CN104183011A - Three-dimensional interactive virtual reality (3D IVR) restoring system - Google Patents
Three-dimensional interactive virtual reality (3D IVR) restoring system Download PDFInfo
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- CN104183011A CN104183011A CN201310201892.7A CN201310201892A CN104183011A CN 104183011 A CN104183011 A CN 104183011A CN 201310201892 A CN201310201892 A CN 201310201892A CN 104183011 A CN104183011 A CN 104183011A
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Abstract
The invention provides a three-dimensional interactive virtual reality (3D IVR) restoring system, which comprises at least two environment data acquisition devices, a data processing device and an IVR application platform, wherein the environment data acquisition devices are used for collecting the environment data of the 3D IVR, the environment data comprises image data, and each environment data acquisition device comprises an image collection module used for obtaining the image data of the 3D IVR in a synergetic way; the data processing device is used for obtaining the environment data of the 3D IVR and calculating to obtain a depth image of the 3D IVR through an image-based modeling algorithm according to the image data; and the IVR application platform is connected with the data processing device and is used for reducing the 3D IVR according to the depth image of the 3D IVR. When the technical scheme of the invention is adopted, system complexity can be reduced, the data calculation workload of the system is reduced, the cost is saved, and the system working efficiency is improved.
Description
Technical field
The present invention relates to geography information field of measuring technique, particularly relate to a kind of three-dimensional outdoor scene restoring system.
Background technology
Geography information is locus for describing real world all types of target and the information of distribution situation, is that the mankind are most important, one of most basic information resources.In social practice, geography information is widely used in the fields such as urban construction, the reallocation of land and military affairs.Geography information normally adopts the method for measurement to obtain.Along with the development of technology, geography information measuring technique is also improving.At present, can realize the three-dimensional outdoor scene restoring system of collection and analyzing three-dimensional geography information.
But, inventor finds under study for action, at least there are the following problems for existing three-dimensional outdoor scene restoring system: existing system is in the time that image data builds three-dimensional outdoor scene model, must adopt utility appliance collaborative work, the system for example having is by use laser scanner and GPS(GPS on ground, Global Position System, GPS) obtain spatial data by range finding, in addition prior art is carried out three-dimensional modeling generally artificial modeling or instrument modeling, system architecture complexity, cost is high, and system works amount is large.
Summary of the invention
Based on this, be necessary for the problems referred to above, a kind of three-dimensional outdoor scene restoring system is provided, can reduce system complexity, reduce the data amount of calculation of system, cost-saving, improve system works efficiency.
A kind of three-dimensional outdoor scene restoring system, comprising:
At least two environment data acquisition devices, for gathering the environmental data of three-dimensional outdoor scene, described environmental data comprises view data, each described environment data acquisition device comprises image capture module, in order to the collaborative view data of obtaining three-dimensional outdoor scene;
Data processing equipment, for obtaining the environmental data of described three-dimensional outdoor scene, and according to described view data, by calculate the depth image of three-dimensional outdoor scene based on image modeling algorithm;
Outdoor scene application platform, connects described data processing equipment, for reduce described three-dimensional outdoor scene according to the depth image of described three-dimensional outdoor scene.
Above-mentioned three-dimensional outdoor scene restoring system; gather the view data of three-dimensional outdoor scene by least two environment data acquisition devices; data processing equipment carries out three-dimensional modeling according to view data based on image modeling algorithm; calculate the depth image of three-dimensional outdoor scene; outdoor scene application platform is reduced three-dimensional outdoor scene according to depth image; with respect to available technology adopting instrumentation image data, adopt artificial modeling or based on instrumentation modeling; reduce system complexity; the data amount of calculation of minimizing system; cost-saving, improve system works efficiency.
Brief description of the drawings
The structural representation of the three-dimensional outdoor scene restoring system that Fig. 1 provides for an embodiment;
The structural representation of image capture module in the three-dimensional outdoor scene restoring system that Fig. 2 provides for an embodiment;
The structural representation of data processing equipment in the three-dimensional outdoor scene restoring system that Fig. 3 provides for an embodiment;
The structural representation of outdoor scene application platform in the three-dimensional outdoor scene restoring system that Fig. 4 provides for an embodiment;
The structural representation of outdoor scene application platform in the three-dimensional outdoor scene restoring system that Fig. 5 provides for another embodiment;
The structural representation of outdoor scene application platform in the three-dimensional outdoor scene restoring system that Fig. 6 provides for another embodiment.
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.
Referring to Fig. 1, a kind of three-dimensional outdoor scene restoring system is provided in one embodiment, comprising:
At least two environment data acquisition devices 12, for gathering the environmental data of three-dimensional outdoor scene, each environment data acquisition device 12 comprises image capture module 120, in order to the collaborative view data of obtaining three-dimensional outdoor scene;
Data processing equipment 14, for obtaining the environmental data of three-dimensional outdoor scene, and according to view data, by calculate the depth image of three-dimensional outdoor scene based on image modeling algorithm;
Outdoor scene application platform 16, connects data processing apparatus 14, for reduce three-dimensional outdoor scene according to the depth image of three-dimensional outdoor scene.
Principle of work and the function of its each several part are further described below:
At least two environment data acquisition devices 12 are for gathering the environmental data of three-dimensional outdoor scene, and environmental data comprises view data.In each environment data acquisition device 12, image capture module 120 is set and gathers the view data of three-dimensional outdoor scene, the three-dimensional modeling carrying out based on image for data processing equipment 14.Image collecting device 120 can be to comprise camera or CCD(CCD, Charge-coupled Device, charge coupled cell) image collecting device of sensor.At least two environment data acquisition devices 12, in the time arranging, while needing and save the cost of system, are preferably and adopt two environment data acquisition devices 12 for capable of meeting requirements on three-dimensional modeling.The primary optical axis of the image collecting device 120 in two environment data acquisition devices 12 in the time arranging, can be parallel in same plane, angled and in same plane or become different surface beeline relation.Two environment data acquisition devices 12 are once setting, between keep relatively fixing, according to different set-up modes, the parameter of the algorithm of three-dimensional modeling should be made corresponding change.Further, the environmental data that environment data acquisition device 12 gathers can also comprise in temperature data, humidity data, barometric information or air speed data, correspondingly, in environment data acquisition device, can also comprise temperature collect module, humidity collection module, air pressure acquisition module or gas flow rate acquisition module.
Data processing equipment 14, the environmental data gathering for reception environment data collector 12, and according to view data wherein, adopt, based on image modeling method, three-dimensional outdoor scene is carried out to modeling, obtain the depth image of three-dimensional outdoor scene.Outdoor scene application platform 16 be stored and be transferred to data processing equipment 14 can also as temperature data, humidity data etc. to other environmental data, or further data processing equipment 14 can be used in temperature data, humidity data in three-dimensional modeling as parameter.
Outdoor scene application platform 16, connects data processing apparatus 14, for reduce three-dimensional outdoor scene according to the depth image of three-dimensional outdoor scene.Temperature data, humidity data etc. that outdoor scene application platform 16 can also be transmitted according to data processing equipment 14, the three-dimensional outdoor scene of meticulousr reduction, for example, provide the temperature data query function of the three-dimensional outdoor scene of reducing.
The three-dimensional outdoor scene restoring system of one that the present embodiment provides; gather the view data of three-dimensional outdoor scene by least two environment data acquisition devices; data processing equipment carries out three-dimensional modeling according to view data based on image modeling algorithm; calculate the depth image of three-dimensional outdoor scene; outdoor scene application platform is reduced three-dimensional outdoor scene according to depth image; with respect to available technology adopting instrumentation image data, adopt artificial modeling or based on instrumentation modeling; reduce system complexity; the data amount of calculation of minimizing system; cost-saving, improve system works efficiency.In addition in the present embodiment, environment data acquisition device can gather multiple environmental data, as view data, temperature data, humidity data etc., can reduce more subtly three-dimensional outdoor scene.
Referring to Fig. 2, in one embodiment, image capture module 120 comprises:
Video acquisition unit 1202, for gathering the raw image data of three-dimensional outdoor scene.Video acquisition unit 1202 can be for example CCD camera.
Coding unit 1204, for raw image data is carried out to compression coding, obtains the view data after compression coding.The raw image data data volume that video acquisition unit 1202 gathers is generally larger, adopts coding unit 1204 to compress, and can adopt the compression algorithm that ratio of compression is higher, as algorithm h.264.
Decoding unit 1206, for the view data after compression coding is decompressed, obtains the view data of three-dimensional outdoor scene.
Transmission unit 1208, for by the image data transmission of three-dimensional outdoor scene to data processing equipment 14.Transmission unit 1208 to data processing equipment 14, can be the mode that adopts wire transmission or wireless transmission by the image data transmission of three-dimensional outdoor scene, and wherein wireless transmission comprises the transmission of 3G mobile network.
In the present embodiment, raw image data is carried out to compression coding, further reduced the data processing amount of system, improved system works efficiency.
Referring to Fig. 3, in one embodiment, in three-dimensional outdoor scene restoring system, data processing equipment 14 comprises:
View data receiver module 142, for receiving the view data of the three-dimensional outdoor scene that each environment data acquisition device obtains.
Concrete, view data receiver module 142 receives the view data that each environment data acquisition device obtains and stores the view data of obtaining at different storage space storage varying environment data collectors.Preferably, environment data acquisition device is set to two, the view data that therefore can obtain with two storage space storage varying environment data collectors, at synchronization, two images that environment harvester obtains, one can be referred to as left figure, and another is referred to as right figure.
Image characteristics extraction module 144, for extracting the three-dimensional scenic unique point of the view data that each environment data acquisition device obtains.
Concrete, under optimal way, image characteristics extraction module 144 receives left figure and right figure image, extracts the information of the three-dimensional scenic unique point in left figure and right figure, for example, in left figure and the right figure image marginal point of buildings and the angle point planimetric coordinates in image separately.
Feature Points Matching module 146, for the corresponding three-dimensional scenic unique point of view data of determining that each environment data acquisition device obtains.
Under optimal way, Feature Points Matching module 146 determine corresponding three-dimensional scenic unique point in unique point in the left figure that extracts and right figure.
Depth image computing module 148, for according to the corresponding three-dimensional scenic unique point of optical parametric, projection matrix and view data of being obtained by camera calibration, determines the depth image of three-dimensional outdoor scene.
Concrete, depth image computing module 148 carries out camera calibration and obtains optical parametric and projection matrix, corresponding three-dimensional scenic unique point in the left figure determining in conjunction with Feature Points Matching module 146 and right figure, calculate the spatial coordinate of corresponding three-dimensional scenic unique point in left figure and right figure, by the corresponding relation of spatial coordinate data and planimetric coordinates, determine the depth image of three-dimensional outdoor scene again.The depth image of three-dimensional outdoor scene shows the three-dimensional model of three-dimensional outdoor scene for reducing.
In the present embodiment, adopt three-dimensional modeling method based on image, with respect to the artificial modeling of prior art and based on instrument as laser scanner modeling, improved modeling efficiency, saved system cost.
Referring to Fig. 4, in one embodiment, outdoor scene application platform 16 comprises:
Data reception module 162, the depth image calculating for receiving data processing equipment 14.
Three-dimensional outdoor scene recovery module 164, for showing three-dimensional outdoor scene according to depth image.
Concrete, when three-dimensional outdoor scene recovery module 164 shows three-dimensional outdoor scene according to depth image, can be, but not limited to is to adopt virtual reality technology.
Referring to Fig. 5, in another is implemented, outdoor scene application platform 16 comprises:
Data reception module 162, the depth image calculating for receiving data processing equipment 14.
Geography information memory module 166, for storing the geography information of three-dimensional outdoor scene.
Concrete, the geography information of the three-dimensional outdoor scene that geography information memory module 166 is stored can be ASTER GDEM(ASTER GDEM, Advanced Spaceborne Thermal Emission and Reflection Radiometer Global Digital Elevation Model, advanced spaceborne heat emission and emitted radiation instrument whole world digital elevation model) data, GeoEye3D GIS(GeoEye3D GIS, Geographic Eye3D Geographic information system, geographical eye 3 dimension Geographic Information System) data or GEOBEANs data.The geographic information data that geography information memory module 166 is stored can upgrade in good time.
Three-dimensional outdoor scene recovery module 164, shows three-dimensional outdoor scene for the geography information in conjunction with three-dimensional scenic and depth image.
Concrete, under the preferred implementation of native system, obtain the view data of three-dimensional outdoor scene by two environment data acquisition devices and carry out three-dimensional modeling, the three-dimensional model of setting up can not reflect all information of three-dimensional outdoor scene comprehensively, the three-dimensional model for example set up only can react the above information in three-dimensional outdoor scene earth's surface, and subsurface information can not be reacted.Therefore three-dimensional outdoor scene recovery module 164 is by geography information and depth image in conjunction with three-dimensional outdoor scene, and supplementary using the geography information of three-dimensional outdoor scene as depth image shows three-dimensional outdoor scene.Three-dimensional outdoor scene recovery module 164 shows that three-dimensional outdoor scene can adopt virtual reality technology.
In the present embodiment, in outdoor scene application platform, store the geography information of three-dimensional outdoor scene, shown three-dimensional outdoor scene in conjunction with geography information and the depth image reduction of three-dimensional outdoor scene, made the three-dimensional outdoor scene information of reduction more careful and comprehensive.
Referring to Fig. 6, in another embodiment, outdoor scene application platform 16 also comprises AIM 168, for environmental data or described depth image are exported to the application end of system outside, AIM 168 comprises that api interface 1682, Internet interface 1684,3G move interface 1686.
Concrete, the three-dimensional outdoor scene restoring system that api interface 1682 can provide the present embodiment is connected with applications database, provide multilingual kit by api interface, support to carry out the customizing functions based under C language, Java language or PHP language development environment.
Internet interface 1684 can provide high in the clouds service, web services etc.For example can be connected with google map, the information that navigation Service is relevant is provided in real time.
3G move interface 1686 can with all kinds of mobile terminal communications, corresponding mobile APP application is provided.
In the present embodiment, outdoor scene application platform comprises AIM, has improved range of application and the scene of this three-dimensional outdoor scene restoring system.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (8)
1. a three-dimensional outdoor scene restoring system, comprising:
At least two environment data acquisition devices, for gathering the environmental data of three-dimensional outdoor scene, described environmental data comprises view data, each described environment data acquisition device comprises image capture module, in order to the collaborative view data of obtaining three-dimensional outdoor scene;
Data processing equipment, for obtaining the environmental data of described three-dimensional outdoor scene, and according to described view data, by calculate the depth image of three-dimensional outdoor scene based on image modeling algorithm;
Outdoor scene application platform, connects described data processing equipment, for reduce described three-dimensional outdoor scene according to the depth image of described three-dimensional outdoor scene.
2. system according to claim 1, it is characterized in that, described environment data acquisition device also comprises at least one in temperature collect module, humidity collection module, air pressure acquisition module, gas flow rate acquisition module, and described environmental data also comprises at least one in temperature data, humidity data, barometric information, air speed data.
3. system according to claim 1 and 2, is characterized in that, described image capture module comprises:
Video acquisition unit, for gathering the raw image data of three-dimensional outdoor scene;
Coding unit, for described raw image data is carried out to compression coding, obtains the view data after compression coding;
Decoding unit, for the view data after described compression coding is decompressed, obtains the view data of three-dimensional outdoor scene;
Transmission unit, for giving described data processing equipment by the image data transmission of described three-dimensional outdoor scene.
4. system according to claim 1, is characterized in that, described data processing equipment comprises:
View data receiver module, for receiving the view data of the three-dimensional outdoor scene that each described environment data acquisition device obtains;
Image characteristics extraction module, for extracting the three-dimensional scenic unique point of the view data that each described environment data acquisition device obtains;
Feature Points Matching module, for the corresponding three-dimensional scenic unique point of view data of determining that each described environment data acquisition device obtains;
Depth image computing module, for according to optical parametric, the projection matrix three-dimensional scenic unique point corresponding with described view data of being obtained by camera calibration, determines the depth image of three-dimensional outdoor scene.
5. system according to claim 1, is characterized in that, described outdoor scene application platform comprises:
Data reception module, the described depth image calculating for receiving described data processing equipment;
Three-dimensional outdoor scene recovery module, for showing described three-dimensional outdoor scene according to described depth image.
6. system according to claim 5, is characterized in that, described outdoor scene application platform also comprises geography information memory module, for storing the geography information of described three-dimensional outdoor scene;
Described three-dimensional outdoor scene recovery module, shows described three-dimensional outdoor scene for the geography information in conjunction with described three-dimensional scenic and described depth image.
7. system according to claim 6, is characterized in that, the geography information of described three-dimensional outdoor scene comprises the one in ASTER GDEM data, GeoEye3D GIS data, GEOBEANs data.
8. according to the system described in claim 5 or 6, it is characterized in that, described outdoor scene application platform also comprises AIM, for described environmental data or described depth image are exported to the application end of described system outside, described AIM comprises that api interface, Internet interface, 3G move at least one in interface.
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