CN101976467A - High-precision three-dimensional urban scene construction method integrating airborne LIDAR (Laser Intensity Direction And Ranging) technology and vehicle-mounted mobile laser scanning technology - Google Patents
High-precision three-dimensional urban scene construction method integrating airborne LIDAR (Laser Intensity Direction And Ranging) technology and vehicle-mounted mobile laser scanning technology Download PDFInfo
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Abstract
The invention discloses a high-precision urban three-dimensional modeling method integrating an airborne LIDAR (Laser Intensity Direction And Ranging) technology and a vehicle-mounted mobile laser scanning measurement technology, comprising the following steps of: firstly, acquiring high-precision three-dimensional laser point clouds and high-resolution digital aerial photos of a measuring region by adopting airborne LIDAR, fast extracting a high-precision digital elevation model and a digital orthoimage product, carrying out high-precision modeling on a building to make the scenes of an urban three-dimensional electronic sand table and an urban three-dimensional building body frame model; secondly, completing the acquisition of the high-density laser point clouds and high-precision digital photos of urban scenes positioned at both sides of a road of the measuring region by adopting vehicle-mounted mobile laser scanning measurement, carrying out the quality optimization of vehicle-mounted data by referring to airborne LIDAR results, and then fast carrying out three-dimensional modeling on various urban piece elements; and finally integrating three-dimensional digital model results acquired through the airborne LIDAR and the vehicle-mounted mobile laser scanning measurement, therefore the quality and the work efficiency of the urban three-dimensional modeling are greatly enhanced. The invention can greatly reduces the development cost of projects.
Description
One, technical field
The present invention relates to the city dimensional Modeling Technology in a kind of three-dimensional digital city construction field, the high meticulous city three-dimensional modeling method of particularly a kind of integrated airborne LIDAR and vehicle-mounted mobile laser scanning measurement technology.
Two, technical background
Traditional city three-dimensional modeling mainly adopts traditional mapping means such as topomap, traditional photogrammetric measurement, satellite remote sensing video, engineering survey, territorial laser scanning to carry out the city three-dimensional modeling.But above-mentioned all technology all have its significant disadvantages and deficiency:
(1) adopts the topomap modeling, need the city to have the strong large scale numeral line layout figure of the trend of the times, obtain the laggard capable modeling of building object height by visual estimation or artificial the measurement.This method exists that the atural object elevation information lacks, problems such as the building model vertical accuracy is poor, roof fineness difference;
(2) adopt traditional photogrammetric measurement, need measure in the stereogram that makes up, not only the model vertical accuracy of Ti Quing is poor, more has the low-down problem of modeling efficiency;
When (3) adopting the modeling of satellite remote sensing video, because video ground space resolution is lower, the model of extraction is building model particularly, and all non-constant of precision and fineness can not satisfy the application requirements of high meticulous three-dimensional digital city modeling;
(4) adopt engineering survey to carry out the city scene modeling, have that labour intensity is big, an inefficiency, low, the high many-sided shortcoming of cost of development of digitized degree;
When (5) adopting the territorial laser scanning modeling, have that labour intensity is big, inefficiency, be not suitable on a large scale problem such as three-dimensional city scene modeling.
So when in the three-dimensional digital city information project is built, adopting traditional methods such as topomap, traditional photogrammetric measurement, satellite remote sensing video, engineering survey and territorial laser scanning measurement, bring a lot of troubles and inefficiency inevitably.Therefore, above technology exists that development efficiency is low, cost is high, and the cycle is long, shortcomings such as modeling fineness difference.How to obtain the high meticulous three-dimensional digital model of city large tracts of land fast, make up high meticulous three-dimensional virtual city scene, improve engineering development efficient, reduce project cost of development and cycle, become this area scientific and technical personnel problem anxious to be solved.
Three, summary of the invention
In order to overcome many-sided problem that existing traditional surveying and mapping technology exists in three-dimensional digital city is built, increase work efficiency, the purpose of this invention is to provide the high meticulous three-dimensional city scene construction method of a kind of integrated airborne LIDAR and vehicle-mounted mobile laser scanning measurement technology.It can significantly reduce the project cost of development, shortens the project cycle, overcome numerous shortcomings that existing traditional surveying and mapping technology exists under the prerequisite that guarantees city three-dimensional modeling precision and fineness.
The object of the present invention is achieved like this: at first, adopt airborne LIDAR to finish obtaining of city aerial survey achievement; Secondly, based on airborne LIDAR make high-precision digital elevation model, digital orthogonal projection resembles product, and the advantage separately of integrated airborne LIDAR mid point cloud and boat sheet data is carried out the high fine modeling of buildings, making city three-dimensional electronic sand table and three-dimensional building object frame model scene; Once more, the highly dense laser point cloud and the high resolving power digital photograph that adopt vehicle-mounted mobile laser scanning measurement to finish city, downtown roads both sides scene obtain, carry out the vehicle-mounted data quality optimization with reference to airborne LIDAR achievement, can carry out the three-dimensional measuring of position, size to all kinds of essay key elements in city afterwards, and carry out the three-dimensional modeling of key element fast; At last, carry out the integrated of three-dimensional digital model achievement that airborne LIDAR and vehicle-mounted mobile laser scanning measurement obtain.
This invention compared with prior art has the following advantages:
(1) fast data collection and modeling efficiency
Than traditional photogrammetric measurement, airborne LIDAR does not need the ground photo control point, not too harsh to the requirement of flight time section, the automaticity height of data processing, these characteristics have determined airborne LIDAR to have rapidly and efficiently to carry out that the city three-dimensional space data is gathered and the production efficiency of modeling.
Measure than engineering survey, territorial laser scanning, vehicle-mounted mobile laser scanning measurement technology can be obtained all kinds of roads both sides, city high precision, highly dense three-dimensional laser point cloud and high-resolution digital photograph fast, after automatic some cloud filtering classification, can realize accurate location, atural object identification, three-dimensional measuring, extraction and the modeling work of all kinds of essay key elements in city fast, data acquisition and modeling efficiency are multiplied several times than classic method.
(2) city three-dimensional modeling precision and fine degree height
Compare with satellite remote sensing technology with traditional photogrammetric measurement, airborne LIDAR can obtain high precision, highly dense three-dimensional laser point cloud and high-resolution digital photograph synchronously, handle by the classification of laser point cloud being carried out ground and buildings, the digital elevation model that can complete, vertical accuracy can reach 10cm.Behind the match buildings roof dough sheet by buildings roof point cloud level precision, can determine the characteristic edge line position of buildings with reference to the digital photograph of high precision coupling, and carry out the modification optimization of model detail.Therefore, digital elevation model precision height, buildings frame model plane and the vertical accuracy of airborne LIDAR extraction are all very high.
The point cloud plane precision that vehicle-mounted mobile laser scanning is obtained can reach in the 25cm, vertical accuracy can reach in the 15cm, atural object can reach about 5-10cm through the some cloud point spacing of measuring after scanning, three-dimensional configuration that can performance atural object true to nature, behind the high resolving power digital photograph, can carry out the high meticulous three-dimensional modeling of city essay key element.
(3) the project cost of development is relatively low
Owing to do not need the automaticity height of field operation photo control point, data processing, the characteristics such as integral production efficient height of three-dimensional modeling, the project cost of development that airborne LIDAR carries out the city three-dimensional modeling is low relatively.And vehicle-mounted mobile laser scanning measurement adopts the mode of driving can finish the measurement of all roads of city, and the datamation degree height of interior industry.According to statistical study, vehicle-mounted mobile laser scanning measurement carries out the efficient of city essay key element three-dimensional modeling than the high 5-10 of traditional engineering survey method times.Therefore, the city three-dimensional modeling method of integrated airborne LIDAR and vehicle-mounted mobile laser scanning measurement technology can be saved the project cost of development greatly.
Four, embodiment
There are very big difference in integrated airborne LIDAR and vehicle-mounted mobile laser scanning measurement technique construction three-dimensional digital city virtual scene with traditional technology method, are mainly reflected in:
Make full use of the original surveying and mapping result that airborne LIDAR and vehicle-mounted mobile laser scanner technique obtain and carry out the city three-dimensional modeling.Airborne LIDAR aerial survey technology is mainly used in and makes up on a large scale that large scale digital elevation model, the digital orthogonal projection of city three-dimensional scenic correspondence resemble and buildings said three-dimensional body frame model, forms the main frame of city three-dimensional scenic; Vehicle-mounted mobile laser scanner technique is mainly used in the high fine modeling that obtains city, urban road both sides essay key element, is used to carry out the fine modeling of city details scene.Two kinds of technological means are had complementary advantages, and high meticulous city three-dimensional scenic can complete.
1,, from the different camera stations of sustained height, obtains highly dense three-dimensional laser point cloud in city and high-resolution digital photograph aloft by settling airborne LIDAR equipment aboard.Wherein, the dot spacing of laser point cloud requires in 0.8 meter, and the longitudinal overlap of boat sheet should reach more than 60%, and sidelapping should reach more than 30%, can obtain city topography and geomorphology, the abundant space three-dimensional information of building model.
2, based on the scene three-dimensional modeling of city on a large scale of airborne LIDAR.The digital boat of highly dense laser point cloud that obtains according to airborne LIDAR and high resolving power sheet obtains the high-precision digital elevation model in city, digital orthogonal projection resembles and buildings said three-dimensional body frame model, forms the main frame of city three-dimensional scenic.
(1) making of digital elevation model product.According to the highly dense three-dimensional laser point cloud data in the city that obtains, adopt regular grid point cloud filtering sorting technique based on the elevation feature, extract the laser point cloud of ground Noodles, carry out triangulation network model construction, form the high accuracy number elevation model after the interpolation.
(2) digital orthogonal projection resembles the making of product.According to the digital elevation model that above ground point constitutes, decide the standing breath with reference to hi-Fix, extract empty three by the overall adjustment method and encrypt the reference mark, and camera parameter is optimized.Afterwards, original digital boat sheet is carried out numerical differentiation correct, obtain covering the differential rectify video on the face of land, determine the splicing scheme of differential rectify video simultaneously, adopt standard map sheet cutting method to make digital orthogonal projection and resemble product.
(3) buildings frame three-dimensional modeling.With reference to sorted ground point, adopt buildings roof point cloud classification algorithm based on a cloud normal vector consistance and area threshold constraint, carry out buildings roof point cloud classification automatically.
Simultaneously, adopt the cluster segmentation of carrying out buildings roof dough sheet point based on the threshold value bounding algorithm of normal vector, form the vector wire frame of buildings roof dough sheet.
With reference to the number boat sheet of high precision coupling, the building model border of extracting is adjusted, and carried out the modification of building model details key element, high meticulous buildings frame model completes.
3, by being placed in the vehicle-mounted mobile laser scanning equipment on the automobile top, obtain the high meticulous three-dimensional laser point cloud and the high-resolution digital photograph of road both sides along the road driving measurement, the laser point cloud plane precision that requirement is obtained is less than 25cm, vertical accuracy is less than 15cm, and digital photograph covering path is continuously surveyed the three-dimensional geographical environment of distinguishing.
4, based on the high fine modeling of city, road both sides essay key element of vehicle-mounted mobile laser scanning measurement technology.Consistent with the ground filtering sorting technique of airborne LIDAR point cloud, carry out the adjustment of algorithm parameter at the actual features of vehicle-mounted data, the ground laser point cloud is classified automatically.Simultaneously, reference ground point cloud adopts the elevation difference approach to carry out the non-topocentric classification in road both sides and handles.Simultaneously, carry out the identification of all kinds of essay key elements in city, and binding site cloud and photo are finished the accurate measurement and the three-dimensional modeling of essay key element with reference to the digital photograph of high precision coupling.
(1) reference ground point classification achievement and difference of elevation value tag extract the laser point cloud of non-ground atural object automatically, determine the position of all kinds of essay key elements;
(2) with reference to the digital photograph of high precision coupling, all kinds of essay key elements of automatic extraction are discerned, auxiliary judgment is determined type of ground objects and form;
(3) the essay key element is carried out section and show, measure the three-dimensional dimension structure of atural object, and carry out the accurate three-dimensional modeling.
5, field operation is taken pictures on the spot, carries out the optimization of attaching of buildings texture high precision and local detail scene and revises.With reference to each dough sheet form of buildings, determine the corresponding texture that need cut.As texture is universal texture, then selects corresponding material to attach from the texture storehouse; As texture is the non-universal texture, then extracts from real shooting photo, carries out quality optimization, adds the texture storehouse, and carries out the material attaching.
Claims (4)
1. the high meticulous city three-dimensional modeling method of an integrated airborne LIDAR and vehicle-mounted mobile laser scanning measurement technology is characterized in that: at first, adopt airborne LIDAR to finish obtaining of city aerial survey achievement; Secondly, based on airborne LIDAR make high-precision digital elevation model, digital orthogonal projection resembles product, and the advantage separately of integrated airborne LIDAR mid point cloud and boat sheet data is carried out the high fine modeling of buildings, making city three-dimensional electronic sand table and three-dimensional building object frame model scene; Once more, the highly dense laser point cloud and the high resolving power digital photograph that adopt vehicle-mounted mobile laser scanning measurement to finish city, downtown roads both sides scene obtain, carry out the vehicle-mounted data quality optimization with reference to airborne LIDAR achievement, can carry out the three-dimensional measuring of position, size to all kinds of essay key elements in city afterwards, and carry out the three-dimensional modeling of key element fast; At last, carry out the integrated of three-dimensional digital model achievement that airborne LIDAR and vehicle-mounted mobile laser scanning measurement obtain.
2. the high meticulous city three-dimensional modeling method of integrated airborne LIDAR according to claim 1 and vehicle-mounted mobile laser scanning measurement technology, it is characterized in that: wherein the method for buildings frame three-dimensional modeling is as follows: 1. by airborne LIDAR equipment being carried out accurate calibration and empty three encryptions of boat sheet, realize the high precision coupling of some cloud and boat sheet; 2. by the high precision match of the existing buildings roof of some mysorethorn dough sheet, extract buildings roof dough sheet; 3. pass through the boat sheet with reference to the optimization on implementation model border and the modification of model detail, the buildings said three-dimensional body that completes frame model.
3. the high meticulous city three-dimensional modeling method of integrated airborne LIDAR according to claim 1 and vehicle-mounted mobile laser scanning measurement technology, it is characterized in that: wherein as follows: 1. with reference to airborne LIDAR cloud data with the survey district based on the vehicle-mounted laser scanning measurement data quality control and the precision optimizing method of airborne LIDAR data and achievement, determine the vertical error of vehicle-mounted mobile laser scanning measurement data, carrying out height value revises 2. with reference to the airborne LIDAR buildings frame model achievement with the survey district, precision to vehicle-mounted mobile laser scanning data is verified, determine the planar offset value, carry out plane precision optimization.
4. the high meticulous city three-dimensional modeling method of integrated airborne LIDAR according to claim 1 and vehicle-mounted mobile laser scanning measurement technology, it is characterized in that: wherein the modeling method based on the urban road both sides essay key element of vehicle-mounted mobile laser scanning measurement is as follows: 1. to mobile unit particularly digital camera carry out accurate calibration, realize the accurate coupling of photo and some cloud; 2. with reference to the ground laser point cloud after the precise classification, adopt the essay key element laser point cloud classification of elevation difference approach city, determine all kinds of essay key elements and position; 3. with reference to the digital photograph that accurately mates, carry out an identification and a judgement of mysorethorn body key element, determine essay type and form; 4. with reference to the corresponding point cloud, show the position and the three-dimensional configuration of essay by modes such as section performances, carry out dimension measurement and three-dimensional modeling.
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