Study of Base Segmenting Algorithm of Substation Equipment Based on 3D Point Cloud

Introduction Segmenting affiliated facilities from the point cloud is the key of 3D identification of the equipment. Methods This paper proposes a method to segment an equipment’s base from the equipment according to the change trend of the horizontally-projected areas of the layers formed by layering the equipment, thereby reducing the workload of manual segmentation of the base and improving the efficiency of intelligent identification of substation equipment. At the same time, the paper improves Iterative Closest Point (ICP) algorithm by using ICP error to jump out early of the iteration process of ICP, to reduce the iteration steps and shorten the matching time. Results The experimental results show that the identification rate of substation equipment is greatly improved by the base segmenting algorithm. Conclusion The improved ICP algorithm significantly shortens the identification time, and has little impact on the identification rate.