CN104361628A - Three-dimensional real scene modeling system based on aviation oblique photograph measurement - Google Patents
Three-dimensional real scene modeling system based on aviation oblique photograph measurement Download PDFInfo
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Abstract
The invention discloses a three-dimensional real scene modeling system based on aviation oblique photograph measurement. The using method of the system comprises the steps of estimating the elevation range of a target, conducting aviation oblique photographing on the target, and recording the elements of exterior orientation and elements of interior orientation, corresponding to a camera, of all photos; taking a pixel point a in a photo A, finding a first ray, and cutting out the segment, within the range between h1 and h2, of the first ray, namely a first spatial segment; taking a photo B, projecting the first spatial segment on the photo B, obtaining a first epipolar ray, and finding a homonymy pixel point b; connecting the homonymy pixel point b with the center point of the camera when the camera is used for photographing the photo B, and extending the connecting line towards the target point to form a second ray, wherein the point of intersection of the first ray and the second ray is the three-dimensional space coordinate point of the pixel point a. The scheme effectively achieves three-dimensional real scene modeling and simulation and fills the blank in the field. Three-dimensional digital city and urban residences are obtained quickly, and the problem that a real-time three-dimensional model is hard to obtain currently is solved.
Description
Technical field
The present invention relates to field of computer technology, particularly a kind of three-dimensional live modeling measured based on aviation oblique photograph.
Background technology
Aviation oblique photograph is measured: refer to inclination geo-location and measuring system.Ultimate principle is by flying device is installed the camera in all around, vertical five directions in boat, taking earth surface continuously, overlaps to form cubic phase pair by photograph, then calculates three dimensional space coordinate by ray forward intersection.This photogrammetric survey method, referred to as " inclination measurement ".It can be applicable to three-dimensional digital city modeling, grange modeling, three-dimensional live modeling, engineering survey and three-dimensional modeling data and shows and browse.
Inclination geo-location and measuring system: according to tiltedly taking a picture, the information realization such as GPS, IMU locates the three-dimensional coordinate obtaining some point of interest in inclined tab.The shortcoming of this algorithm mainly relies on man-machine interactively and measures and obtain some unique point, high to operating personnel's skill set requirements, to get point efficiency low, automatically can not obtain three-dimensional coordinate point.Airborne Laser Radar Scanning system: combined by the information such as laser ranging, GPS, IMU and directly can obtain high density earth's surface three-dimensional coordinate point, Orthoimages (DOM) can also be obtained in conjunction with digital camera photos.Shortcoming, cannot process side-information, the later stages such as building, trees needs to do 3D modeling through professional modeling teacher and just can obtain three-dimensional building model.Ground laser radar scanning system: the model such as three-dimensional building, trees can be generated by Laser Radar Scanning and digital camera.Shortcoming, low because being blocked scanning survey operating efficiency, be only suitable for modeling among a small circle; The top information of high-rise cannot be obtained.
Summary of the invention
The present invention has designed and developed a kind of three-dimensional live modeling measured based on aviation oblique photograph, can obtain three-dimensional digital city and grange fast, solve the problem obtaining real-time three-dimensional model difficulty at present.
Technical scheme provided by the invention is:
Based on the three-dimensional live modeling that aviation oblique photograph is measured, comprise the steps:
Step one: estimation target elevation scope, is recorded as h by the earth's surface minimum constructive height of target region
1h is recorded as with maximum height
2;
Step 2: carry out aviation tilt to target, records elements of exterior orientation and the elements of interior orientation of the corresponding camera of all photos;
Step 3: get the pixel a in picture A, connect pixel a with take pictures A time camera central point and extend to form the first ray to impact point direction, intercept the first ray at h
1-h
2line segment in scope, i.e. the first spatial line segment; Get photo B, described first spatial line segment is projected on photo B, obtain the first core line;
Step 4: get the pixel in certain limit centered by pixel a, the color gradient calculating them is poor, makes matching template, is moved by described matching template on the first core line, find color gradient difference and the immediate point of described matching template on the first core line, i.e. pixel same place b;
Step 5: connect pixel same place b with take pictures B time camera central point and extend to form the second ray to impact point direction, the intersection point of the first ray and the second ray and three dimensional space coordinate corresponding to pixel a;
Step 6: calculate the three dimensional space coordinate that in three dimensional space coordinate corresponding to pixel same place b and other photo, impact point is corresponding according to said method.
Preferably, in the described three-dimensional live modeling based on aviation oblique photograph measurement, described elements of exterior orientation comprises the center of camera and the rotation angle in XYZ axle three directions; Described elements of interior orientation comprises the focal length of camera, the size of egative film and imaging distortion distortion parameter.
Preferably, in the described three-dimensional live modeling based on aviation oblique photograph measurement, the described three-dimensional live modeling method based on aviation oblique photograph measurement is further comprising the steps of:
Step 6: the three-dimensional coordinate of adjustment processing pixel, by all three dimensional space coordinates corresponding for impact point through removing noise and adjustment the Fitting Calculation, obtains the final three dimensional space coordinate of impact point;
Step 7: according to the two-dimensional coordinate structure TIN triangulation network of each pixel in photo in photo, the three dimensional space coordinate that in being netted by TIN, each triangle is corresponding calculates the plane equation at three dimensions intermediate cam shape place, coplanar adjacent triangle is merged and obtains plane polygon, remove polygonal internal summit, obtain three-dimensional polygon;
Step 8: the three dimensions polygon corresponding to all photos merges, in merging process, if there is summit of the same name, only retains one, removes the summit of the three dimensions polygonal internal after merging, upgrade three-dimensional model gridding; Remove isolated point and isolated triangle in three-dimensional model gridding, set up final three-dimensional model gridding;
Step 9: extract texture pixel in the TIN triangulation network, be multiple large figure by the potting gum obtained, press 3D model criteria form and merge Output rusults together with described three-dimensional model gridding.
Preferably, in the described three-dimensional live modeling based on aviation oblique photograph measurement, when extracting texture pixel in the TIN triangulation network, if there is overlapping region, the texture pixel of the highest TIN triangulation network of resolution is got.
Beneficial effect of the present invention is: provide a kind of scheme, the three-dimensional live modeling measured based on aviation oblique photograph is utilized effectively to solve three-dimensional live modeling and simulation problem, fill up the vacancy in this field, rapidly and efficiently can obtain the shape-structure parameter built, strong sense of reality, degree of accuracy is high; The present invention can obtain three-dimensional digital city and grange fast on the other hand, solves the problem obtaining real-time three-dimensional model difficulty at present.
Embodiment
Below in conjunction with embodiment, the present invention is described in further detail, can implement according to this with reference to instructions word to make those skilled in the art.
Based on the three-dimensional live modeling that aviation oblique photograph is measured, comprise the steps:
Step one: estimation target elevation scope, is recorded as h by the earth's surface minimum constructive height of target region
1h is recorded as with maximum height
2;
Step 2: carry out aviation tilt to target, records elements of exterior orientation and the elements of interior orientation of the corresponding camera of all photos;
Step 3: get the pixel a in picture A, connect pixel a with take pictures A time camera central point and extend to form the first ray to impact point direction, intercept the first ray at h
1-h
2line segment in scope, i.e. the first spatial line segment; Get photo B, described first spatial line segment is projected on photo B, obtain the first core line;
Step 4: get the pixel in certain limit centered by pixel a, the color gradient calculating them is poor, makes matching template, is moved by described matching template on the first core line, find color gradient difference and the immediate point of described matching template on the first core line, i.e. pixel same place b;
Step 5: connect pixel same place b with take pictures B time camera central point and extend to form the second ray to impact point direction, the intersection point of the first ray and the second ray and three dimensional space coordinate corresponding to pixel a;
Step 6: calculate the three dimensional space coordinate that in three dimensional space coordinate corresponding to pixel same place b and other photo, impact point is corresponding according to said method.
In the described three-dimensional live modeling based on aviation oblique photograph measurement, described elements of exterior orientation comprises the center of camera and the rotation angle in XYZ axle three directions; Described elements of interior orientation comprises the focal length of camera, the size of egative film and imaging distortion distortion parameter.
In the described three-dimensional live modeling based on aviation oblique photograph measurement, the described three-dimensional live modeling method based on aviation oblique photograph measurement is further comprising the steps of:
Step 6: the three-dimensional coordinate of adjustment processing pixel, by all three dimensional space coordinates corresponding for impact point through removing noise and adjustment the Fitting Calculation, obtains the final three dimensional space coordinate of impact point;
Step 7: according to the two-dimensional coordinate structure TIN triangulation network of each pixel in photo in photo, the three dimensional space coordinate that in being netted by TIN, each triangle is corresponding calculates the plane equation at three dimensions intermediate cam shape place, coplanar adjacent triangle is merged and obtains plane polygon, remove polygonal internal summit, obtain three-dimensional polygon;
Step 8: the three dimensions polygon corresponding to all photos merges, in merging process, if there is summit of the same name, only retains one, removes the summit of the three dimensions polygonal internal after merging, upgrade three-dimensional model gridding; Remove isolated point and isolated triangle in three-dimensional model gridding, set up final three-dimensional model gridding;
Step 9: extract texture pixel in the TIN triangulation network, be multiple large figure by the potting gum obtained, press 3D model criteria form and merge Output rusults together with described three-dimensional model gridding.
In the described three-dimensional live modeling based on aviation oblique photograph measurement, when extracting texture pixel in the TIN triangulation network, if there is overlapping region, get the texture pixel of the highest TIN triangulation network of resolution.
Although embodiment of the present invention are open as above, but it is not restricted to listed in instructions and embodiment utilization, it can be applied to various applicable the field of the invention completely, for those skilled in the art, can easily realize other amendment, therefore do not deviating under the universal that claim and equivalency range limit, the present invention is not limited to specific details.
Claims (4)
1., based on the three-dimensional live modeling that aviation oblique photograph is measured, it is characterized in that, comprise the steps:
Step one: estimation target elevation scope, is recorded as h by the earth's surface minimum constructive height of target region
1h is recorded as with maximum height
2;
Step 2: carry out aviation tilt to target, records elements of exterior orientation and the elements of interior orientation of the corresponding camera of all photos;
Step 3: get the pixel a in picture A, connect pixel a with take pictures A time camera central point and extend to form the first ray to impact point direction, intercept the first ray at h
1-h
2line segment in scope, i.e. the first spatial line segment; Get photo B, described first spatial line segment is projected on photo B, obtain the first core line;
Step 4: get the pixel in certain limit centered by pixel a, the color gradient calculating them is poor, makes matching template, is moved by described matching template on the first core line, find color gradient difference and the immediate point of described matching template on the first core line, i.e. pixel same place b;
Step 5: connect pixel same place b with take pictures B time camera central point and extend to form the second ray to impact point direction, the intersection point of the first ray and the second ray and three dimensional space coordinate corresponding to pixel a;
Step 6: calculate the three dimensional space coordinate that in three dimensional space coordinate corresponding to pixel same place b and other photo, impact point is corresponding according to said method.
2., as claimed in claim 1 based on the three-dimensional live modeling that aviation oblique photograph is measured, it is characterized in that, described elements of exterior orientation comprises the center of camera and the rotation angle in XYZ axle three directions; Described elements of interior orientation comprises the focal length of camera, the size of egative film and imaging distortion distortion parameter.
3. as claimed in claim 2 based on the three-dimensional live modeling that aviation oblique photograph is measured, it is characterized in that, the described three-dimensional live modeling method based on aviation oblique photograph measurement is further comprising the steps of:
Step 6: the three-dimensional coordinate of adjustment processing pixel, by all three dimensional space coordinates corresponding for impact point through removing noise and adjustment the Fitting Calculation, obtains the final three dimensional space coordinate of impact point;
Step 7: according to the two-dimensional coordinate structure TIN triangulation network of each pixel in photo in photo, the three dimensional space coordinate that in being netted by TIN, each triangle is corresponding calculates the plane equation at three dimensions intermediate cam shape place, coplanar adjacent triangle is merged and obtains plane polygon, remove polygonal internal summit, obtain three-dimensional polygon;
Step 8: the three dimensions polygon corresponding to all photos merges, in merging process, if there is summit of the same name, only retains one, removes the summit of the three dimensions polygonal internal after merging, upgrade three-dimensional model gridding; Remove isolated point and isolated triangle in three-dimensional model gridding, set up final three-dimensional model gridding;
Step 9: extract texture pixel in the TIN triangulation network, be multiple large figure by the potting gum obtained, press 3D model criteria form and merge Output rusults together with described three-dimensional model gridding.
4. as claimed in claim 1 based on the three-dimensional live modeling that aviation oblique photograph is measured, it is characterized in that, when extracting texture pixel in the TIN triangulation network, if there is overlapping region, getting the texture pixel of the highest TIN triangulation network of resolution.
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| CN105571573A (en) * | 2015-12-29 | 2016-05-11 | 南京中观软件技术有限公司 | Oblique photography position and attitude determining method and system thereof, and airplane position and attitude determining method and system thereof |
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| CN105931284A (en) * | 2016-04-13 | 2016-09-07 | 中测新图(北京)遥感技术有限责任公司 | 3D texture TIN (Triangulated Irregular Network) data and large scene data fusion method and device |
| CN106228609A (en) * | 2016-07-09 | 2016-12-14 | 武汉广图科技有限公司 | A kind of oblique photograph three-dimensional modeling method based on spatial signature information |
| CN106441233A (en) * | 2015-08-06 | 2017-02-22 | 航天图景（北京）科技有限公司 | Power channel corridor routing-inspection method based on tilt photography three-dimensional reconstruction technology |
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| CN107504959A (en) * | 2017-08-22 | 2017-12-22 | 北京中测智绘科技有限公司 | Utilize the method for oblique aerial radiographic measurement house wall base profile |
| CN108731644A (en) * | 2017-09-12 | 2018-11-02 | 武汉天际航信息科技股份有限公司 | Oblique photograph plotting method and its system based on vertical auxiliary line |
| CN109238243A (en) * | 2018-08-08 | 2019-01-18 | 湖南省地质测绘院 | A kind of measurement method based on oblique photograph, system, storage medium and equipment |
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| CN112149208A (en) * | 2020-08-11 | 2020-12-29 | 浙江理工大学 | Method for establishing high-precision village digital model by means of supporting big data and cloud computing |
| CN112365598A (en) * | 2020-10-29 | 2021-02-12 | 深圳大学 | Method, device and terminal for converting oblique photography data into three-dimensional data |
| CN112365598B (en) * | 2020-10-29 | 2022-09-20 | 深圳大学 | Method, device and terminal for converting oblique photography data into three-dimensional data |
| CN115908706B (en) * | 2022-11-15 | 2023-08-08 | 中国铁路设计集团有限公司 | High-speed railway completion acceptance method with fusion of live three-dimensional model and image |
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