The Boundary Extraction and Hole Restoration Method of Point Cloud Data of 3D Laser Scanner for Mine

The 3d laser scanner for mine can obtain 3d point cloud data of many areas, such as cavity, ore pass and so on, which provides the data basis for the digital mine. However, the point cloud data often exist holes and other problems, which lead to the unreality of the 3d model. In order to solve this problem, this paper proposes a method to extract boundary of point cloud data and repair the hole of point cloud data. The point cloud boundary is extracted by fitting the least square plane of point cloud data, computing the plane normal vector, and analyzing the point cloud characteristics. Then the hole is repaired according to the formation principle of point cloud and combining with the extracted point cloud boundary. In order to verify the hole boundary extraction and restoration method of point cloud data proposed in this paper, the point cloud data of cavity obtained in the mine are used for experiment. The experimental results show that this method can quickly extract the cavity point cloud boundary and repair obvious holes, achieving the expected effect.