进一步检测点组 [英] Detect group of points further to the rest

问题描述

我从下水道的激光识别中得出了几点.下水道上有一个洞.

I have a set of points from a laser recognition of a sewer. This sewer has a hole in it.

主要目的是检测该孔并确定其是否干净.一种检测孔的方法是找到孔，看看孔是圆形(在这种情况下是干净的)还是上侧或底侧笔直的圆形(在这种情况下是脏的).

The main goal is to detect this hole and decide whether it's clean or not. One way to detect it is to find the hole and see if it is a circle (in which case it is clean) or a circle with the upper or bottom side straight (in which case it is dirty).

可能有几种解决方案可以实现我的主要目标.我认为检测这组产生孔的点并将其投影可能是一个很好的解决方案.如果有更好的方法，我将不胜感激.

There may be several solutions to obtain my main goal. I think that detecting this set of points that generate the hole and projecting them could be a good solution. If there is a better approach I would appreciate any suggestion.

我附加了点云的两个图像，这可能有助于了解孔的位置. 第一张图片在右侧显示了一些点.这些点是激光在孔内进一步检测到的点.在第二张图像中，您可以从其他角度看到孔和那些点.

I attach two images of the point cloud, which could be of help to understand where is the hole. The first image shows some points at the right. Those points are the ones that the laser detects further inside the hole. In the second image you can see the hole and those points from other perspective.

谢谢你，亚历克斯.

推荐答案

建议(未尝试):选择属于下水道单侧的点，并将其投影到该侧的平面上以获得2D数据集

A suggestion (untried): select the points that belong to a single side of the sewer and project them onto the plane of that side to obtain a 2D data set.

然后使用最大的空圆算法.如果孔内没有杂散点，则将导致较大的半径. (请参见 https://en.wikipedia.org/wiki/Largest_empty_sphere ，二维情况.)

Then use the largest empty circle algorithm. If there are no spurious points inside the hole, a large radius will result. (See https://en.wikipedia.org/wiki/Largest_empty_sphere, 2D case.)

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