CN103076612B - Building surveying and mapping method combining laser radar with aerial photography - Google Patents
Building surveying and mapping method combining laser radar with aerial photography Download PDFInfo
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- CN103076612B CN103076612B CN201310004243.8A CN201310004243A CN103076612B CN 103076612 B CN103076612 B CN 103076612B CN 201310004243 A CN201310004243 A CN 201310004243A CN 103076612 B CN103076612 B CN 103076612B
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Abstract
The invention discloses a building surveying and mapping method combining a laser radar with an aerial photography. Building surveying and mapping are carried out by fusing different spatial characteristics. The integral technical scheme adopts a data driven mode without constraints of any rule and shape, can self-adapt to different working regions and buildings which are of a random complex shape, and has high automation degree. Labor intensity of large-range building surveying and mapping work can be reduced and production efficiency and achievement quality are improved.
Description
Technical field
The present invention relates to the buildings mapping method that a kind of laser radar is combined with aeroplane photography, belong to and utilize that multiple remote sensor is surveyed and drawn, the technical field of fusion treatment.
Background technology
Contour of building is important geospatial information, is bringing into play indispensable effect in fields such as real estate, city planning, disaster management, Geographic Information System.Because building shape is ever-changing, surrounding environment numerous and complicated, buildings mapping in detail and accurately has challenge, is all difficult point and the hot issue in Photogrammetry and Remote Sensing field for a long time.
Although aeroplane photography can be obtained abundant geospatial information, except contour of building, also have too many complicated spectrum and texture information, and be easily subject to contrast, illumination, block, the impact of shade etc., thereby cause contour of building location difficulty.Airborne laser radar is by having the accurate three-dimensional spatial data that the laser pulse of penetrability can quick obtaining extensive area.Intensive laser point cloud provides detailed elevation information.Can change the position of determining contour of building by the elevation of analyzing laser pin point.But laser pulse is what to beat discretely on earth's surface, tool bears the character of much blindness and is uncertain, and some contour of building place may not collect a little, and this causes the horizontal accuracy of the profile directly detecting from a cloud lower.
Merging these the two kinds data sources that have a complementary characteristic detects contour of building and is considered to a up-and-coming research direction.But in fusion treatment process, there are two problems to face.The one, use any space characteristics to merge, how from these two kinds of data sources, to extract respectively space characteristics.The 2nd, how to merge the final complete contour of building of these Characteristics creations.Current existing method mainly concentrates in relatively simple and regular situation, and shortage can adapt to the universal method of different complex building shapes automatically.
Summary of the invention
The object of this invention is to provide the buildings mapping method that a kind of laser radar is combined with aeroplane photography, make full use of the feature of two kinds of data source complementations, from these two kinds of data sources, extract different building features respectively, merge and form final complete contour of building.Buildings that can any complicated shape of self-adaptation.
The present invention realizes by the technical scheme of following steps:
1) three-dimensional data of use airborne laser radar system acquisition target area, obtains original point cloud data;
2) use airborne photography system obtaining step 1) in the image of target area;
3) will put cloud and Image registration;
4) level and smooth image, and obtain image Gradient Features;
5) extract contour of building point and contiguous non-building object point in some cloud, and project to image space formation contour of building dot buffer zone and contiguous non-buildings dot buffer zone;
6) in the overlapping buffer zone of contour of building dot buffer zone and contiguous non-buildings dot buffer zone, extract buildings edge;
7) merging point cloud dough sheet feature and image edge feature obtain complete contour of building;
8) profile is simplified, generated buildings mapping product.
As a further improvement on the present invention, in described step 6), give different weights to assist the rim detection in image to overlapping buffer zone and non-overlapped buffer zone.
The technology that the present invention has adopted laser radar to combine with aeroplane photography, merges different spaces feature and carries out buildings mapping.Whole technical scheme adopts the mode of data-driven, without any regular shape constraint, and the perform region that energy self-adaptation is different and the arbitrarily buildings of complicated shape, automaticity is high.Can alleviate the labour intensity of buildings mapping operations on a large scale, enhance productivity and quality of achievement.
Brief description of the drawings
Fig. 1 is the process flow diagram of a kind of laser radar of the present invention buildings mapping method of being combined with aeroplane photography.
Embodiment
Below in conjunction with the drawings and specific embodiments, further illustrate the present invention, should understand these embodiment is only not used in and limits the scope of the invention for the present invention is described, after having read the present invention, those skilled in the art all fall within the application's claims limited range to the amendment of the various equivalent form of values of the present invention.
Embodiment 1
As shown in Figure 1, the present invention includes following steps:
1) according to the requirement of final products, set suitable parameter (as sweep frequency, flying height etc.), use airborne laser radar system to carry out three-dimensional space data collection to target area, obtain original point cloud data.
2) use aeroplane photography to obtain the high resolution image of same area.Now some airborne laser radar system integration aviation digital camera, can in gathering laser point cloud data, synchronously obtain aviation image.
3) use the inside and outside element of orientation and reference mark information, based on collinearity equation by bidimensional image and three-dimensional point cloud accuracy registration.
4) by video conversion be 256 grades of gray-scale maps, then with the level and smooth image of Gaussian filter, then use the finite difference of single order local derviation assign to amplitude and the direction of compute gradient.
5) by a cloud filtering, ground point is separated with non-ground point, then from non-ground point, extract buildings point set according to area, shape facility, change roof dough sheet is removed, extracted to metope point according to neighborhood elevation again, thereby determine contour of building point and be close to non-building object point, and projecting on the image that registration is good and build buffer zone.The radius of buffer zone is a bit larger tham the equalization point spacing of a cloud, if for example dot spacing is 1～2 meter, it is 2 meters that buffer zone radius can be set so.
6) buffer zone of the buffer zone of the contour of building point building above and contiguous non-building object point understands that some is overlapping.Real contour of building most probable is positioned at overlapping buffer zone.In overlapping buffer zone, image is carried out to non local greatest gradient point inhibition and edge tracking accordingly, thereby obtain buildings edge in image.
7) use the automatic merging point cloud of morphologic boundary extraction method dough sheet feature and image edge feature to obtain complete contour of building.First use closing operation of mathematical morphology that roof dough sheet and image edge merging are obtained to an entirety
a, then use 3 × 3 structural element pair
acorrode and obtain
b, then by from
ain remove
b, obtain complete contour of building.
8) based on Douglas algorithm, contour of building is simplified, generated buildings mapping product.
Embodiment 2
The present embodiment is to the described the 6th) overlapping buffer zone and non-overlapped buffer zone in step give different weights, can assist the rim detection in image, reaches better detection effect.Other parts are identical with embodiment 1.
Claims (2)
1. the buildings mapping method that laser radar is combined with aeroplane photography, is characterized in that, comprises the following steps:
1) three-dimensional data of use airborne laser radar system acquisition target area, obtains original point cloud data;
2) use airborne photography system obtaining step 1) in the image of target area;
3) will put cloud and Image registration;
4) level and smooth image, and obtain image Gradient Features;
5) extract contour of building point and contiguous non-building object point in some cloud, and project to image space formation contour of building dot buffer zone and contiguous non-buildings dot buffer zone;
6), in the overlapping buffer zone of contour of building dot buffer zone and contiguous non-buildings dot buffer zone, image is carried out to non local greatest gradient point inhibition and edge tracking, thereby obtain buildings edge in image;
7) merging point cloud dough sheet feature and image edge feature obtain complete contour of building;
8) profile is simplified, generated buildings mapping product.
2. the buildings mapping method that a kind of laser radar according to claim 1 is combined with aeroplane photography, is characterized in that, in described step 6), gives different weights to assist the rim detection in image to overlapping buffer zone and non-overlapped buffer zone.
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| CN201310004243.8A CN103076612B (en) | 2013-01-07 | 2013-01-07 | Building surveying and mapping method combining laser radar with aerial photography |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103954970B (en) * | 2014-05-08 | 2016-09-07 | 天津市勘察院 | A kind of topographic(al) feature acquisition method |
| CN107204037B (en) * | 2016-03-17 | 2020-11-24 | 中国科学院光电研究院 | Three-dimensional image generation method based on active and passive three-dimensional imaging system |
| CN106056563A (en) * | 2016-05-20 | 2016-10-26 | 首都师范大学 | Airborne laser point cloud data and vehicle laser point cloud data fusion method |
| CN106097443B (en) * | 2016-05-30 | 2019-02-15 | 南京林业大学 | City indoor and outdoor integrated three-dimensional scenario building and spatially adaptive air navigation aid |
| CN106127857B (en) * | 2016-06-24 | 2018-11-16 | 南京林业大学 | The on-board LiDAR data modeling method of integrated data driving and model-driven |
| CN107909645A (en) * | 2017-11-16 | 2018-04-13 | 青岛市光电工程技术研究院 | Building view generation method, apparatus and system |
| CN108510514B (en) * | 2018-04-08 | 2021-06-01 | 福建师范大学 | Building extraction method using laser radar data and remote sensing image |
| CN109996053A (en) * | 2019-04-10 | 2019-07-09 | 北京当红齐天国际文化发展集团有限公司 | A kind of projecting method and optical projection system applied to outside vertical surface of building |
| CN111198378B (en) * | 2019-12-27 | 2022-06-28 | 深圳市优必选科技股份有限公司 | Boundary-based autonomous exploration method and device |
| CN113610978A (en) * | 2021-06-10 | 2021-11-05 | 瑞祥集团(河北)科技材料有限公司 | Automatic generation design method and system combined with space positioning scanning mapping scheme |
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| CN101975952A (en) * | 2010-09-13 | 2011-02-16 | 天津市星际空间地理信息工程有限公司 | Semi-automatic graph measurement method for digital line graph in onboard LIDAR single-chip mode |
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Application publication date: 20130501 Assignee: Nanjing Ubiquitous Technology Co.,Ltd. Assignor: HOHAI University Contract record no.: X2021980000206 Denomination of invention: A method of building surveying and mapping based on lidar and aerial photography Granted publication date: 20140611 License type: Common License Record date: 20210111 |
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