An efficient 3D point cloud data denoising algorithm for ship block visual measurement

For the 3D point cloud data aquired by laser scanning measurement of ship block, an efficient denoising algorithm based on image and normal vector threshold judgement is proposed. Firstly, large scale noise points are eliminated using global threshold judgement based image, then Kuwahara filter algorithm is used for data smoothing and a denoising algorithm based on normal vector threshold judgement is proposed to eliminate noises point excluding ship manufacture sections. The experiment result demonstrates that not only the proposed denoising algorithm keeps key data points but also avoids bluring point cloud boundary and eliminates noise points effectively