CN108090957B - BIM-based terrain mapping method - Google Patents
BIM-based terrain mapping method Download PDFInfo
- Publication number
- CN108090957B CN108090957B CN201711165366.4A CN201711165366A CN108090957B CN 108090957 B CN108090957 B CN 108090957B CN 201711165366 A CN201711165366 A CN 201711165366A CN 108090957 B CN108090957 B CN 108090957B
- Authority
- CN
- China
- Prior art keywords
- terrain
- data
- point cloud
- aerial vehicle
- unmanned aerial
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- 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
- G06T17/10—Constructive solid geometry [CSG] using solid primitives, e.g. cylinders, cubes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Geometry (AREA)
- Software Systems (AREA)
- Computer Graphics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Remote Sensing (AREA)
- Processing Or Creating Images (AREA)
Abstract
The invention relates to a method for surveying and mapping terrain based on BIM, which comprises the following steps: acquiring terrain data of a terrain to be detected by using an unmanned aerial vehicle; generating a three-dimensional point cloud model by using the terrain data; and forming a three-dimensional model corresponding to the terrain to be measured based on the three-dimensional point cloud model by utilizing a BIM technology. According to the method for surveying and mapping the terrain, the terrain data is obtained through the low-altitude surveying and mapping function of the unmanned aerial vehicle, and the terrain data is processed to directly obtain the three-dimensional model, so that powerful guarantee is provided for architects to know and investigate the linear shape of the land, the method has the advantage of high modeling efficiency, and detailed site data and rapid processing service are provided for the architects.
Description
Technical Field
The invention relates to topographic mapping in the field of constructional engineering, in particular to a method for mapping a terrain based on BIM.
Background
Since a building is a modeling object with a complex structure, the degree of intellectualization and automation is limited, models generated by automatic triangulation and construction surface are difficult to satisfy architects, and manual drawing, repairing and even manual re-modeling operations are inevitable, which significantly reduces the efficiency of modeling, and therefore, the automatic extraction of useful data becomes a necessary research direction.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a method for surveying and mapping terrain based on BIM, and solves the problem of low modeling efficiency caused by manual repair or reconstruction in the conventional automatic modeling.
The technical scheme for realizing the purpose is as follows:
the invention provides a method for surveying and mapping terrain based on BIM, which comprises the following steps:
acquiring terrain data of a terrain to be detected by using an unmanned aerial vehicle;
generating a three-dimensional point cloud model by using the terrain data; and
and forming a three-dimensional model corresponding to the terrain to be measured on the basis of the three-dimensional point cloud model by utilizing a BIM (building information modeling) technology.
According to the method for surveying and mapping the terrain, the terrain data is obtained through the low-altitude surveying and mapping function of the unmanned aerial vehicle, and the terrain data is processed to directly obtain the three-dimensional model, so that powerful guarantee is provided for architects to know and investigate the linear shape of the land, the method has the advantage of high modeling efficiency, and detailed site data and rapid processing service are provided for the architects.
The BIM-based method for surveying and mapping the terrain is further improved in that before the unmanned aerial vehicle is used for acquiring the terrain data of the terrain to be measured, the method further comprises the following steps:
and selecting the adaptive unmanned aerial vehicle according to the terrain to be detected.
A further improvement of the BIM-based method of mapping terrain of the present invention is that the drones include fixed wing drones, unmanned helicopters and multi-rotor drones.
The BIM-based method for surveying and mapping the terrain is further improved in that when the unmanned aerial vehicle is used for acquiring terrain data of the terrain to be measured, the method further comprises the following steps:
and setting a flight path for the unmanned aerial vehicle, so that the unmanned aerial vehicle flies along the flight path and acquires terrain data of the terrain to be measured.
The BIM-based method for surveying and mapping the terrain is further improved in that the method for acquiring the terrain data of the terrain to be measured by using the unmanned aerial vehicle comprises the following steps:
carrying out rotary scanning on the terrain to be detected by utilizing a laser scanner on the unmanned aerial vehicle to form a point cloud data set;
and shooting at least two pictures of the target in the terrain to be detected at different machine positions by utilizing the camera on the unmanned aerial vehicle to form image data.
The BIM-based method for surveying and mapping the terrain is further improved in that the terrain data is used for generating a three-dimensional point cloud model, and the method comprises the following steps:
correlating the point cloud data set and the image data to enable the point cloud data set and the image data to be in registration mapping with each other, and outputting image point cloud data;
and based on the image point cloud data, performing ground feature element interpretation and collection in a point cloud rendering mode to obtain point, linear and planar ground feature elements, and performing ground feature element interpretation and collection in a panoramic image mode to obtain a topographic map on the panoramic image, so that the point, linear and planar ground feature elements and the topographic map form the three-dimensional point cloud model.
The BIM-based method for surveying and mapping the terrain is further improved in that a BIM technology is utilized to form a three-dimensional model corresponding to the terrain to be measured based on the three-dimensional point cloud model, and the method comprises the following steps:
drawing a corresponding terrain boundary line based on a terrain map in the three-dimensional point cloud model;
utilizing point, linear and planar ground feature elements in the three-dimensional point cloud model to draw a contour line of the horizontal section of the building in the topographic boundary line;
calculating the height of a building through the three-dimensional point cloud model and stretching the contour line to form a building model;
and performing texture extraction on the image data to form texture mapping data, and performing corresponding texture mapping processing on the established building model by using the texture mapping data to form a three-dimensional model.
The BIM-based method for surveying and mapping the terrain is further improved in that before the terrain data is used for generating the three-dimensional point cloud model, the method further comprises the following steps:
and carrying out noise point cleaning on the topographic data, and removing interference data in the topographic data through the noise point cleaning, wherein the interference data comprise vehicles, personnel and lamp posts.
The BIM-based method for surveying and mapping the terrain is further improved in that before the terrain data is used for generating the three-dimensional point cloud model, the method further comprises the following steps:
and filling the blind area of the topographic data, acquiring corresponding supplementary topographic data again by using an unmanned aerial vehicle aiming at the blind area position, and filling the supplementary topographic data to the blind area position in the topographic data.
Drawings
FIG. 1 is a flow chart of a BIM-based method for mapping terrain according to the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Referring to fig. 1, the invention provides a method for surveying and mapping a terrain based on BIM, which utilizes the small size of an unmanned aerial vehicle to obviously reduce the use cost on the basis of ensuring the quality of the measured data of the terrain, so that the method is very suitable for surveying and mapping tasks with small range, high precision and high timeliness requirements, and is suitable for completing low-altitude surveying and mapping by using an unmanned aerial vehicle platform under the condition of insufficient basic geographic information. The method for surveying and mapping the terrain processes the terrain data surveyed and mapped by the unmanned aerial vehicle and converts the terrain data into the three-dimensional model, so that the terrain data can be displayed visually, a powerful guarantee is provided for architects to know and investigate the current situation of the land parcel, and detailed site data and rapid processing service can be provided. The BIM-based method for mapping terrain according to the present invention will be described with reference to the accompanying drawings.
Referring to fig. 1, a flow chart of a BIM-based method of mapping terrain in accordance with the present invention is shown. The BIM-based method for mapping terrain according to the present invention is described below with reference to FIG. 1.
As shown in fig. 1, the BIM-based method for mapping a terrain of the present invention includes the steps of:
step S21 is executed, the unmanned aerial vehicle is used for obtaining terrain data of the terrain to be measured; step S22 is then performed.
Executing step S22, generating a three-dimensional point cloud model by using the terrain data; then, step S23 is executed
And step S23 is executed, a BIM technology is utilized to form a three-dimensional model based on a three-dimensional point cloud model, the three-dimensional model corresponds to the terrain to be detected, the terrain data acquired by the unmanned aerial vehicle is three-dimensionally simulated through the BIM technology, the three-dimensional model convenient for visual checking and processing is formed, useful data are efficiently utilized, and automatic extraction of the useful data is realized.
As a preferred embodiment of the present invention, before the obtaining the terrain data of the terrain to be measured by the unmanned aerial vehicle, the method further includes:
and selecting the adaptive unmanned aerial vehicle according to the terrain to be detected. Preferably, the type of drone is selected as required by the project, the drone including a fixed wing drone, an unmanned helicopter and a multi-rotor drone.
Wherein, for project requiring long voyage, a fixed wing unmanned aerial vehicle can be selected. This fixed wing unmanned aerial vehicle needs the runway to take off and land, need use under the condition that does not have the runway to launch supplementary take off and land device such as gallows frame, parachute. Unmanned helicopters and multi-rotor unmanned planes can be selected for dead time requirements and dense areas. The unmanned helicopter has relatively short dead time, can be used in dense areas, can hover or move at a low speed in the air, can obtain more accurate ground feature data models such as buildings, has fewer blind areas, is suitable for field information acquisition during design, can be assembled with different powers such as an electric motor, a gasoline engine, an aviation kerosene turbine engine and the like, can execute low-altitude photogrammetry tasks, and is an optimal carrier for high-end surveying and mapping centers such as an airborne laser scanner and the like. The multi-rotor unmanned aerial vehicle is relatively short in control machine, can be used in dense areas, can hover in the air or move at a low speed, is more accurate in obtained ground object data models such as buildings, is less in blind areas, and is suitable for field information acquisition during design. This many rotor unmanned aerial vehicle is mostly battery power, and the volume is littleer, uses more nimble, steel sheet, is suitable for carrying the camera and carries out the ultra-low altitude photogrammetry.
As another preferred embodiment of the present invention, when the unmanned aerial vehicle is used to obtain the terrain data of the terrain to be measured, the method further includes: and setting a flight path for the unmanned aerial vehicle, so that the unmanned aerial vehicle flies along the flight path and acquires the terrain data of the terrain to be measured. Set up the mark target in the topography that awaits measuring, set up the mark target uniformly in the topography that awaits measuring, confirm the position of the topography data that unmanned aerial vehicle acquireed through the position of mark target to utilize the mark target to come to splice the topography data.
Further, the terrain data of the terrain to be measured acquired by the unmanned aerial vehicle comprises:
carrying out rotary scanning on the terrain to be detected by utilizing a laser scanner on an unmanned aerial vehicle to form a point cloud data set;
at least two pictures are taken of a target in a terrain to be measured at different positions by using cameras on the unmanned aerial vehicle to form image data.
Preferably, install laser scanner and camera on unmanned aerial vehicle to when unmanned aerial vehicle along the flight path in the topography top that awaits measuring the flight, through the scanning head fast rotation scanning peripheral topography of laser scanner, the scanning of scanning head to the topography can obtain tens of thousands of three-dimensional points per second, simultaneously with the data such as location, the appearance change of fixing a position with machine-carried GPS (global positioning system), INS (inertial navigation system) etc. location, appearance equipment real-time recording aircraft self position, gesture. After a series of parameters (called as 'inner orientation elements' of the camera) such as the deformation of a camera lens, the focal length, the number of pixels and the like are passed, the camera is used for taking at least two pictures of the same target at different machine positions, and the image data of each point position is obtained. Because the positions of the cameras are different, the imaging positions of the same point on the earth's surface in the two pictures are different inevitably, and the spatial position of the point can be reversely calculated according to the position of the camera during shooting and the natural special point of the three-dimensional direction to the target object found by the image recognition technology.
As another preferred embodiment of the present invention, generating a three-dimensional point cloud model using terrain data includes: associating the point cloud data set with the image data to enable the point cloud data set and the image data to be matched, registered and mapped, and outputting the image point cloud data;
and based on the image point cloud data, performing ground feature element interpretation and collection in a point cloud rendering mode to obtain point, linear and planar ground feature elements, and performing ground feature element interpretation and collection in a panoramic image mode to obtain a topographic map on the panoramic image, so that the point, linear and planar ground feature elements and the topographic map form a three-dimensional point cloud model.
Further, a three-dimensional model corresponding to the terrain to be measured is formed on the basis of the three-dimensional point cloud model by utilizing the BIM technology, and the method comprises the following steps:
drawing a corresponding terrain boundary line based on a terrain map in the three-dimensional point cloud model;
in the topographic boundary line, utilizing point, linear and planar ground feature elements in the three-dimensional point cloud model to draw a contour line of the horizontal section of the building;
calculating the height of a building through the three-dimensional point cloud model and stretching the contour line to form a building model;
and performing texture extraction on the image data to form texture mapping data, performing corresponding texture mapping processing on the established building model by using the texture mapping data, and displaying mapping textures corresponding to the texture mapping data in the three-dimensional model, thereby forming the three-dimensional model.
The building model comprises a building, a road surface, upright posts, a road, trees and other models.
Preferably, the formed three-dimensional point cloud model is stored as DEM and DSM format data which can be used by a BIM software system, then the three-dimensional point cloud model is imported into the BIM software system, the terrain is firstly generated, and then the relation between buildings and public facilities around the building site is reasonably analyzed and utilized through BIM three-dimensional modeling software.
As another preferred embodiment of the present invention, before generating the three-dimensional point cloud model using the terrain data, the method further includes:
carry out the noise clearance to topographic data, clear up the interference data who gets rid of in the topographic data through the noise, interference data includes vehicle, personnel and lamp pole. For projects with complex land environments, noise cleaning needs to remove interference data such as vehicles, personnel, lamp posts and the like.
Preferably, before generating the three-dimensional point cloud model using the terrain data, the method further includes:
and (4) performing blind area filling on the terrain data, utilizing the unmanned aerial vehicle to acquire corresponding supplementary terrain data again aiming at the blind area position, and filling the supplementary terrain data into the blind area position in the terrain data. The obtained terrain data are traversed and judged, the blind area position is found out, and the blind area position can be obtained through the target as the uniform target is arranged at the terrain to be detected, so that data can be supplemented to the blind area position to obtain supplementary terrain data, and the blind area can be filled in the terrain data.
According to the method for surveying and mapping the terrain by using the small unmanned aerial vehicle based on the BIM technology, the terrain data is obtained through the low-altitude surveying and mapping function of the unmanned aerial vehicle, the three-dimensional model is obtained by processing the terrain data, the to-be-measured terrain is visually displayed, the terrain data obtained by the unmanned aerial vehicle is directly used in the modeling process, the operations of manual drawing, repairing, measurement and acquisition of terrain parameters and the like are saved, the modeling efficiency is high, the current situation of the land parcel is well known and investigated for architects, the method is applied to terrain modeling or building modeling work, and detailed site data and rapid processing service are provided for the architects.
While the present invention has been described in detail and with reference to the embodiments thereof as illustrated in the accompanying drawings, it will be apparent to one skilled in the art that various changes and modifications can be made therein. Therefore, certain details of the embodiments are not to be interpreted as limiting, and the scope of the invention is to be determined by the appended claims.
Claims (6)
1. A BIM-based method for mapping terrain, comprising the steps of:
acquiring terrain data of a terrain to be detected by using an unmanned aerial vehicle;
generating a three-dimensional point cloud model by using the terrain data; and
forming a three-dimensional model corresponding to the terrain to be measured based on the three-dimensional point cloud model by utilizing a BIM technology;
utilize unmanned aerial vehicle to acquire the topography data of the topography that awaits measuring, include:
carrying out rotary scanning on the terrain to be detected by utilizing a laser scanner on the unmanned aerial vehicle to form a point cloud data set;
shooting at least two photos of a target in the terrain to be detected at different positions by using a camera on the unmanned aerial vehicle to form image data, finding natural special points of the three-dimensional image on the target according to the position of the camera during shooting and an image recognition technology, and reversely calculating the spatial position of each point;
the method comprises the steps of setting a target in a terrain to be detected, uniformly setting the target in the terrain to be detected, and determining the position of terrain data acquired by an unmanned aerial vehicle according to the position of the target, so that the terrain data are spliced by using the target;
generating a three-dimensional point cloud model using the terrain data, comprising:
correlating the point cloud data set and the image data to enable the point cloud data set and the image data to be in registration mapping with each other, and outputting image point cloud data;
based on the image point cloud data, performing ground feature element interpretation and collection in a point cloud rendering mode to obtain point, line and plane ground feature elements, and performing ground feature element interpretation and collection in a panoramic image mode to obtain a topographic map on the panoramic image, so that the point, line and plane ground feature elements and the topographic map form the three-dimensional point cloud model;
forming a three-dimensional model corresponding to the terrain to be measured based on the three-dimensional point cloud model by utilizing a BIM technology, wherein the three-dimensional model comprises the following steps:
drawing a corresponding terrain boundary line based on a terrain map in the three-dimensional point cloud model;
utilizing point, linear and planar ground feature elements in the three-dimensional point cloud model to draw a contour line of the horizontal section of the building in the topographic boundary line;
calculating the height of a building through the three-dimensional point cloud model and stretching the contour line to form a building model;
and performing texture extraction on the image data to form texture mapping data, and performing corresponding texture mapping processing on the established building model by using the texture mapping data to form a three-dimensional model.
2. The BIM-based terrain mapping method of claim 1, further comprising, prior to acquiring terrain data for the terrain to be measured with the drone:
and selecting the adaptive unmanned aerial vehicle according to the terrain to be detected.
3. The BIM-based terrain mapping method of claim 2, wherein the drones comprise fixed wing drones, unmanned helicopters, and multi-rotor drones.
4. The BIM-based terrain mapping method of claim 1, wherein in acquiring terrain data for a terrain to be measured using the drone, further comprising:
and setting a flight path for the unmanned aerial vehicle, so that the unmanned aerial vehicle flies along the flight path and acquires terrain data of the terrain to be measured.
5. The BIM-based terrain mapping method of claim 1, wherein prior to generating the three-dimensional point cloud model using the terrain data, further comprising:
and carrying out noise point cleaning on the topographic data, and removing interference data in the topographic data through the noise point cleaning, wherein the interference data comprise vehicles, personnel and lamp posts.
6. The BIM-based terrain mapping method of claim 1, wherein prior to generating the three-dimensional point cloud model using the terrain data, further comprising:
and filling the blind area of the topographic data, acquiring corresponding supplementary topographic data again by using an unmanned aerial vehicle aiming at the blind area position, and filling the supplementary topographic data to the blind area position in the topographic data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711165366.4A CN108090957B (en) | 2017-11-21 | 2017-11-21 | BIM-based terrain mapping method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711165366.4A CN108090957B (en) | 2017-11-21 | 2017-11-21 | BIM-based terrain mapping method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108090957A CN108090957A (en) | 2018-05-29 |
| CN108090957B true CN108090957B (en) | 2021-11-30 |
Family
ID=62172891
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711165366.4A Active CN108090957B (en) | 2017-11-21 | 2017-11-21 | BIM-based terrain mapping method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108090957B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109146990B (en) * | 2018-08-08 | 2023-02-24 | 广州市城市规划勘测设计研究院 | Building outline calculation method |
| CN109579793B (en) * | 2018-11-06 | 2020-02-18 | 广州供电局有限公司 | Terrain mapping method, apparatus, flight platform, computer device and storage medium |
| CN109410330A (en) * | 2018-11-12 | 2019-03-01 | 中国十七冶集团有限公司 | One kind being based on BIM technology unmanned plane modeling method |
| CN109571769A (en) * | 2018-11-20 | 2019-04-05 | 中国十九冶集团有限公司 | Concrete agitation station setting method |
| CN109741451B (en) * | 2019-01-03 | 2022-11-29 | 陈树铭 | System for building three-dimensional earth surface BIM model based on topographic map |
| CN109945868B (en) * | 2019-03-07 | 2022-09-02 | 西安爱生技术集团公司 | Automatic planning method for target irradiation route of unmanned aerial vehicle |
| CN110335247B (en) * | 2019-05-30 | 2021-12-10 | 广东省机场管理集团有限公司工程建设指挥部 | BIM (building information modeling) -based defect positioning method, device, equipment and storage medium |
| CN110426020A (en) * | 2019-08-20 | 2019-11-08 | 中国科学院地理科学与资源研究所 | A kind of portable landform Digital Photogrammetric System and its measurement method |
| CN110929322A (en) * | 2019-11-19 | 2020-03-27 | 广东博智林机器人有限公司 | Method and system for establishing mapping between BIM model and three-dimensional cloud model |
| CN112268541B (en) * | 2020-10-16 | 2022-04-15 | 中国有色金属长沙勘察设计研究院有限公司 | Three-dimensional space detection method |
| CN112396699A (en) * | 2020-11-30 | 2021-02-23 | 常州市星图测绘科技有限公司 | Method for automatically sketching land parcel based on unmanned aerial vehicle image |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106886849A (en) * | 2017-01-20 | 2017-06-23 | 深圳广田集团股份有限公司 | Construction management-control method and system that a kind of BIM simulations are combined with taking photo by plane |
| CN106934092A (en) * | 2017-01-10 | 2017-07-07 | 中铁四局集团第四工程有限公司 | The modeling method of the high speed railway prefabricating Liang Chang based on BIM |
| CN107066758A (en) * | 2017-05-11 | 2017-08-18 | 中国十七冶集团有限公司 | Based on the outdoor construction method under unmanned plane camera work and BIM technology |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102010018144A1 (en) * | 2010-04-24 | 2011-10-27 | Lfk-Lenkflugkörpersysteme Gmbh | Method for automatically generating a three-dimensional reference model as terrain information for an imaging device |
| CN104809759A (en) * | 2015-04-03 | 2015-07-29 | 哈尔滨工业大学深圳研究生院 | Large-area unstructured three-dimensional scene modeling method based on small unmanned helicopter |
-
2017
- 2017-11-21 CN CN201711165366.4A patent/CN108090957B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106934092A (en) * | 2017-01-10 | 2017-07-07 | 中铁四局集团第四工程有限公司 | The modeling method of the high speed railway prefabricating Liang Chang based on BIM |
| CN106886849A (en) * | 2017-01-20 | 2017-06-23 | 深圳广田集团股份有限公司 | Construction management-control method and system that a kind of BIM simulations are combined with taking photo by plane |
| CN107066758A (en) * | 2017-05-11 | 2017-08-18 | 中国十七冶集团有限公司 | Based on the outdoor construction method under unmanned plane camera work and BIM technology |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108090957A (en) | 2018-05-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108090957B (en) | BIM-based terrain mapping method | |
| Neitzel et al. | Mobile 3D mapping with a low-cost UAV system | |
| Udin et al. | Assessment of photogrammetric mapping accuracy based on variation flying altitude using unmanned aerial vehicle | |
| Chiabrando et al. | UAV and RPV systems for photogrammetric surveys in archaelogical areas: two tests in the Piedmont region (Italy) | |
| Lin et al. | Mini-UAV-borne LIDAR for fine-scale mapping | |
| Eisenbeiss | The autonomous mini helicopter: a powerful platform for mobile mapping | |
| CN111091613A (en) | Three-dimensional live-action modeling method based on unmanned aerial vehicle aerial survey | |
| Eschmann et al. | High-resolution multisensor infrastructure inspection with unmanned aircraft systems | |
| JP2018165726A (en) | Point group data utilization system | |
| CN113137955B (en) | Unmanned aerial vehicle aerial survey virtual simulation method based on scene modeling and virtual photography | |
| CN105867404A (en) | Equipment and method for measuring earthwork through unmanned aerial vehicle | |
| Berteška et al. | Photogrammetric mapping based on UAV imagery | |
| RU2562368C1 (en) | Three-dimensional (3d) mapping method | |
| Hashim et al. | Integration of low altitude aerial & terrestrial photogrammetry data in 3D heritage building modeling | |
| Udin et al. | Digital Terrain Model extraction using digital aerial imagery of Unmanned Aerial Vehicle | |
| Amin et al. | Reconstruction of 3D accident scene from multirotor UAV platform | |
| Siebert et al. | Mobile 3D mapping for surveying earthwork using an unmanned aerial vehicle (UAV) | |
| Yastikli et al. | Architectural heritage documentation by using low cost UAV with fisheye lens: Otag-i Humayun in Istanbul as a case study | |
| Bouziani et al. | Comparison assessment of digital 3D models obtained by drone-based lidar and drone imagery | |
| Pargieła | Optimising UAV Data Acquisition and Processing for Photogrammetry: A Review | |
| Mohd Nasir et al. | 3D model generation from UAV: Historical mosque (Masjid Lama Nilai) | |
| KR101181742B1 (en) | Apparatus and method for land-use map renewel | |
| Ansari | Use of point cloud with a low-cost UAV system for 3D mapping | |
| Hashim et al. | Assessment of low altitude aerial data for large scale urban environmental mapping | |
| Room et al. | Assessment of different unmanned aerial vehicle system for production of photogrammerty products |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |