1. 甘肃省水利水电勘测设计研究院有限责任公司
2. 西北师范大学物理与电子工程学院
纸质出版:2025
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路创军, 魏博, 郝娇娇, 等. 顾及多高程多密度Transformer的点云地面滤波[J]. 地理空间信息, 2025,23(10):68-72+83.
路创军, 魏博, 郝娇娇, et al. 顾及多高程多密度Transformer的点云地面滤波[J]. 2025, 23(10): 68-72+83.
地面滤波是处理ALS点云数据的基础步骤之一,Transformer机制为点云数据处理提供了新的解决方案,但现有方法大多通过堆砌Transformer提高地面滤波精度,未曾建立长距离点云特征依赖关系。为此,提出一种多层Point Transformer模型并将其应用于大范围ALS点云地面滤波,该模型结合了Transformer、反向残差MLP和卷积的多重优势,能够实现点云场景多层位置信息的捕获和轻量化计算。首先,提出融合了多层位置信息的多高程多密度Transformer,该模块分别依据高程和密度对点云场景进行分层,选取高程层和密度层的邻域信息构成多层特征,并分层计算注意力,实现点云高程和密度特征融合。其次,提出一种点云上下文位置编码算法,以准确描述点云上下文依赖关系。最后,在特征维度较小的输入输出层放置Transformer块,以减少内存占用,实现模型轻量化。实验引入大范围ALS点云数据集OpenGF充分验证多层Point Transformer的综合性能,结果表明,多层Point Transformer能够满足大范围ALS点云地面滤波需求,与现有方法相比,取得了更先进的地面滤波精度,并降低了模型复杂度。
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