本文为加拿大劳伦森大学（作者：Razia Mahmood）的硕士论文，共99页。

近年来，三维激光扫描技术在矿业中的应用日益广泛。这提供了一个机会来可视化和分析地下世界，并可能节省无数的工时和暴露潜在安全事故。本文提出了通过扫描仪采集三维点云检测“岩石边缘”的方法，虽然点云边缘检测是一个困难但有意义的问题。为了解决噪声和散乱的三维点云问题，提出并实现了一种新的方法，即EdgeScan方法，用于从实时系统中快速检测三维点云的准确边缘。EdgeScan方法的目的是利用2D边缘处理技术来更好地表示三维点云的边缘特征。对EdgeScan方法与其他常用的三维点云边缘检测方法进行了比较，结果表明，所提出的EdgeScan方法为实时系统中的大数据集提供了更好的速度和精度。

The application of 3D laser scanning in themining industry is increasing progressively over the years. This presents anopportunity to visualize and analyze the underground world and potentially savecountless man- hours and exposure to safety incidents. This thesis envisions todetect the “Edges of the Rocks” in the 3D point cloud collected via scanner,although edge detection in point cloud is considered as a difficult butmeaningful problem. As a solution to noisy and unorganized 3D point cloud, anew method, EdgeScan method, has been proposed and implemented to detect fastand accurate edges from the 3D point cloud for real time systems. EdgeScanmethod is aimed to make use of 2D edge processing techniques to represent theedge characteristics in 3D point cloud with better accuracy. A comparisons ofEdgeScan method with other common edge detection methods for 3D point cloud isadministered, eventually, results suggest that the stated EdgeScan methodfurnishes a better speed and accuracy especially for large dataset in real timesystems.

1 引言

2 点云数据采集

3 边缘检测

4 相关工作

5 研究方法

6 结果与分析

7 结论与未来工作展望

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