岑铭 男，广西田东县人，高级工程师，注册测绘师，毕业于东南大学，本科学历。主要研究方向为激光雷达测量、航空摄影测量、工程测量，现在广西壮族自治区水利电力勘测设计研究院有限责任公司从事水利水电工程测量，曾担任多个大中型水利水电工程测量项目负责人，具备丰富的工程测量技术管理、实施经验。主持、参与的科研项目、工程项目曾多次获得相关专利及软件著作权、科技进步奖、优秀工程奖等。刘政林 男，广西全州县人，工程师，毕业于桂林理工大学，本科学历。主要研究方向为航空摄影测量、工程测量、工程建筑变形监测，现在广西壮族自治区水利电力勘测设计研究院有限责任公司从事水利水电工程测量，曾担任多个大中型水利水电工程测量项目负责人，具备丰富的工程测量技术管理、实施经验。主持、参与的科研项目、工程项目曾多次获得科技进步奖、优秀工程奖等。梁东泽 男，广西梧州人，工程师，毕业于桂林理工大学，本科学历。主要研究方向为激光雷达测量、航空摄影测量、工程测量，在广西壮族自治区水利电力勘测设计研究院有限责任公司从事多年水利水电工程测量，参加过多个大中型水利水电工程测量项目，积累了丰富的工程测量技术管理、实施经验。参与多个科研项目、工程项目曾获得相关专利、科技进步奖、优秀工程奖等。乐文强 男，广西梧州人，中级工程师，毕业于武汉大学，本科学历。主要研究方向为激光雷达测量、航空摄影测量、工程测量，现在广西壮族自治区水利电力勘测设计研究院有限责任公司从事水利水电工程测量，曾担任多个大中型水利水电工程测量项目负责人，具备丰富的工程测量技术管理、实施经验。主持、参与的科研项目、工程项目曾多次获得相关专利及软件著作权、科技进步奖、优秀工程奖等。文铮 男，广西兴安县人，工程师，毕业于桂林理工大学，本科学历。主要研究方向为航空激光雷达测量、航空摄影测量、工程测量，现在广西壮族自治区水利电力勘测设计研究院有限责任公司从事水利水电工程测量，曾担任多个大中型水利水电工程测量项目负责人，具备丰富的工程测量技术管理、实施经验。主持、参与的科研项目、工程项目曾多次获得科技进步奖、优秀工程奖等。

1 章　绪　　论··················································································· 1
1.1 激光雷达测量技术简介·································································· 1
1.2 机载激光雷达测量技术的发展与现状················································ 5
第 2 章　机载激光雷达测量系统 ································································ 9
2.1 机载激光雷达测量系统组成···························································· 9
2.2 机载激光雷达测量对地定位原理····················································· 15
2.3 机载激光雷达测量技术的特点························································ 16
2.4 机载激光雷达测量技术与其他技术手段的比较··································· 16
2.5 几种商用机载激光雷达测量系统简介··············································· 21
2.6 机载激光雷达测量的工作流程及内业数据处理··································· 22
第 3 章　机载激光雷达对地定位几何原理 ··················································· 24
3.1 坐标系统··················································································· 24
3.2 激光扫描测距············································································· 25
3.3 机载激光雷达测量的几何模型························································ 30
3.4 机载激光雷达激光脚点位置求解实例··············································· 35
第 4 章　机载激光雷达测量误差处理与分析 ················································ 36
4.1 机载激光雷达测量误差源分析························································ 36
4.2 各种误差的定性和定量分析··························································· 40
4.3 机载激光雷达各项误差的影响规律·················································· 43
4.4 机载激光雷达测量系统检校及消除系统误差的方法····························· 49
4.5 分步几何法恢复线扫描系统安置角误差············································ 53
4.6 机载激光雷达测量的精度评价························································ 59
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第 5 章　机载激光雷达测量数据的滤波分类 ················································ 63
5.1 引言························································································· 63
5.2 机载激光雷达测量数据滤波原理····················································· 64
5.3 国外现有的滤波方法综述与评价····················································· 65
5.4 移动曲面拟合法滤波···································································· 72
5.5 机载激光雷达测量数据分类分割····················································· 77
5.6 融合激光回波信号强度和激光脚点高程进行分类································ 80
5.7 利用激光脉冲两次回波的高差变化进行分类······································ 82
5.8 机载激光雷达测量数据滤波分类研究展望········································· 85
第 6 章　机载激光雷达测量的应用实践的数据理论实践支持 ··························· 87
6.1 引言························································································· 87
6.2 利用机载激光雷达测量数据重建 Dem/DTM······································· 88
6.3 利用机载激光雷达测量数据建立三维模型········································· 94
6.4 利用机载激光雷达数据估计植被参数··············································113
第 7 章　机载激光雷达强度和距离成像 ·····················································116
7.1 机载激光雷达回波强度成像··························································116
7.2 机载激光雷达距离图像的特点·······················································117
7.3 距离成像··················································································118
7.4 距离图像分割············································································118
7.5 距离图像边缘检测与提取···························································· 121
第 8 章　机载激光雷达测量作业生产流程 ················································· 125
8.1 生产流程概述··········································································· 125
8.2 航摄准备················································································· 125
8.3 航摄数据采集··········································································· 126
8.4 激光雷达数据处理····································································· 127
8.5 建筑物三维建模········································································ 133
8.6 电力巡线激光数据处理作业························································· 134
第 9 章　激光雷达测量技术与公路测设 ···················································· 135
9.1 现状分析················································································· 135
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9.2 公路测设简述··········································································· 137
9.3 激光雷达测量技术在公路测设中的应用思路···································· 139
9.4 基于激光雷达测量技术的公路测设辅助软件功能······························ 141
9.5 激光雷达测量技术在公路领域的其他应用······································· 143
第 10 章　激光雷达测量技术与电网工程··················································· 147
10.1 数字电网工程内涵 ··································································· 147
10.2 激光雷达测量技术在电网工程中的总体应用思路 ···························· 149
10.3 基于激光雷达测量技术的输电线路优化 ········································ 151
10.4 输电线路勘测设计成果数字化移交 ·············································· 159
10.5 基于激光雷达测量技术的输电线路巡线 ········································ 161
10.6 基于激光雷达测量技术的电力线距离精细量测 ······························· 166
10.7 输电线路三维可视化管理 ·························································· 166
10.8 激光雷达测量技术在输电线路维护管理中的其他应用 ······················ 171
10.9 数字化变电站 ········································································· 173
10.10 实际案例分析········································································ 175
第 11 章　激光雷达测量技术与建设工程 ··················································· 181
11.1 技术背景概述·········································································· 181
11.2 数字化建设工程的概念······························································ 182
11.3 数字化建设工程的特点······························································ 182
11.4 数字化建设工程的建设目标························································ 183
11.5 激光雷达测量技术在建设工程中的应用········································· 184
第 12 章　激光雷达测量技术与文物古迹保护············································· 190
12.1 文物古迹保护的意义 ································································ 190
12.2 文物古迹的保护措施 ································································ 191
12.3 文物古迹数字化 ······································································ 194
12.4 激光雷达测量技术与文物古迹保护 ·············································· 195
12.5 基于激光雷达测量技术的古建筑三维建模与结构分析 ······················ 196
12.6 实际案例分析 ········································································· 197
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第 13 章　激光雷达技术与城市三维建模··················································· 202
13.1 数字城市背景 ········································································· 202
13.2 中国数字城市发展现状 ····························································· 206
13.3 城市三维建模技术介绍 ····························································· 209
13.4 基于激光雷达测量技术实际案例 ················································· 213
13.5 城市三维应用探讨 ··································································· 216
参考文献···························································································· 218