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In the point cloud splicing of underground pipe gallery in power plants, an improved algorithm with 3D-Harris operator about corner detection is proposed. In this algorithm, firstly, taking multiple sets of massive point cloud data of the underground pipe gallery as analysis object, the normal information of the target detection point on the adjacent point cloud microtangent plane is obtained through principal component analysis method, thus the boundary points of the point cloud are extracted. Secondly, the covariance matrix is constructed according to the normal information of the target detection point, then the corner response intensity function is calculated and compared, and some points are selected as calculation objects to judge whether they are true corner. Thirdly, the pseudo angles are filtered out and the true angles are selected by using a pseudoangle detection method based on Gaussian curvature extreme points. At last, the fast point feature histogram method is used to match similar corners between each group, and the nearest point search point cloud registration algorithm is used to realize the splicing of multiple points and cloud in the underground pipe gallery. The results are compared with that of the conventional 3D-Harris angular point detection algorithm. It is proved that the method in paper takes less time to calculate and has a higher corner-point extraction accuracy, which can realize accurate splicing of massive point cloud of underground pipe gallery.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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