CN106296816A - Unmanned plane determining method of path and device for reconstructing three-dimensional model - Google Patents

Unmanned plane determining method of path and device for reconstructing three-dimensional model Download PDF

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Publication number
CN106296816A
CN106296816A CN201610621621.0A CN201610621621A CN106296816A CN 106296816 A CN106296816 A CN 106296816A CN 201610621621 A CN201610621621 A CN 201610621621A CN 106296816 A CN106296816 A CN 106296816A
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point
shooting
unmanned plane
building
camera
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CN106296816B (en
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王飞
郑晓翠
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Shenzhen Graduate School Tsinghua University
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Shenzhen Graduate School Tsinghua University
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/05—Geographic models
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures

Abstract

The invention discloses the unmanned plane determining method of path for reconstructing three-dimensional model and device, the method comprises the steps: that structure constitutes the three-dimensional point model of the profile of the building that is taken；Determine the unmanned plane shooting point around the flight path of described building, make the camera on unmanned plane described in each shooting point can shoot the corresponding point set covering described three-dimensional point model, and the Duplication of the point set of camera shooting covering described in adjacent shooting point is more than Duplication threshold value；Control described unmanned plane to fly according to described flight path, and at the corresponding shooting point described camera of control, described building is shot.Only need to obtain the height value of three-dimensional reconstruction target structures and two dimension orthophotoquad, just the minimum shooting point set meeting three-dimensional reconstruction requirement can be calculated, thus provide for three-dimensional reconstruction data acquisition and instruct, guarantee that the image photo gathered meets three-dimensional reconstruction requirement, avoid gathering the image information of redundancy simultaneously, improve the efficiency of three-dimensional reconstruction process.

Description

Unmanned plane determining method of path and device for reconstructing three-dimensional model
[technical field]
The present invention relates to the unmanned plane determining method of path for reconstructing three-dimensional model and device.
[background technology]
Spatial information is as important basic data, and it gathers and applies the whole process having run through contingency management.Existing The many forms with two-dimensional map of spatial information express, many valuable landform and ground object detail such as texture, highly, shape information All it is difficult to present.During contingency management, three-dimensional live map can provide spatial information more directly perceived, more detailed, more preferably For Emergency decision provide support.
In order to obtain the high-precision three-dimensional model of building, need to carry out building, successively around flight, obtaining building completely Superficial makings information.Existing texture image gatherer process relies on Artificial Control, empirically determines unmanned plane during flying track With camera shooting interval.For ensureing that the Duplication of photo meets the demand of three-dimensional reconstruction, often through arranging intensive flight rail Mark and less shooting interval, the image photo of shooting bulk redundancy, cause three-dimensional reconstruction software to devote a tremendous amount of time Coupling and process redundancy, reduce three-dimensional reconstruction efficiency.
[summary of the invention]
In order to overcome the deficiencies in the prior art, the present invention proposes a kind of unmanned plane path for reconstructing three-dimensional model and determines Method and device, it is possible to quickly, accurately calculate the minimum camera site point set meeting three-dimensional reconstruction requirement.
For the unmanned plane determining method of path of reconstructing three-dimensional model, comprise the steps:
S1, structure constitute the three-dimensional point model of the profile of the building that is taken；
S2, determine the unmanned plane shooting point around the flight path of described building so that unmanned plane described in each shooting point On camera can shoot the corresponding point set covering described three-dimensional point model, and described in adjacent shooting point, camera shooting covers The Duplication of point set more than Duplication threshold value；
S3, control described unmanned plane and fly to the shooting point on described flight path, and control described camera to described building Shoot.
In one embodiment,
In the method for the shooting point of the facade shooting described building in determining described flight path, perform step S2.
In one embodiment,
In step s 2,
For the adjacent shooting point on the direction, course of described unmanned plane, corresponding Duplication is the weight on direction, course Duplication threshold value in folded rate and direction, course；
For the adjacent shooting point in the vertical direction of described building, corresponding Duplication is the overlap in vertical direction Duplication threshold value in rate and vertical direction.
In one embodiment,
In step s 2, first determine initial flight path, then calculate camera shooting described in adjacent shooting point and cover The Duplication of point set, until the Duplication of point set that camera shooting described in adjacent shooting point covers is more than Duplication threshold value；
Wherein, the parameter of initial flight path is determined by following algorithm:
D 1 I n i t i a l = S p e e d _ U A V × I n t e r v e l _ P h o t o ( 1 - O v e r l a p _ H e a d i n g ) × 2 × tan ( F O V _ H )
H3Initial=2 × D1Initial×tan(FOV_V)×(1-Overlap_Side)
H 1 I n i t i a l = H e i g h t _ B u i l d i n g H e i g h t _ B u i l d i n g H 3 I n i t i a l + 1
Wherein, D1Initial、H3Initial、H1InitialIt is unmanned plane and the level of described building in initial flight paths respectively Distance between distance, neighbouring flight path section, the minimum altitude of flight path, Speed_UAV is flying of unmanned plane Line speed, Intervel_Photo is the interval of taking pictures of camera, FOV_H and FOV_V is 1/2 He of the horizontal view angle of camera respectively The 1/2 of vertical angle of view, Overlap_Heading is the Duplication threshold value on unmanned plane course, and Overlap_Side is building The Duplication threshold value of vertical direction, Height_Building is the height of described building.
In one embodiment,
Described unmanned plane path includes the facade flight path shooting the facade of described building and the top shooting described building The end face flight path in face, determines described end face flight path by following algorithm:
H 4 = S p e e d _ U A V × I n t e r v e l _ P h o t o ( 1 - O v e r l a p _ H e a d i n g ) × 2 × tan ( F O V _ V )
D2=2 × H4 × tan (FOV_H) × (1-Overlap_Side)
Wherein, H4 represents the vertical dimension of the described end face flight path extremely end face of described building, and D2 represents described end face The distance between route segment adjacent in flight path.
In one embodiment,
In described step S2, determine described corresponding point set as follows:
S21, the institute's pointed set traveled through in described three-dimensional point model, calculate and select to fall in the shooting cone of described camera Initial point set；
S22, concentrate eliminating to be blocked and a little obtain described corresponding point set at described initial point, wherein, described in be blocked a little and The line of described camera, intersects with the surface of the building in the shooting cone falling into described camera.
In one embodiment,
In step S22,
First get rid of and be blocked as follows a little: be blocked a little with the line of described camera, intersect with the end face of described building；
Then get rid of and be blocked as follows a little: be blocked a little with the line of described camera, bore with the shooting falling into described camera The facade of internal building intersects.
Present invention also offers and determine device for the unmanned plane path of reconstructing three-dimensional model, including such as lower unit:
First processing unit, for constructing the three-dimensional point model of the profile constituting the building that is taken；
Second processing unit, for determining the unmanned plane shooting point around the flight path of described building so that each bat The camera taken the photograph on a little described unmanned plane can shoot the corresponding point set covering described three-dimensional point model, and adjacent shooting point institute State the Duplication of the point set that camera shooting covers more than Duplication threshold value；
3rd processing unit, flies to the shooting point on described flight path for controlling described unmanned plane, and controls described Described building is shot by camera.
In one embodiment,
In the method for the shooting point of the facade shooting described building in determining described flight path, described second processes Unit execution work.
In one embodiment,
Described second processing unit is additionally operable to
For the adjacent shooting point on the direction, course of described unmanned plane, corresponding Duplication is the weight on direction, course Duplication threshold value in folded rate and direction, course；
For the adjacent shooting point in the vertical direction of described building, corresponding Duplication is the overlap in vertical direction Duplication threshold value in rate and vertical direction.
The invention has the beneficial effects as follows:
Only need to obtain the height value of three-dimensional reconstruction target structures and two dimension orthophotoquad, just can calculate and meet three-dimensional Rebuild the minimum shooting point set required, thus provide for three-dimensional reconstruction data acquisition and instruct, it is ensured that the image photo of collection Meet three-dimensional reconstruction requirement, avoid gathering the image information of redundancy simultaneously, improve the efficiency of three-dimensional reconstruction process.
[accompanying drawing explanation]
Fig. 1 is the schematic flow sheet of the unmanned plane determining method of path of the reconstructing three-dimensional model of an embodiment of the present invention
Fig. 2 is the three-dimensional point model of the building profile of an embodiment of the present invention
Fig. 3 is building and the flight path schematic diagram of unmanned plane of an embodiment of the present invention
Fig. 4 is that the shooting cone of the camera of the building three-dimensional point model of profile of an embodiment of the present invention and unmanned plane is covered Lid schematic diagram
[detailed description of the invention]
Preferred embodiment to invention is described in further detail below.
Flow process as shown in Figure 1, the unmanned plane determining method of path of the reconstructing three-dimensional model of a kind of embodiment, including walking as follows Rapid:
S1, structure constitute the three-dimensional point model of the profile of building to be shot
The facade of major part building is all perpendicular to or approximately perpendicular to ground, therefore according to the orthography of building Can accurately sketch the contours of the cross-sectional profile of building.User can easily from network map (such as Baidu's satellite map, Google satellite map) the upper orthography obtaining building.Setting local NED coordinate system to be exposed to the north as X-axis, Y-axis is towards east, and Z axis hangs down Down, initial point is on ground level for straight ground level.Building length in Y-axis can also be analyzed, in X-axis from orthography Width and week long message.The height of building can pass through field survey or eye estimate, and the error of several meters does not interferes with nothing The man-machine result carrying out three-dimensional reconstruction according to the flight path of present invention planning.
Sketch the contours the cross-sectional profile of building, obtain the curve of a closing, the resolution set with a user, such as 0.5m, by this curve discretization so that the length between the most adjacent two points is 0.5m, thus obtains building outline at XY Discrete point sequence in plane.By same resolution by the high granular of building, obtain the discrete point sequence of Z-direction.Root According to two discrete point sequences, the facade three-dimensional outer surface point model of building can be constructed.
The end face of building can be approximated to be the planar polygons plane fenced up by cross-sectional profile, in the x, y direction with Same resolution by discrete for this polygon for grid.In conjunction with the three-dimensional point model of facade Yu end face, obtain outer surface of building (wheel Wide) three-dimensional point model.Fig. 2 illustrates the outer surface three-dimensional point model of a real building, each net in the form of a grid Lattice node obtains the most in aforementioned manners.Certainly this model is the most rough, can only embody the profile of building, it is impossible to body Now build the details on surface.
S2, determine the initial value of flight path key parameter
As introduced in background technology, building superficial makings to be obtained completely, need building successively around flight, flight Path schematic diagram is as it is shown on figure 3, facade cincture flight path, end face snake scan flight path can be divided into, and facade arrives Transition flight path three part of end face.
For facade flight path, as long as determining facade shooting point and adjacent two of the distance of elevation of building, same layer The distance of shooting point, the spacing (the most neighbouring distance between flight path section) of upper and lower two-layer shooting point, each shooting The attitude angle (angle of pitch, roll angle, yaw angle) of point, the height of minimum shooting layer, and the height of the highest shooting layer, just can count Calculate unmanned plane with camera in the position of each shooting point of facade and attitude, thus construct the flight path of facade.Because building The facade built is not plane, meets the requirement of three-dimensional reconstruction Duplication in order to ensure the photo shot, and these parameter values to pass through The calculating that iterates determines.The computational methods of initial value are as follows:
S21, calculating facade initial value D1 of horizontal range D1 of flight path and building when flightInitial。
Relative to building, unmanned plane barycenter may be considered overlapping with the position of camera focus, therefore shooting point Horizontal range i.e. horizontal range D1 of unmanned plane during flying path and building with building.
Assume that facade is plane, according to flight speed, the interval of taking pictures of camera of unmanned plane, and three-dimensional reconstruction pair The requirement of endlap rate calculates D1Initial:
D 1 I n i t i a l = S p e e d _ U A V × I n t e r v e l _ P h o t o ( 1 - O v e r l a p _ H e a d i n g ) × 2 × tan ( F O V _ H )
Wherein Speed_UAV is the flight speed of unmanned plane, and Intervel_Photo is the interval of taking pictures of camera；FOV_H Be camera horizontal view angle 1/2, Overlap_Heading be endlap rate threshold value (three-dimensional reconstruction endlap rate want Ask).
D1InitialDetermination can be divided into two kinds of situations.
Situation 1: limited by site environment, can not than the distance if any trees, the impact of other atural object, unmanned plane and building Too near, can only first determine D1 in this case in the outer value of some scopeInitial, then adjust nothing further according to relational expression Man-machine flight speed or the interval of taking pictures of camera.
Situation 2: limited with camera parameter by unmanned plane parameter, interval taken pictures by unmanned plane during flying speed and camera can not Arbitrarily adjust, first to determine that the flight speed of unmanned plane and camera are taken pictures interval, further according to relational expression calculating in this case D1Initial。
Owing to the horizontal view angle of camera and endlap rate threshold value all determine that, and the interval of taking pictures of camera is not Continuously adjustable, therefore general these three parameter can first be decided, and then adjusts unmanned plane and the distance of building and unmanned plane Flight speed so that the distance of unmanned plane and building meets environmental requirement, and the flight speed of unmanned plane is also a conjunction simultaneously In the range of reason.
S22, determine the distance of adjacent two shooting points of initial same layer, namely the course spacing of facade flight path.
The flight speed and the camera that determine unmanned plane are taken pictures after being spaced, and the interval, course of facade track flies equal to unmanned plane Line speed is multiplied by camera takes pictures interval.
S23, determine the spacing of upper and lower two-layer shooting point, namely facade flight path is initial other to spacing H3Initial。
Assume that facade is plane, it is determined that after the horizontal range of flight path and building, calculate H3Initial:
H3Initial=2 × D1Initial×tan(FOV_V)×(1-Overlap_Side)
Wherein, FOV_V is the 1/2 of the vertical angle of view of camera, and Overlap_Side is the Duplication of the vertical direction of building Threshold value.
S24, determine the height H2 of initial facade the highest shooting layer.
The maximum height of facade flight path to guarantee to photograph elevation of building and end face simultaneously, takes building height Height_Building is plus the horizontal range D1 sum of unmanned plane with building, when using 45 degree of overturning angle shootings, in theory The 50% of photo photographs elevation of building, and 50% photographs construction ceiling.
S25, determine the elemental height H1 of facade minimum shooting layerInitial
The minimum altitude of facade flight path to guarantee that the photo of shooting can be completely covered construction bottom
H 1 I n i t i a l = H e i g h t _ B u i l d i n g H e i g h t _ B u i l d i n g H 3 I n i t i a l + 1
S26, determine the attitude angle of each shooting point in facade flight path.
The attitude angle of each shooting point is determined by two parts: the attitude angle of unmanned plane and the attitude angle of camera.
Ideally, unmanned plane yaw angle should point to the building two dimension barycenter of sustained height.The angle of pitch of unmanned plane and Roll angle is affected by flight course, and ideally, the angle of pitch and roll angle in each shooting point are 0.
Camera is loaded on The Cloud Terrace, it is only necessary to adjust the downward angle of pitch relative to unmanned plane plane, when facade track is high When degree is less than building, using horizontal photograph, the angle of pitch is 0 degree, when facade trajectory height is higher than building, uses oblique photograph, The angle of pitch is generally 42-45 degree.
End face flight path, as shown in Fig. 3 right part of flg, is conplane scanning track, similar, as long as determining top The distance of face shooting point two shooting points adjacent with on the vertical dimension of construction ceiling, heading, the spacing of two row shooting points The attitude angle of (namely the distance between route segment adjacent in end face flight path), each shooting point (angle of pitch, roll angle, Yaw angle), just can calculate unmanned plane with camera in the position of each shooting point of end face and attitude, thus construct flying of end face Walking along the street footpath.Because when structure building three-dimensional point model, the end face of building has been approximately plane, has been ensured that by Theoretical Calculation The photo of shooting meets the requirement of three-dimensional reconstruction Duplication, and computational methods are as follows:
S27, when determining end face scanning flight, vertical dimension H4 of flight path and construction ceiling.
Being similar to, the vertical dimension of end face track and construction ceiling is according between the flight speed of unmanned plane, the taking pictures of camera Every, and the requirement of endlap rate threshold value calculates, unlike distance D1 of facade, the course in end face path correspond to The vertical angle of view of camera, relational expression is:
H 4 = S p e e d _ U A V × I n t e r v e l _ P h o t o ( 1 - O v e r l a p _ H e a d i n g ) × 2 × tan ( F O V _ V )
S28, the distance determining adjacent shooting point on the heading of end face flight path namely the boat of end face flight path To interval.
It is similar to, it is determined that the flight speed of unmanned plane and camera are taken pictures behind interval, the interval, course of end face flight path It is multiplied by camera equal to unmanned plane during flying speed to take pictures interval.
S29, determine the spacing of end face flight path two row shooting point, namely the side of end face flight path is to interval D 2.
Being similar to, it is determined that after the vertical dimension of end face flight path and construction ceiling, the side of end face is to corresponding camera Horizontal view angle and the three-dimensional reconstruction requirement to sidelapping rate, computing formula is:
D2=2 × H4 × tan (FOV_H) × (1-Overlap_Side)
S210, determine the attitude angle of each shooting point in end face flight path.
In end face flight path, the attitude angle of each shooting point is determined by two parts: one is the attitude angle of unmanned plane, and two are The attitude angle of camera.
Unmanned plane yaw angle should always point to heading.The angle of pitch and the roll angle of unmanned plane are affected by flight course, Ideally, the angle of pitch in each shooting point is 0 with roll angle.
Camera is loaded on The Cloud Terrace, it is only necessary to adjust the downward angle of pitch relative to unmanned plane plane, end face flight path In, the angle of pitch is always 90 degree, the orthography of shooting end face.
S211, determine transition flight path.
Under normal conditions, in transition flight path, the photo of shooting is not involved in three-dimensional reconstruction, thus does not also interfere with three Dimension is rebuild, and therefore need not the parameter adjusting unmanned plane with camera in transition flight path.
S3, calculating minimum shooting point set.
According to the key parameter initial value determined in step S2, construct flight path, calculate necessary camera site point set, Judge whether the photo in these camera site point shootings is satisfied by course and the sidelapping rate requirement of three-dimensional reconstruction.
The Duplication of the point set that camera shooting described in shooting point adjacent in S31, calculating facade flight path covers.
The shooting area of camera can be considered as a pyramidal cone, and the summit of cone can be approximated to be unmanned plane matter The heart, the subtended angle of cone is determined by horizontal view angle and the vertical angle of view of camera, is readily available this cone in body axis system Analytical expression, the rotation between recycling body axis system and local NED coordinate system and translation relation, it is possible to obtain in this locality The shooting area expression formula of camera under NED coordinate system.Utilize the relativeness of this cone and building three-dimensional point model, can calculate In building three-dimensional point model, there is which point can be photographed by camera.
The building surface point that a certain shooting point N shoots is labeled as 1, and the surface point not photographed is labeled as 0, then we can obtain The building point set photographed to this position, is designated as IN, IN+1Represent the building point that next shooting point N+1 of shooting point N photographs Collection, calculates the Duplication built between the building surface point that surface point photographed that this shooting point photographed with next shooting point adjacent. For some shooting point, need to calculate the Duplication between the building point that shooting point adjacent on direction, course covers, Also need to calculate the Duplication between the building point that shooting point adjacent on vertical direction covers.
The algorithm of Duplication is as follows:
O N = s u m ( I N ∩ I N + 1 ) s u m ( I N ) .
If use the area of building that camera can photograph to calculate Duplication, as in figure 2 it is shown, vertical due to building Face is typically irregular curved surface, and the areal calculation of the building that camera can photograph is extremely difficult, and therefore, the present embodiment uses The point set utilizing camera shooting to cover is simpler to the scheme calculating Duplication.
In some cases, point in the three-dimensional point model that camera shooting covers is probably and is blocked by actual building, That is these points are to occur in the photo that camera shoots out, a little carry out accordingly, it would be desirable to be blocked these Get rid of.
As shown in Figure 4, the three-dimensional point model through step S1 structure contains the building surface of gridding, grid each Individual node coordinate is known.It can be appreciated that elevation of building is considered as being made up of the little rectangular strip of the N number of XoY of being perpendicular to plane, each The height of rectangular strip is equal to building height, and the width of each rectangular strip is equal to the width of a grid.With O point as initial point four It it is the shooting cone of camera in radiation range.
S311, traversal building point set, it may be judged whether fall in shooting cone.There is many algorithms to realize this judgement, such as may be used With line OE vector and plane OAB, the normal vector of OBC, OCD, OAD by judging architectural point (being assumed to be E point) and O point Between angled relationships, judge that E point is whether in cone.
S312, for the point set in cone that falls, it is judged that hiding relation, get rid of be blocked a little.Owing to building surface is permissible Regard the little rectangular strip by the N number of XoY of being perpendicular to plane as and be parallel to the end face of XoY plane, being total to what N+1 face was constituted, be not difficult Understanding, if certain point is blocked, then this point and the line of O point are by through some face in N+1 face.
Whether the point (hereinafter referred to as F point) putting concentration that S3121, first judgement fall in cone is blocked by construction ceiling, by It is a polygon being parallel to XoY in end face, it is known that this polygonal boundary point, so having only to judge between F point and O point Whether line and rooftop polygons have intersection point.If any intersection point, illustrate that F point is blocked by end face, it is impossible to photographed by camera, should F point is got rid of；As there is no intersection point, illustrate not blocked by end face.
Whether S3122, the point continuing to judge to process remaining concentration through step S3121 are blocked by elevation of building.No Indigestibility, the facade part only fallen with in shooting cone its is possible to shelter from F point.
It is similar to, regards the elevation of building part fallen in cone as the multiple rectangular area being perpendicular to XoY plane, because Know the coordinate building each node in Fig. 4, it is easy to list the equation of these rectangular areas, make a F point between O point Line, it is judged that this straight line and the relation of these rectangles, if intersected, then it represents that F point is blocked, and otherwise F point is not then blocked.
In certain embodiments, counting of needs traversal can be reduced by the following method: when finding that O point is higher than building Time, then the point in the construction ceiling region being positioned at shooting cone need not judge again.
S32, constantly adjust parameter, until the shooting point on facade flight path meets Duplication requirement.
For end face flight path, due to shooting is orthography, just can be obtained full by orthography Theoretical Calculation The shooting point position that foot Duplication requires.
For facade track, if in step S31, if the Duplication of the point set of certain two adjacent shooting points covering is not Meet three-dimensional reconstruction requirement, then need the horizontal range increasing flight path with building, or change the flight speed of unmanned plane Degree, or the interval of taking pictures of camera.Owing to change of flight speed or camera interval of taking pictures can affect the parameter of end face flight path, The most preferentially increase horizontal range D1 of flight path and building, and calculate other key parameters relevant to D1.
Reconstruct flight path, obtains new shooting point set, repeats step S3, until the weight of the point set of all shooting points covering Folded rate is satisfied by three-dimensional reconstruction requirement.
Above content is to combine concrete preferred implementation further description made for the present invention, it is impossible to assert Being embodied as of the present invention is confined to these explanations.For general technical staff of the technical field of the invention, On the premise of present inventive concept, it is also possible to make some simple deduction or replace, all should be considered as belonging to the present invention by The scope of patent protection that the claims submitted to determine.

Claims (10)

1., for the unmanned plane determining method of path of reconstructing three-dimensional model, it is characterized in that, comprise the steps:
S1, structure constitute the three-dimensional point model of the profile of the building that is taken；
S2, determine the unmanned plane shooting point around the flight path of described building so that on unmanned plane described in each shooting point Camera can shoot the corresponding point set covering described three-dimensional point model, and the point that camera shooting described in adjacent shooting point covers The Duplication of collection is more than Duplication threshold value；
S3, control described unmanned plane and fly to the shooting point on described flight path, and control described camera described building is carried out Shooting.
2. the unmanned plane determining method of path for reconstructing three-dimensional model as claimed in claim 1, is characterized in that,
In the method for the shooting point of the facade shooting described building in determining described flight path, perform step S2.
3. the unmanned plane determining method of path for reconstructing three-dimensional model as claimed in claim 1, is characterized in that, in step S2 In,
For the adjacent shooting point on the direction, course of described unmanned plane, corresponding Duplication is the Duplication on direction, course With the Duplication threshold value on direction, course；
For the adjacent shooting point in the vertical direction of described building, corresponding Duplication be the Duplication in vertical direction and Duplication threshold value in vertical direction.
4. the unmanned plane determining method of path for reconstructing three-dimensional model as claimed in claim 1, is characterized in that, in step S2 In, first determine initial flight path, then calculate the Duplication of the point set that camera shooting described in adjacent shooting point covers, directly To the Duplication of the point set of camera shooting covering described in adjacent shooting point more than Duplication threshold value；
Wherein, the parameter of initial flight path is determined by following algorithm:
D 1 I n i t i a l = S p e e d _ U A V × I n t e r v e l _ P h o t o ( 1 - O v e r l a p _ H e a d i n g ) × 2 × tan ( F O V _ H )
H3Initial=2 × D1Initial×tan(FOV_V)×(1-Overlap_Side)
H 1 I n i t i a l = H e i g h t _ B u i l d i n g H e i g h t _ B u i l d i n g H 3 I n i t i a l + 1
Wherein, D1Initial、H3Initial、H1InitialBe respectively in initial flight paths the level of unmanned plane and described building away from Distance between, neighbouring flight path section, the minimum altitude of flight path, Speed_UAV is the flight of unmanned plane Speed, Intervel_Photo is the interval of taking pictures of camera, FOV_H and FOV_V is the 1/2 of camera horizontal view angle and vertical respectively The 1/2 of visual angle, Overlap_Heading is the Duplication threshold value on unmanned plane course, and Overlap_Side is the vertical of building The Duplication threshold value in direction, Height_Building is the height of described building.
5. the unmanned plane determining method of path for reconstructing three-dimensional model as claimed in claim 4, is characterized in that, described unmanned Machine path includes the end face flight path of the end face of facade flight path and the described building of shooting shooting the facade of described building, Described end face flight path is determined by following algorithm:
H 4 = S p e e d _ U A V × I n t e r v e l _ P h o t o ( 1 - O v e r l a p _ H e a d i n g ) × 2 × tan ( F O V _ V )
D2=2 × H4 × tan (FOV_H) × (1-Overlap_Side)
Wherein, H4 represents the vertical dimension of the described end face flight path extremely end face of described building, and D2 represents that described end face flies The distance between route segment adjacent in path.
6. the unmanned plane determining method of path for reconstructing three-dimensional model as claimed in claim 1, is characterized in that, in described step In rapid S2, determine described corresponding point set as follows:
S21, the institute's pointed set traveled through in described three-dimensional point model, calculate and select to fall at the beginning of in the shooting cone of described camera Initial point collection；
S22, concentrate eliminating to be blocked and a little obtain described corresponding point set at described initial point, wherein, described in be blocked a little with described The line of camera, intersects with the surface of the building in the shooting cone falling into described camera.
7. the unmanned plane determining method of path for reconstructing three-dimensional model as claimed in claim 6, is characterized in that, in step In S22,
First get rid of and be blocked as follows a little: be blocked a little with the line of described camera, intersect with the end face of described building；
Then get rid of and be blocked as follows a little: be blocked a little with the line of described camera, and in the shooting cone falling into described camera Building facade intersect.
8. the unmanned plane path for reconstructing three-dimensional model determines device, it is characterized in that, including such as lower unit:
First processing unit, for constructing the three-dimensional point model of the profile constituting the building that is taken；
Second processing unit, for determining the unmanned plane shooting point around the flight path of described building so that each shooting point Camera on described unmanned plane can shoot the corresponding point set covering described three-dimensional point model, and phase described in adjacent shooting point The Duplication of the point set that machine shooting covers is more than Duplication threshold value；
3rd processing unit, flies to the shooting point on described flight path for controlling described unmanned plane, and controls described camera Described building is shot.
9. the unmanned plane path for reconstructing three-dimensional model as claimed in claim 8 determines device, it is characterized in that,
In the method for the shooting point of the facade shooting described building in determining described flight path, described second processing unit Perform work.
10. the unmanned plane path for reconstructing three-dimensional model as claimed in claim 8 determines device, it is characterized in that, described the Two processing units are additionally operable to
For the adjacent shooting point on the direction, course of described unmanned plane, corresponding Duplication is the Duplication on direction, course With the Duplication threshold value on direction, course；
For the adjacent shooting point in the vertical direction of described building, corresponding Duplication be the Duplication in vertical direction and Duplication threshold value in vertical direction.
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