CN102831816B - Device for providing real-time scene graph - Google Patents
Device for providing real-time scene graph Download PDFInfo
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- CN102831816B CN102831816B CN201210294651.7A CN201210294651A CN102831816B CN 102831816 B CN102831816 B CN 102831816B CN 201210294651 A CN201210294651 A CN 201210294651A CN 102831816 B CN102831816 B CN 102831816B
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Abstract
The invention relates to the technical field of geographic information system, and provides a device for providing a real-time scene graph. A scene image around a helmet device is shot in real time by using a camera on a single helmet device, the shot scene image is transmitted to a computer for being processed, and a three-dimensional scene graph can be obtained in real time; in the same scene, scene images of an object with different angles are shot through at least three helmet devices, and are fused and split-jointed through a computer, and a three-dimensional close-up view of the object can be obtained; in different scenes, through the mutual communication among multiple helmet devices, the single helmet device is capable of obtaining the scene images shot by other helmet devices, and a wide-range real-time scene graph is obtained; each helmet device is communicated with an intermediate server, each single helmet device can obtain scene images of different scenes according to self needs, and a wide-range real-time scene graph can be obtained.
Description
Technical field
The present invention relates to geographic information system technology field, particularly relate to a kind of device that real-time scene map is provided.
Background technology
Map is a kind of mode for describing geographic position, scene information, is mainly caught picture around and is obtained by artificial mapping, camera.Along with scientific and technical development, GPS (Global Positioning System, GPS) navigation positioning system has been widely used in current life.Such as electronic chart, the navigating instrument etc. on network.But current most of map is mainly two-dimentional plane map, be merely able to the two-dimensional geometry positional information that provides precision limited.And can provide the three-dimensional map of abundanter scene information also little, and the regionality of existing three-dimensional map is restricted, for example, the three-dimensional map of streetscape is only provided, and be not real-time three-dimensional map.
Existing a kind of three-dimensional scenic map is streetscape map.Streetscape map is a kind of outdoor scene Map Services, spends panoramic pictures for user provides 360 of city, street or other environment, and user can obtain map view as if on the spot in person by this service and experience.By streetscape, as long as just can see really the high definition scene on street before being sitting in computer.Also having a kind of scheme is the scene around the camera shooting by installing on individual equipment, obtains scene cartographic information.
Publication number is that the Chinese patent of CN101719130A discloses a kind of implementation method of streetscape map and realized system, by carrying collecting device dynamic acquisition streetscape media data and the geographical location information of GPS module and being uploaded to central platform, corresponding video file is inquired about and play to central platform, according to the geographical location information that will browse.
Publication number is that the Chinese patent of CN101685022A discloses a kind of method and related navigation system thereof that can instantly producing three-dimensional map image.The synthetic 3D rendering of image of the same area that this system photographs from different perspectives by two cameras, utilizes GPS to obtain the position data in this region simultaneously, and on display, shows this region stereo-picture and map datum.
These the deficiencies in the prior art parts are: though streetscape map has photographed the three-dimensional scenic on road surface, be confined to the scene in street and some specific places, other local maps are seldom provided.And these map datums are all the photos photographing when manually surveying and drawing, workload is large, does not also have real-time, and real-time scene information can not be provided.In addition, the camera on single or two equipment can only obtain the scene of current location, and the scene domain of acquisition is little, and can only obtain the image in certain angular field of view, can not obtain the overall picture of object.
Summary of the invention
The object of the invention is to the device that provides real-time scene map by a kind of, obtain real-time three-dimensional scenic map.
Another object of the present invention is to the device that provides real-time scene map by a kind of, obtain the three-dimensional close-up view of the object in scene.
Another object of the present invention is the device that provides real-time scene map by a kind of, obtains large-scale real-time scene map.
The present invention adopts following technical scheme:
A device for real-time scene map is provided, and described device comprises helmet equipment and computing machine; Described helmet equipment comprises helmet body, wireless communication module and multiple camera; Described camera is installed on helmet body surrounding and is connected with wireless communication module, and described wireless communication module and computing machine carry out communication; Described camera is taken in real time the scene image around helmet equipment and the scene image of shooting is transferred to computing machine by wireless communication module; Described computing machine receives and processes described scene image.
Preferably, described camera is at least 4, is installed on respectively the four sides all around of helmet body surrounding.
Preferably, described computing machine is processed scene image and is: the scene image receiving is carried out anastomosing and splicing by described computing machine, obtains 360 degree panoramic pictures of scene.
Preferably, the scene image of shooting is sent to a display device by described camera, and described display device is used for showing the scene image that single camera photographs.
Preferably, scene image after treatment is sent to a display device by described computing machine, and described display device is used for showing the described 360 degree panoramic pictures after anastomosing and splicing.
Preferably, described display device is to be installed on display screen on helmet body or long-range display screen; In the time that described display device is the display screen being installed on helmet body, the scene image that described single camera photographs sends to display screen by camera, and described 360 degree panoramic pictures are transferred to display screen by computing machine by wireless communication module; In the time that described display device is long-range display screen, the scene image that described single camera photographs is transferred to display screen by camera by wireless communication module, and described 360 degree panoramic pictures send to display screen by computing machine.
Preferably, the display screen being installed on described on helmet body is spectacles type miniature display screen.
The present invention also provides a kind of device that real-time scene map is provided, and described device comprises computing machine, display device and above-mentioned helmet equipment; Described helmet equipment is provided with at least 3, and described helmet equipment is arranged in Same Scene, obtains the scene image of object different angles in scene by helmet equipment; Described computing machine carries out anastomosing and splicing by the scene image of object different angles and obtains the three-dimensional close-up view of object, and sends to display device to show.
The present invention also provides a kind of device that real-time scene map is provided, and described device comprises computing machine, display device and above-mentioned helmet equipment; Described helmet equipment is arranged in different scenes; Between helmet equipment, carry out mutual communication, communication modes is between every two helmet equipments, to pass through computer communication, between helmet equipment, obtains by mutual communication the scene image that other helmet equipments are taken; Described display device is for display scene images.
The present invention also provides a kind of device that real-time scene map is provided, and described device comprises intermediate server, display device and above-mentioned helmet equipment; Each helmet equipment and intermediate server carry out communication, and intermediate server receives the scene image that all helmet equipments take and processes, and intermediate server offers scene image and each helmet equipment of its communication; Each helmet equipment obtains the scene image at different scenes place according to the needs of oneself; Described display device is for display scene images.
The device that real-time scene map is provided disclosed by the invention, takes helmet equipment scene image around in real time by the camera on single helmet equipment, and the scene image of shooting is transferred to computing machine processes, and can obtain in real time three-dimensional scenic map; In Same Scene, by the scene image of at least 3 helmet equipment shot object different angles, and carry out anastomosing and splicing by computing machine, can obtain the three-dimensional close-up view of object; In different scenes, by the mutual communication between multiple helmet equipments, can make single helmet equipment obtain the scene image that other helmet equipments are taken, thereby obtain large-scale real-time scene map; Carry out communication by each helmet equipment and intermediate server, make single helmet equipment can obtain according to the needs of oneself scene image at different scenes place, also can obtain large-scale real-time scene map.
Brief description of the drawings
Fig. 1 provides the structured flowchart of the device of real-time scene map for 1 one kinds of the embodiment of the present invention;
Fig. 2 provides the structural representation of helmet equipment in the device of real-time scene map for 1 one kinds of the embodiment of the present invention;
Fig. 3 provides the structured flowchart of the device of real-time scene map for 2 one kinds of the embodiment of the present invention;
Fig. 4 provides the process flow diagram of generating three-dimensional scene map in the device of real-time scene map for 2 one kinds of the embodiment of the present invention;
Fig. 5 provides the structured flowchart of the device of real-time scene map for 3 one kinds of the embodiment of the present invention;
Fig. 6 provides the structural representation of the device of real-time scene map for 4 one kinds of the embodiment of the present invention;
Fig. 7 provides the structural representation of the device of real-time scene map for 5 one kinds of the embodiment of the present invention;
Fig. 8 provides the structural representation of the device of real-time scene map for 6 one kinds of the embodiment of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
The embodiment of the present invention provides a kind of device that real-time scene map is provided, and described device comprises helmet equipment and computing machine; Described helmet equipment comprises helmet body, wireless communication module and multiple camera; Described camera is installed on helmet body surrounding and is connected with wireless communication module, and described wireless communication module and computing machine carry out communication; Described camera is taken in real time the scene image around helmet equipment and the scene image of shooting is transferred to computing machine by wireless communication module; Described computing machine receives and processes described scene image.
The embodiment of the present invention also provides a kind of device that real-time scene map is provided, and described device comprises computing machine, display device and above-mentioned helmet equipment; Described helmet equipment is provided with at least 3, and described helmet equipment is arranged in Same Scene, obtains the scene image of object different angles in scene by helmet equipment; Described computing machine carries out anastomosing and splicing by the scene image of object different angles and obtains the three-dimensional close-up view of object, and sends to display device to show.
The embodiment of the present invention also provides a kind of device that real-time scene map is provided, and described device comprises computing machine, display device and above-mentioned helmet equipment; Described helmet equipment is arranged in different scenes; Between helmet equipment, carry out mutual communication, communication modes is between every two helmet equipments, to pass through computer communication, between helmet equipment, obtains by mutual communication the scene image that other helmet equipments are taken; Described display device is for display scene images.
The embodiment of the present invention also provides a kind of device that real-time scene map is provided, and described device comprises intermediate server, display device and above-mentioned helmet equipment; Each helmet equipment and intermediate server carry out communication, and intermediate server receives the scene image that all helmet equipments take and processes, and intermediate server offers scene image and each helmet equipment of its communication; Each helmet equipment obtains the scene image at different scenes place according to the needs of oneself; Described display device is for display scene images.
The device that real-time scene map is provided disclosed by the invention, takes helmet equipment scene image around in real time by the camera on single helmet equipment, and the scene image of shooting is transferred to computing machine processes, and can obtain in real time three-dimensional scenic map; In Same Scene, by the scene image of at least 3 helmet equipment shot object different angles, and carry out anastomosing and splicing by computing machine, can obtain the three-dimensional close-up view of object; In different scenes, by the mutual communication between multiple helmet equipments, can make single helmet equipment obtain the scene image that other helmet equipments are taken, thereby obtain large-scale real-time scene map; Carry out communication by each helmet equipment and intermediate server, make single helmet equipment can obtain according to the needs of oneself scene image at different scenes place, also can obtain large-scale real-time scene map.
embodiment 1:
Refer to shown in Fig. 1 and Fig. 2, Fig. 1 provides the structured flowchart of the device of real-time scene map for 1 one kinds of the embodiment of the present invention, and Fig. 2 provides the structural representation of helmet equipment in the device of real-time scene map for 1 one kinds of the embodiment of the present invention.This device comprises helmet equipment 1 and computing machine 2.Helmet equipment 1 comprises helmet body 11, wireless communication module 12 and multiple camera 13, and camera 13 is installed on helmet body 11 surroundings, can capture in real time helmet equipment 1 scene information around.In order to photograph three-dimensional scenic map, the number of camera 13 is set at least 4, is provided with 4 in the present embodiment, is installed on respectively on four faces all around of helmet body 11 surroundings.Camera 13 is connected with wireless communication module 12, and wireless communication module 12 carries out wireless telecommunications with computing machine 2.Camera 13 is taken in real time the scene image around helmet equipment 1 and the scene image of shooting is transferred to computing machine 2 by wireless communication module 12.Computing machine 2 receives and processes scene image.In the present embodiment, computing machine 2 is treated to scene image: the scene image receiving is carried out anastomosing and splicing by computing machine 2, obtains 360 degree panoramic pictures of scene, is also three-dimensional scenic map.
The present embodiment is taken helmet equipment 1 scene image around in real time by the camera 13 on single helmet equipment 1, and the scene image of shooting is transferred to computing machine 2 processes, and can obtain in real time three-dimensional scenic map.
embodiment 2.
Refer to shown in Fig. 3, for 2 one kinds of the embodiment of the present invention provide the structured flowchart of the device of real-time scene map.The present embodiment has increased display device on the basis of embodiment 1.Display device in the present embodiment is the display screen 14 being installed on helmet body 11.Because display screen 14 is installed on helmet body 11, therefore its volume is had to certain requirement, generally select the display screen 14 of small size for best.In the present embodiment, display screen 14 adopts spectacles type miniature display screen.The scene image photographing is sent to display screen 14 by camera 13, and display screen 14 can directly be used for showing the scene image that single camera 13 photographs.In addition, computing machine 2 is also transferred to display screen 14 by 360 degree panoramic pictures after treatment by wireless communication module 12, and therefore display screen 14 also can be used to show the degree of 360 after anastomosing and splicing panoramic picture.
Refer to shown in Fig. 4, for 2 one kinds of the embodiment of the present invention provide the process flow diagram of generating three-dimensional scene map in the device of real-time scene map.Its idiographic flow comprises:
1, the N installing on a helmet equipment camera (N >=4) obtains the helmet equipment image on different directions around in real time, and the image obtaining comprises image 1, image 2 ... image N.
2, the scene image that camera obtains is transferred to computing machine by wireless communication module.
3, the synthetic three-dimensional scenic map of computing machine.
4, computing machine sends to miniature display screen to show in synthetic three-dimensional scenic map.
The device that real-time scene map is provided providing by the present embodiment, the user of helmet equipment can select to watch the scene picture on different directions, such as dead ahead, dead astern, the left side, the right etc. from spectacles type miniature display screen.The image of these different angles can obtain 360 degree panoramic pictures after image co-registration splicing, so just obtained in real time helmet equipment three-dimensional scenic cartographic information (being also panorama cartographic information) around, this three-dimensional scenic cartographic information also can show by spectacles type miniature display screen.
embodiment 3:
Refer to shown in Fig. 5, for 3 one kinds of the embodiment of the present invention provide the structured flowchart of the device of real-time scene map.The difference of the present embodiment and embodiment 2 is: the display device in the present embodiment is long-range display screen 3, and this remote display 3 is generally positioned at control center, and display screen 3 is connected with the computing machine 2 of control center simultaneously.Display screen 3 can be the display screen 3 of computing machine in the present embodiment 2 self, can be also the display screen 3 arranging separately.Camera 13 is transferred to computing machine 2 by the scene image photographing by wireless communication module 12, then sends to display screen 3 by computing machine 2, and display screen 3 can be used to the scene image that shows that single camera 13 photographs.In addition, computing machine 2 also directly sends to display screen 3 by 360 degree panoramic pictures after treatment, and therefore display screen 3 also can be used to show the degree of 360 after anastomosing and splicing panoramic picture.
The three-dimensional scenic map providing by the present embodiment has a lot of application scenarios, for example, while exploration in robot, helmet equipment is arranged in robot, robot three-dimensional scenic cartographic information is around sent to control center in real time, and robot 360 degree scenes around can be watched with the angle of oneself by display screen 3 by control center.
embodiment 4:
Refer to shown in Fig. 6, for 4 one kinds of the embodiment of the present invention provide the structural representation of the device of real-time scene map.This device comprises the helmet equipment 1 that computing machine (not shown), display device (not shown) and embodiment 1, embodiment 2 or embodiment 3 provide.Helmet equipment 1 is provided with at least 3, and is arranged in Same Scene, obtains the scene image of object different angles in Same Scene by helmet equipment 1.Computing machine carries out anastomosing and splicing by the scene image of object different angles and obtains the three-dimensional close-up view of object, and sends to display device to show.
In the time that multiple helmet equipments 1 are in same scene, on different helmet equipments 1, can obtain the image of the different angles of same object in scene (being for example a large tree 5 in the present embodiment).This large tree 5 of image-watching that can select the different cameras 13 from different helmet equipments 1 to obtain, thus can observe the image of large tree 5 different angles.Through computing machine, processing can obtain the three-dimensional close-up view of large tree 5 in scene in real time.The present embodiment not only can obtain three-dimensional scenic map in real time by single helmet equipment 1, and the image of the same object obtaining from different perspectives by multiple helmet equipments 1 (at least 3) in Same Scene, can also obtain the three-dimensional close-up view of object.
embodiment 5:
Refer to shown in Fig. 7, for 5 one kinds of the embodiment of the present invention provide the structural representation of the device of real-time scene map.This device comprises that (display device is to be installed on display screen on helmet body or long-range display screen for computing machine 2, display device, in the time that display device is long-range display screen, can be the display screen of computing machine in the present embodiment 2 self, can be also the display screen arranging separately) and the helmet equipment 1 that provides of embodiment 1, embodiment 2 or embodiment 3.Helmet equipment 1 is arranged in different scenes.Between helmet equipment 1, carry out mutual communication, communication modes is between every two helmet equipments 1, to pass through computer communication, between helmet equipment 1, obtains by mutual communication the scene image that other helmet equipments 1 are taken.Display device is for display scene images.
In the time that multiple helmet equipments 1 are in different scenes, each helmet equipment 1 can obtain separately scene information around by computing machine 2, by communication, the user of each helmet equipment 1 can obtain the scene information that other helmet equipments 1 obtain, but not is confined to the scene information of the current present position of user oneself.The present embodiment not only can obtain three-dimensional scenic map in real time by single helmet equipment 1, and communication mutually between multiple helmet equipments 1, can make single helmet equipment 1 obtain the scene image that other helmet equipments 1 are taken, thereby form large-scale real-time scene map by the scene map of multiple diverse locations.
embodiment 6:
Refer to shown in Fig. 8, for 6 one kinds of the embodiment of the present invention provide the structural representation of the device of real-time scene map.The difference of the present embodiment and embodiment 5 is: the present embodiment is to carry out the communication between helmet equipment 1 by the processing of intermediate server 4.This device comprises the helmet equipment 1 that intermediate server 4, display device (not shown) and embodiment 1, embodiment 2 or embodiment 3 provide.Each helmet equipment 1 and intermediate server 4 carry out communication, and intermediate server 4 receives the scene image that all helmet equipments 1 take and processes, and intermediate server 4 offers scene image and each helmet equipment 1 of its communication.Each helmet equipment 1 obtains the scene image at different scenes place according to the needs of oneself.Display device is for display scene images.Wherein, intermediate server 4 also can be referred to as Cloud Server.
Each helmet equipment 1 and Cloud Server 4 communications, Cloud Server 4 obtains after the information of all helmet equipments 1 place scene, after overall treatment, then other local scene informations is offered to each helmet equipment 1.Each helmet equipment 1 can obtain according to the needs of oneself cartographic information at different scenes place.The present embodiment not only can obtain three-dimensional scenic map in real time by single helmet equipment 1, can also, by communication mutually between multiple helmet equipments 1, form large-scale real-time scene map by the scene map of multiple diverse locations.
The device that real-time scene map is provided providing by the above embodiment of the present invention, not only can obtain real-time three-dimensional scene information, by communication mutually between multiple helmet equipments, camera on different helmet equipments in Same Scene can photograph same object from different perspectives, thereby can obtain the three-dimensional overall picture information of object; And, by the mutual communication between multiple helmet equipments, can also obtain large-scale scene map, but not be confined to the scene map of current location scope.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (5)
1. the device that real-time scene map is provided, is characterized in that, described device comprises helmet equipment and computing machine; Described helmet equipment comprises helmet body, wireless communication module and multiple camera; Described camera is installed on helmet body surrounding and is connected with wireless communication module, and described wireless communication module and computing machine carry out communication; Described camera is taken in real time the scene image around helmet equipment and the scene image of shooting is transferred to computing machine by wireless communication module; Described computing machine receives and processes described scene image;
Described camera is at least 4, is installed on respectively the four sides all around of helmet body surrounding;
Described computing machine is processed scene image: the scene image receiving is carried out anastomosing and splicing by described computing machine, obtains 360 degree panoramic pictures of scene;
The scene image of shooting is sent to a display device by described camera, and described display device is used for showing the scene image that single camera photographs; Or scene image after treatment is sent to a display device by described computing machine, described display device is used for showing the described 360 degree panoramic pictures after anastomosing and splicing;
Described display device is to be installed on display screen on helmet body or long-range display screen; In the time that described display device is the display screen being installed on helmet body, the scene image that described single camera photographs sends to display screen by camera, and described 360 degree panoramic pictures are transferred to display screen by computing machine by wireless communication module; In the time that described display device is long-range display screen, the scene image that described single camera photographs is transferred to display screen by camera by wireless communication module, and described 360 degree panoramic pictures send to display screen by computing machine.
2. device according to claim 1, is characterized in that, described in the display screen that is installed on helmet body be spectacles type miniature display screen.
3. the device that real-time scene map is provided, is characterized in that, described device comprises the helmet equipment described in computing machine, display device and claim 1～2 any one; Described helmet equipment is provided with at least 3, and described helmet equipment is arranged in Same Scene, obtains the scene image of object different angles in scene by helmet equipment; Described computing machine carries out anastomosing and splicing by the scene image of object different angles and obtains the three-dimensional close-up view of object, and sends to display device to show.
4. the device that real-time scene map is provided, is characterized in that, described device comprises the helmet equipment described in computing machine, display device and claim 1～2 any one; Described helmet equipment is arranged in different scenes; Between helmet equipment, carry out mutual communication, communication modes is between every two helmet equipments, to pass through computer communication, between helmet equipment, obtains by mutual communication the scene image that other helmet equipments are taken; Described display device is for display scene images.
5. the device that real-time scene map is provided, is characterized in that, described device comprises the helmet equipment described in intermediate server, display device and claim 1～2 any one; Each helmet equipment and intermediate server carry out communication, and intermediate server receives the scene image that all helmet equipments take and processes, and intermediate server offers scene image and each helmet equipment of its communication; Each helmet equipment obtains the scene image at different scenes place according to the needs of oneself; Described display device is for display scene images.
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| CN201210294651.7A CN102831816B (en) | 2012-08-17 | 2012-08-17 | Device for providing real-time scene graph |
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| CN201210294651.7A CN102831816B (en) | 2012-08-17 | 2012-08-17 | Device for providing real-time scene graph |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103118230B (en) * | 2013-02-28 | 2016-06-22 | 腾讯科技（深圳）有限公司 | A kind of panorama acquisition, device and system |
| CN103841332B (en) * | 2014-03-21 | 2018-10-12 | 英华达（上海）科技有限公司 | Panorama scene is shot and the mobile device of browsing, system and method |
| CN106686364B (en) * | 2014-07-09 | 2019-02-15 | 歌尔科技有限公司 | A kind of wear-type visual device and video system |
| CN105043375A (en) * | 2015-06-04 | 2015-11-11 | 上海斐讯数据通信技术有限公司 | Navigation method, navigation system and corresponding mobile terminal |
| CN106911898A (en) * | 2017-03-31 | 2017-06-30 | 北京疯景科技有限公司 | Panorama shooting device |
| CN107024772B (en) * | 2017-04-26 | 2023-06-02 | 长春理工大学 | Fire control AR helmet device |
| CN108040247A (en) * | 2017-12-29 | 2018-05-15 | 湖南航天捷诚电子装备有限责任公司 | A kind of wear-type augmented reality display device and method |
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