏振平, 李超超, 等. 结合改进半径滤波和局部平面拟合的点云去噪算法[J]. Laser & Optoelectronics Progress, 2024, 61(12): 1215003-1215003-9.
Egelhof J, Wolf P, Berns K. Disturbance and particle detection in LiDAR data[C]//IECON 2022–48th Annual Conference of the IEEE Industrial Electronics Society. IEEE, 2022: 1-6.
麻卫峰, 王成, 王金亮, 等. 激光点云输电线精细提取的残差聚类法[J]. 测绘学报, 2020, 49(7): 883-892.
Porcu S, Marche C, Floris A. No-reference objective quality metrics for 3d point clouds: A review[J]. Sensors (Basel, Switzerland), 2024, 24(22): 7383.
张睿智,李强,张晓林.面向混合输电线路巡检的点云数据处理优化方法[J].沈阳工业大学学报,2025,47(04):448-454.
王冕,颜康,罗鑫,等.基于三维点云数据的预处理技术研究与应用[J].电力大数据,2024,27(09):61-68.
王丽欢,任亚宁,郜帆,等.输电角钢塔塔段模型加固试验研究[J].自然灾害学报,2024,33(06):130-142.
李继辉,廖云杰,邬剑,等.固态激光雷达输电线路实时建模及压缩技术[J].激光与红外,2023,53(09):1339-1343.
吴小东,王冲,闻平,等.基于LiDAR+GIS的输电线路建模及巡检应用[J].测绘通报,2025,(01):1-5+21.
樊勇,阮少林.多跨覆冰输电线路脱冰振动分析[J].土木建筑与环境工程,2015,37(S2):178-182.
袁萍.基于偏微分方程的激光光斑图像去噪模型研究[J].激光杂志,2025,46(09):82-87.
杨勇,刘德儿.基于改进欧式聚类镜像反射噪声的去除[J].应用激光,2025,45(02):179-187.
Zou J, Liao Z, Xie Y. An iterative calculation algorithm for transmission line conductor ice cover based on laser point cloud arc dip observation[C]//International Conference on Energy Technology and Electrical Power (ETEP 2024). SPIE, 2025, 13566: 442-447.
Zhang S C, Liu J Z, Niu Z, et al. Power line simulation for safety distance detection using point clouds[J]. IEEE access, 2020, 8: 165409-165418.
王濮, 王成, 习晓环, 等. 多特征约束的输电通道杆塔点云提取[J]. 遥感学报, 2024, 28(10): 2651-2660.
Ren Y, Li T, Xu J, et al. Overall filtering algorithm for multiscale noise removal from point cloud data[J]. IEEE Access, 2021, 9: 110723-110734.
麻卫峰,王成,王金亮,等.基于激光点云的高压输电线覆冰厚度反演[J].电力系统保护与控制,2021,49(04):89-95.
胡志新, 曹刘洋, 裴东芳, 等. 自适应精简点云改进预处理优化三维重建算法[J]. 激光与光电子学进展, 2023, 60(20): 2028005.
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