A denoising method for pavement 3d data based on breakpoint interpolation and reference plane filtering

In order to meet the current pavement intelligent detection and feature parameter extraction requirements, a 3D pavement surface data denoising method based on breakpoint interpolation and reference plane filtering (BI-RPF) is proposed and demonstrated using 3D pavement data acquired by a laser-based 3D imaging system. First, the principal structure and major characteristics of 3D pavement data were analyzed. Next, the breakpoint interpolation method considering the relationship between ordinate and slope was proposed to complete the missing values from the original pavement data. Then, reference plane filtering based on the horizontal and longitudinal reference plane was realized so as to overcome the unevenness of the pavement. Finally, the filtering effectiveness of the proposed method was compared with that of the standard deviation filtering and median filtering methods. The results show that the proposed filtering method takes breakpoints and uneven road surface into account, which can provide more accurate 3D road surface data under more complex conditions. The algorithm provided a good denoising effect while retaining valid data describing the road surface morphology, which establishes a foundation of BI-RPF to 3D pavement reconstruction.