CN104113678A - Image equal-distance acquisition implementing method and system - Google Patents
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- CN104113678A CN104113678A CN201310133961.5A CN201310133961A CN104113678A CN 104113678 A CN104113678 A CN 104113678A CN 201310133961 A CN201310133961 A CN 201310133961A CN 104113678 A CN104113678 A CN 104113678A
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Abstract
The invention relates to an image equal-distance acquisition implementing method and system. The system comprises an acquisition vehicle, a wheel sensor, an image acquisition device, and a synchronous control device. The wheel sensor is disposed on the acquisition vehicle and used for acquiring a signal relative to the number of rotated turns of the wheels of the acquisition vehicle. The image acquisition device is used for acquiring an image. The synchronous control device is used for receiving the signal, returned from the wheel sensor, relative to the number of rotated turns of the wheel of the acquisition vehicle and acquiring the number of rotated turns of the wheel of the acquisition vehicle according to the signal. When the number of rotated turns of the wheels reaches an integral multiple of a predetermined number of rotated turns, the synchronous control device gives a triggering signal to trigger the image acquisition device to perform image acquisition and receive and record the image returned from the image acquisition device. The image equal-distance acquisition implementing method and system may achieve accurate and equal-distance acquisition and acquired data is high in availability.
Description
Technical field
The application relates to acquisition technology field, particularly relates to a kind of equidistant collection implementation method and system of image.
Background technology
Along with the progress and development of the Internet, electronic chart becomes the closely bound up internet, applications of living with people, and daily life and travelling away from home etc. all be unable to do without electronic chart gradually.But traditional Two-dimensional electron map, due to abstract Symbolic Representation and reason, expression road that can only be limited and POI (point of interest, the interested impact point) information such as precision is inadequate.For many users, Two-dimensional electron map uses more obscure, can not meet people for map more accurately, more in detail, the demand of the map of better use, panorama map arises at the historic moment.
Panorama map, as a kind of emerging Map Service, becomes the focus of the Internet map manufacturer contention gradually.And panorama collection is as the source of data, becomes and make a very link of core of panorama map.The quality of data acquisition has directly determined product final effect.There is at present the panorama acquisition system that some are available, what but existing panorama acquisition system generally adopted when gathering panorama is by the method for camera continuous acquisition panoramic picture, the panoramic picture quantity gathering is huge, has caused data redundancy, has wasted the problems such as serious.Also some system adopts the acquisition method of constant duration to reduce data volume, and still, due to the difference of road conditions, it is irregular that panorama gathers the car speed of a motor vehicle, and the panoramic picture gathering exists again collection point problem not uniformly, equally also can produce a large amount of redundant datas.
Summary of the invention
The application's object is, overcomes the problems such as in prior art, collection point is even not, redundant data amount is large, and a kind of equidistant collection implementation method and system of new image are provided.
The embodiment of the present application provides a kind of equidistant collection implementation method of image.Described method comprises: the relevant signal of the rotation of wheel number of turns of collection car to being mounted with image collecting device that receives that wheel detector returns, and according to the rotation of wheel number of turns that gathers car described in described signal acquisition; When the described rotation of wheel number of turns reaches the integral multiple of predetermined rotating cycle, send triggering signal triggering image collecting device and carry out IMAQ; And receive and record the image that described image collecting device returns.
The application's execution mode provides a kind of equidistant collection of image to realize system, and described system comprises: gather car, be mounted with image collecting device; Wheel detector, is arranged on described collection car, for obtaining the signal relevant to the rotation of wheel number of turns of described collection car; Described image collecting device, for gathering image; Sync control device, for receiving the signal relevant to the rotation of wheel number of turns of described collection car that wheel detector returns, and according to the rotation of wheel number of turns of described signal acquisition collection car, when the described rotation of wheel number of turns reaches the integral multiple of predetermined rotating cycle, send triggering signal triggering image collecting device and carry out IMAQ, receive and record the image that described image collecting device returns.
With respect to prior art, equidistant collection implementation method and the system of the image that the application provides, by wheel detector, obtain the relevant signal of the rotation of wheel number of turns of described collection car, according to the rotation of wheel number of turns that gathers car described in described calculated signals, when the described rotation of wheel number of turns reaches the integral multiple of predetermined rotating cycle, send triggering signal triggering image collecting device and carry out IMAQ, can realize accurately equidistant collection, the availability of data gathering is high.
Above-mentioned explanation is only the general introduction of present techniques scheme, in order to better understand the application's technological means, and can be implemented according to the content of specification, and for the application's above and other object, feature and advantage can be become apparent, below especially exemplified by preferred embodiment, and coordinate accompanying drawing, be described in detail as follows.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the equidistant collection implementation method of the image in the application the first embodiment.
Fig. 2 is the schematic flow sheet of the equidistant collection implementation method of the image in the application the second embodiment.
Fig. 3 is the structural representation that the equidistant collection of the image in the application the 3rd embodiment realizes system.
Fig. 4 is the concrete structure schematic diagram that gathers car and wheel detector in Fig. 3.
Fig. 5 is the concrete structure schematic diagram of image collecting device in Fig. 3.
Fig. 6 is the structural representation that the equidistant collection of the image in the application the 4th embodiment realizes system.
Embodiment
For further setting forth the application, reach technological means and the effect that predetermined goal of the invention is taked, below in conjunction with accompanying drawing and preferred embodiment, equidistant collection implementation method and its embodiment of system, method, step, structure, feature and effect thereof to the image proposing according to the application, be described in detail as follows.
Aforementioned and other technology contents of relevant the application, Characteristic can be known and present in the following detailed description coordinating with reference to graphic preferred embodiment.By the explanation of embodiment, when can be to reach technological means and the effect that predetermined object takes to be able to more deeply and concrete understanding to the application, yet appended graphic being only to provide with reference to the use with explanation be not used for the application to be limited.
Equidistant collection implementation method and the system of the image that the embodiment of the present invention provides, can be applied to the IMAQ to panoramic picture, also can be applied in other acquisition technology, such as surveying and mapping technology etc.Below will with specific embodiment, the present invention is described in detail.
The first embodiment
Fig. 1 is the schematic flow sheet of the equidistant collection implementation method of the image in the application the first embodiment.As shown in Figure 1, the equidistant collection implementation method of the image in the present embodiment comprises:
Step S11: the relevant signal of the rotation of wheel number of turns of collection car to being mounted with image collecting device that receives that wheel detector returns, and according to the rotation of wheel number of turns that gathers car described in described signal acquisition.
In the acquisition system of image, the equipment in acquisition system (for example image collecting device) is generally all loaded on a collection car.For example, carrying out panoramic picture while gathering, among panorama gathers advancing of car, image collecting device can Quick Acquisition road and the live-action image of both sides atural object.In the application, on the collection car of acquisition system, be mounted with wheel detector, for obtaining the signal relevant to the rotation of wheel number of turns of described collection car.
Concrete, wheel detector can comprise being arranged at and gathers the magnetic force induction device of car vehicle body and be arranged at the magnetic element (for example magnet) that gathers car wheel.Described magnetic force induction device can be converted into the variation in the magnetic field of magnetic force induction device self variation of output voltage, namely magnetic signal is converted into the signal of telecommunication.In gathering car traveling process, magnetic element on described wheel is every through described magnetic force induction device once, the magnetic field of described magnetic force induction device occur once to change, also return to accordingly the signal of telecommunication one time, the number of times returning according to the described signal of telecommunication can obtain the rotation of wheel number of turns that panorama gathers car.For the accurate Calculation rotation of wheel number of turns, can from for the first time or the n time inverse signal start to calculate.
The relevant signal of the rotation of wheel number of turns of collection car to being mounted with image collecting device that for example, receives at sync control device (computer) that above-mentioned wheel detector obtains, can be according to the rotation of wheel number of turns that gathers car described in described signal acquisition.
Step S12: when the described rotation of wheel number of turns reaches the integral multiple of predetermined rotating cycle, send triggering signal triggering image collecting device and carry out IMAQ.
Described pre-fixing turn can arrange according to size and the desired collection spacing of wheel, if the outer circumference of wheel is C rice, if set so pre-fixing turn, is n, is just equivalent to the collection of every C*n rice once.
When the described rotation of wheel number of turns reaches the integral multiple of predetermined rotating cycle, sync control device sends triggering signal triggering image collecting device and carries out panoramic picture collection.Namely gather the every rotation of the wheel n circle of car, system is just sent a triggering signal triggering image collecting device and is carried out IMAQ.The corresponding shooting point spacing of image that obtained is like this all C*n rice, has realized accurately equidistant collection, and the availability of data gathering is high.
Further, image collecting device in the present embodiment for example can comprise and is a plurality ofly arranged at image capture device (as camera or video camera) in same level and at least one is arranged at the image capture device of vertical direction, the described optical axis that is arranged at a plurality of image capture devices in same level is approximate coincides with the circle centre position of same circular arc and camera lens towards the direction away from the described center of circle, described in be arranged at vertical direction the camera lens of at least one image capture device towards sky.Preferably, a plurality of image capture devices that are arranged in same level are evenly to arrange.Certainly, the setting of image collecting device also can adopt other forms, such as a plurality of image capture devices, is emitting shape distribution etc., and the specific embodiment of the present invention is not as limit.
Preferably, above-mentioned image capture device is slr camera (Single Lens Reflex Camera, is abbreviated as SLR camera).Slr camera resolution with respect to common digital camera and panorama camera is higher, image quality is better, therefore, image collecting device adopts slr camera can obtain that image quality is clear, the panoramic picture of resolution, by the panoramic picture that a plurality of slr cameras are obtained, splice, can obtain high image quality, high-resolution panoramic pictures.
It should be noted that, the quantity that is arranged at the image capture device in same level can arrange according to the visual angle of image capture device, for example, if select visual angle, be the slr camera of 70～120 degree, five slr cameras preferably can be set in same level.
Step S13: receive and record the image that described image collecting device returns.
Last image collecting device returns to the image collecting, and is stored in corresponding database or data module, so that follow-up, image is further processed, such as splicing etc.The multiple image that the image that described image collecting device returns gathers such as can comprise by being a plurality ofly arranged in same level, towards the image capture device of different directions and by least one be arranged at vertical direction, the image that gathers towards skyward image capture device etc.
With respect to prior art, the equidistant collection implementation method of the image that the present embodiment provides, by wheel detector, obtain the relevant signal of the rotation of wheel number of turns of described collection car, according to described information, calculate the rotation of wheel number of turns of described collection car, when the described rotation of wheel number of turns reaches the integral multiple of predetermined rotating cycle, send triggering signal triggering image collecting device and carry out IMAQ, can realize accurately equidistant collection, the availability of data gathering is high.
The second embodiment
Fig. 2 is the schematic flow sheet of the equidistant collection implementation method of the image in the application the first embodiment.As shown in Figure 2, the equidistant collection implementation method of the image in the present embodiment comprises:
Step S21: the relevant signal of the rotation of wheel number of turns of collection car to being mounted with image collecting device that receives that wheel detector returns, and according to the rotation of wheel number of turns that gathers car described in described signal acquisition.This step is identical with the corresponding step in the first embodiment, repeats no more here.
Step S22: when the described rotation of wheel number of turns reaches the integral multiple of predetermined rotating cycle, send triggering signal triggering image collecting device and carry out IMAQ.This step is identical with the corresponding step in the first embodiment, repeats no more here.
Step S23: receive and record the image that described image collecting device returns.This step is identical with the corresponding step in the first embodiment, repeats no more here.
Step S24: receive and record the attitude about described image collecting device and positional information that GPS and INS navigation system are obtained.
GPS (Global Positioning System, global positioning system) is current application satellite navigation and location system the most widely, and easy to use, with low cost, its actual positioning precision has reached in 5 meters.But GPS exists and to be easily disturbed, poor reliability and the deficiency such as data output frequency is low in dynamic environment.INS system is to utilize the motion that is arranged on inertial measuring unit (as accelerometer and the gyroscope etc.) sensitive carrier on carrier, attitude and the positional information of output carrier.INS system is completely autonomous, and strong security, and maneuverability possess multi function parameter output, but have the problem of error run-up in time, and navigation accuracy is dispersed in time, can not work long hours separately, must constantly be calibrated.GPS and INS are combined and can make two kinds of navigation system learn from other's strong points to offset one's weaknesses, form an organic whole.On the one hand, utilize high-precision GPS information can be used for revising INS, control the accumulation in time of its error, on the other hand, utilize in the INS short time the higher and high feature of data sampling rate of positioning precision, can provide supplementary for GPS.When gps signal is subject to high strength, disturb, or when satellite system receiver breaks down, INS system can be carried out navigator fix independently.When gps signal condition is significantly improved to while allow following the tracks of, INS system provides the information such as relevant initial position, speed to GPS receiver, for using when again obtaining GPS code and carrier wave rapidly.INS system signal also can be used to the antenna alignment gps satellite of assistant GPS receiver, thereby has reduced to disturb the impact on system.In the present embodiment, what GPS and INS navigation system referred to is exactly the combination of GPS and INS navigation system, for Real-time Obtaining about information such as the attitude of described image collecting device and positions.
Step S25: receive and record the relevant three-dimensional data of the scene to described image that three dimensional data collection device obtains.
Three dimensional data collection device can be for example laser scanner.It is " the some clouds (points cloud) " that consist of complete discrete vector distance point that laser scanner utilizes the data that laser scanning obtains in real time, often be called as " range image (range image) ", range image itself has contained and has enriched terrain information and terrestrial object information, except can the high-precision DEM of direct construction (Digital Elevation Model, digital elevation model), outside, can also carry out feature extraction according to elevation information.
In the present embodiment, sync control device (for example computer), when receiving and recording the image that described image collecting device returns, receives simultaneously and records the relevant three-dimensional data of the scene to described image that the attitude about described image collecting device that GPS and INS navigation system obtain and positional information and laser scanner obtain.
Preferably, can be first image collecting device, GPS and INS navigation system and laser scanner and computer be carried out to time calibration, preserve again data separately, finally carry out the matching treatment of image, attitude and positional information, three-dimensional data, accuracy and the integrality of image data so both can have been guaranteed, reduce again the interference between different acquisition equipment, increase the stability of system.
With respect to prior art, the equidistant collection implementation method of the image that the present embodiment provides, by wheel detector, obtain the relevant signal of the rotation of wheel number of turns of described collection car, according to described information, calculate the rotation of wheel number of turns of described collection car, when the described rotation of wheel number of turns reaches the integral multiple of predetermined rotating cycle, send triggering signal triggering image collecting device and carry out IMAQ, can realize accurately equidistant collection, the availability of data gathering is high.
The 3rd embodiment
Fig. 3 is the structural representation that the equidistant collection of the image in the application the 3rd embodiment realizes system.As shown in Figure 3, the equidistant collection of the image in the present embodiment realizes system 30 and comprises: gather car 31, wheel detector 32, image collecting device 33, sync control device 34.
Wheel detector 32 is arranged on described collection car, for obtaining the signal relevant to the rotation of wheel number of turns of described collection car 31.Image collecting device 33 is loaded on described collection car 31 for gathering image.The relevant signal of the rotation of wheel number of turns to gathering car that sync control device 34 returns for receiving wheel detector, and according to the rotation of wheel number of turns of described signal acquisition collection car, when the described rotation of wheel number of turns reaches the integral multiple of predetermined rotating cycle, send triggering signal triggering image collecting device and carry out IMAQ, receive and record the image that described image collecting device returns.
Please refer to Fig. 4, concrete, described wheel detector 32 can comprise being arranged at and gathers the magnetic force induction device 321 of car 31 vehicle bodies 311 and be arranged at the magnetic element 322 (for example magnet) that gathers car 31 wheels 312, magnetic element 322 on described wheel 312 is every through described magnetic force induction device 321 once, described magnetic force induction device 321 returns to once described signal, and the number of times that sync control device 34 (for example computer) returns according to described signal obtains the rotation of wheel number of turns that gathers car 31.
For example, at sync control device 34 (computer), receive after the signal that the rotation of wheel number of turns to gathering car that above-mentioned wheel detector obtains is relevant, can be according to the rotation of wheel number of turns that gathers car 31 described in described calculated signals.Pre-fixing turn can arrange according to size and the desired collection spacing of wheel, if the outer circumference of wheel is C rice, if set so pre-fixing turn, is n, is just equivalent to the collection of every C*n rice once.
When the described rotation of wheel number of turns reaches the integral multiple of predetermined rotating cycle, send triggering signal triggering image collecting device and carry out IMAQ.Namely gather the every rotation of the wheel n circle of car, system is just sent a triggering signal triggering image collecting device and is carried out IMAQ.The corresponding spacing of image that obtained is like this all C*n rice, has realized accurately equidistant collection, and the availability of data gathering is high.
Further, please refer to Fig. 5, image collecting device 33 in the present embodiment comprises a plurality of image capture device 331 in same level and image capture devices 332 that at least one is arranged at vertical direction of being arranged at, the described optical axis that is arranged at a plurality of slr cameras in same level is approximate coincides with the O place, the center of circle of same circular arc and camera lens towards the direction away from the described center of circle, described in be arranged at vertical direction the camera lens of at least one image capture device 332 towards sky.Preferably, a plurality of image capture devices 331 that are arranged in same level are evenly to arrange.Preferably, image capture device 331,332 is slr camera, slr camera resolution with respect to common digital camera and panorama camera is higher, image quality is better, therefore, image collecting device adopts slr camera can obtain that image quality is clear, the image of resolution, by the image that a plurality of slr cameras are obtained, splices, and can obtain high image quality, high-resolution panoramic pictures.It should be noted that, the quantity that is arranged at the image capture device 331 in same level can arrange according to the visual angle of image capture device, for example, if select visual angle, be the slr camera of 70～120 degree, five slr cameras preferably can be set in same level.
Last image collecting device 33 returns to the image collecting, and is stored in corresponding database or data module, so that follow-up, image is further processed, such as splicing etc.
With respect to prior art, the equidistant collection of the image that the present embodiment provides realizes system, by wheel detector, obtain the relevant signal of the rotation of wheel number of turns of described collection car, according to described information, calculate the rotation of wheel number of turns of described collection car, when the described rotation of wheel number of turns reaches the integral multiple of predetermined rotating cycle, send triggering signal triggering image collecting device and carry out IMAQ, can realize accurately equidistant collection, the availability of data gathering is high.
The 4th embodiment
Fig. 6 is the structural representation that the equidistant collection of the image in the application the 4th embodiment realizes system.As shown in Figure 6, the equidistant collection of the image in the present embodiment realizes system 40 and comprises: gather car 41, wheel detector 42, image collecting device 43, sync control device 44, GPS and INS navigation module 45, three dimensional data collection device 46.
Wheel detector 42 is arranged on described collection car, for obtaining the signal relevant to the rotation of wheel number of turns of described collection car.Image collecting device 43 is for gathering image.Sync control device 44 is for receiving the relevant signal of the wheel detector 42 rotation of wheel number of turns that obtain and described collection car, according to the rotation of wheel number of turns that gathers car described in described calculated signals, when the described rotation of wheel number of turns reaches the integral multiple of predetermined rotating cycle, send triggering signal triggering image collecting device and carry out IMAQ, receive and record the image that described image collecting device returns.GPS/INS composite module 45 is for obtaining attitude and the positional information about described image collecting device.Three dimensional data collection device 46 for obtaining the three-dimensional data relevant to the scene of described image, for example, is laser scanner.
In the present embodiment, GPS and INS navigation module 45 fingers be exactly the module that is mounted with GPS and two kinds of navigation system of INS, for Real-time Obtaining about information such as the attitude of described image collecting device and positions.
It is " the some clouds (points cloud) " that consist of complete discrete vector distance point that three dimensional data collection device 46 utilizes the data that laser scanning obtains in real time, often be called as " range image (range image) ", range image itself has contained and has enriched terrain information and terrestrial object information, except can the high-precision DEM of direct construction, can also carry out feature extraction according to elevation information.
When sync control device 44 receives and records the image that described image collecting device 43 returns, receive simultaneously and record the attitude about described image collecting device and the positional information that GPS and INS navigation module 45 obtain and three dimensional data collection device 46 is that obtain and described image in the relevant three-dimensional data of scene.Preferably, can first image collecting device 43, GPS and INS navigation module 45 and three dimensional data collection device 46 be carried out to time calibration with computer, preserve again data separately, finally carry out the matching treatment of image, attitude and positional information, three-dimensional data, accuracy and the integrality of image data so both can have been guaranteed, reduce again the interference between different acquisition equipment, increase the stability of system.
With respect to prior art, the equidistant collection of the image that the present embodiment provides realizes system, by wheel detector, obtain the relevant signal of the rotation of wheel number of turns of described collection car, according to described information, calculate the rotation of wheel number of turns of described collection car, when the described rotation of wheel number of turns reaches the integral multiple of predetermined rotating cycle, send triggering signal triggering image collecting device and carry out IMAQ, can realize accurately equidistant collection, the availability of data gathering is high.
It should be noted that, each embodiment in this specification all adopts the mode of going forward one by one to describe, and each embodiment stresses is the difference with other embodiment, between each embodiment identical similar part mutually referring to.For device class embodiment, because it is substantially similar to embodiment of the method, so description is fairly simple, relevant part is referring to the part explanation of embodiment of the method.
It should be noted that, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thereby the process, method, article or the device that make to comprise a series of key elements not only comprise those key elements, but also comprise other key elements of clearly not listing, or be also included as the intrinsic key element of this process, method, article or device.The in the situation that of more restrictions not, the key element being limited by statement " comprising ... ", and be not precluded within process, method, article or the device that comprises described key element and also have other identical element.
One of ordinary skill in the art will appreciate that all or part of step that realizes above-described embodiment can complete by hardware, also can come the hardware that instruction is relevant to complete by program, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium of mentioning can be read-only memory, disk or CD etc.
The above, it is only the application's preferred embodiment, not the application is done to any pro forma restriction, although this application has discloses as above with preferred embodiment, yet not in order to limit the application, any those skilled in the art, do not departing within the scope of present techniques scheme, when can utilizing the technology contents of above-mentioned announcement to make a little change or being modified to the equivalent embodiment of equivalent variations, in every case be not depart from present techniques scheme content, any simple modification of above embodiment being done according to the application's technical spirit, equivalent variations and modification, all still belong in the scope of present techniques scheme.
Claims (12)
1. an equidistant collection implementation method for image, is characterized in that, described method comprises:
The relevant signal of the rotation of wheel number of turns of collection car to being mounted with image collecting device that receives that wheel detector returns, and according to the rotation of wheel number of turns that gathers car described in described signal acquisition;
When the described rotation of wheel number of turns reaches the integral multiple of predetermined rotating cycle, send triggering signal triggering image collecting device and carry out IMAQ; And
Receive and record the image that described image collecting device returns.
2. the equidistant collection implementation method of image as claimed in claim 1, it is characterized in that, described wheel detector comprises being arranged at and gathers the magnetic force induction device of car vehicle body and be arranged at the magnetic element that gathers car wheel, magnetic element on described wheel is every through described magnetic force induction device once, described magnetic force induction device returns to once described signal, and the number of times returning according to described signal obtains the rotation of wheel number of turns of described collection car.
3. the equidistant collection implementation method of image as claimed in claim 1, is characterized in that, described method further comprises:
Receive and record the attitude about described image collecting device and positional information that GPS and INS navigation system are obtained.
4. the equidistant collection implementation method of image as claimed in claim 1, is characterized in that, described method further comprises:
Receive and record the relevant three-dimensional data of the scene to described image that three dimensional data collection device obtains.
5. the equidistant collection implementation method of image as claimed in claim 1, it is characterized in that, the image that described image collecting device returns comprises by being a plurality ofly arranged in same level, the multiple image gathering towards the image capture device of different directions and the image that is arranged at vertical direction, is gathered towards skyward image capture device by least one.
6. the equidistant collection of image realizes a system, it is characterized in that, described system comprises:
Gather car, be mounted with image collecting device;
Wheel detector, is arranged on described collection car, for obtaining the signal relevant to the rotation of wheel number of turns of described collection car;
Described image collecting device, for gathering image; And
Sync control device, for receiving the signal relevant to the rotation of wheel number of turns of described collection car that wheel detector returns, and according to the rotation of wheel number of turns that gathers car described in described signal acquisition, when the described rotation of wheel number of turns reaches the integral multiple of predetermined rotating cycle, send triggering signal and trigger described image collecting device and carry out IMAQ, receive and record the image that described image collecting device returns.
7. the equidistant collection of image as claimed in claim 6 realizes system, it is characterized in that, described wheel detector comprises being arranged at and gathers the magnetic force induction device of car vehicle body and be arranged at the magnetic element that gathers car wheel, magnetic element on described wheel is every through described magnetic force induction device once, described magnetic force induction device returns to once described signal, and the number of times returning according to described signal obtains the rotation of wheel number of turns of described collection car.
8. the equidistant collection of image as claimed in claim 6 realizes system, it is characterized in that, described system further comprises:
GPS and INS navigation module, for obtaining attitude and the positional information about described image collecting device.
9. the equidistant collection of image as claimed in claim 6 realizes system, it is characterized in that, described system further comprises:
Three dimensional data collection device, for obtaining the three-dimensional data relevant to the scene of described image.
10. the equidistant collection of image as claimed in claim 9 realizes system, it is characterized in that, described three dimensional data collection device is laser scanner.
The equidistant collection of 11. images as claimed in claim 6 realizes system, it is characterized in that, described image collecting device comprises a plurality of image capture device in same level and image capture devices that at least one is arranged at vertical direction of being arranged at, the described optical axis that is arranged at a plurality of image capture devices in same level is approximate coincides with the circle centre position of same circular arc and camera lens outwardly, described in be arranged at vertical direction the camera lens of at least one image capture device towards sky.
The equidistant collection of 12. images as claimed in claim 11 realizes system, it is characterized in that, described image capture device is slr camera.
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| CN109391778A (en) * | 2017-08-14 | 2019-02-26 | 国网江苏省电力公司徐州供电公司 | Panoramic table device for quick collecting and method |
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Application publication date: 20141022 |