CN105629980B - A kind of one camera oblique photograph 3 d modeling system - Google Patents

A kind of one camera oblique photograph 3 d modeling system Download PDF

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Publication number
CN105629980B
CN105629980B CN201510976788.4A CN201510976788A CN105629980B CN 105629980 B CN105629980 B CN 105629980B CN 201510976788 A CN201510976788 A CN 201510976788A CN 105629980 B CN105629980 B CN 105629980B
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module
control
dimensional data
camera
unmanned plane
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CN201510976788.4A
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CN105629980A (en
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张小星
郑爽
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深圳速鸟创新科技有限公司
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08Control of attitude, i.e. control of roll, pitch, or yaw
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10Simultaneous control of position or course in three dimensions

Abstract

The present invention relates to technical field of mapping, more particularly to a kind of one camera oblique photograph 3 d modeling system comprising unmanned plane and earth station, the unmanned plane include one camera acquisition module, posture position information module, fly control execution module;The earth station includes flying control control module, three-dimensional data analysis and processing module, true three-dimensional data library module.The present invention flies control control module, three-dimensional data analysis and processing module, true three-dimensional data library module by the way that one camera acquisition module is arranged on unmanned plane, flies control execution module and is arranged in earth station, and special optimization has been carried out to path of taking photo by plane, data acquisition and the three-dimensional reconstruction of multi-angle aerophotograph are only can be carried out by one camera;The problem of overcoming existing threedimensional model modeling tool cannot be handled for unmanned plane low latitude data (film size is small, unsteady attitude, and data volume is big) of taking photo by plane well, and have the ingredient of manual intervention in processing procedure, image data treatment effeciency.

Description

A kind of one camera oblique photograph 3 d modeling system

Technical field

The present invention relates to technical field of mapping, more particularly to a kind of one camera oblique photograph 3 d modeling system.

Background technology

UAV system is classified by weight can be divided into four classes such as miniature, light-duty, small-sized, large-scale, can by power resources mode It is divided into oily dynamic and electronic two class, can be divided into the three classes such as gyroplane, fixed-wing, flapping-wing aircraft by flying method.Involved by this method Miniature drone refers to the electronic unmanned plane of fixed-wing that weight is not more than 5kg, and fuselage material is with EPO (polyethylene foamed, styrene Mixture) and carbon fiber based on, flight course planning is carried out by earth station and flight control system, and carried out just with certain degree of overlapping in the air It penetrates and oblique photograph mode carries out the unmanned plane of Image Acquisition.

Chinese Patent Application No.:201310404384.9 entitled small-sized unmanned aerial vehicle onboard regards three-dimensional air remote sensing more and fills It sets and system, including:Unmanned plane;The fixed frame being set on unmanned plane, be provided on fixed frame first camera, second camera and Third camera;The long side of first camera, second camera and third camera is each perpendicular to heading setting;First camera and third Camera favours 45 ° of settings of horizontal plane, and second camera is arranged perpendicular to photography direction.By this topology layout, energy of the present invention Comprehensive image data is enough collected, the use of unmanned plane during flying platform is more suitable for.

Chinese Patent Application No.:201410327662.X entitled:Automatic fission based on urban architecture threedimensional model carries It is to include the following steps to take method, technical characterstic:Utilize the modeling of the existing automatic three-dimensional modeling measured based on oblique photograph Achievement uniformly turns to osgb formats;Transformed osgb data are resolved into geological information and texture information, while being parsed several The correspondence of what information and texture information;Function is automatically extracted to building concentration model by the realization of height diagnostic method;It is logical Spectrum diagnostic method is crossed, realization automatically extracts function to vegetation model;The building concentration model automatically extracted out is subjected to monomer Information is shown, is shown to the vegetation model automatically extracted out.

Existing unmanned plane oblique photograph system is due to being equipped with polyphaser so that the load of unmanned plane is significantly increased, limit Portability and the flexibility of unmanned machine operation have been made, while having reduced cruise duration and the operating efficiency of unmanned plane.Existing three Dimension module modeling tool is automatically extracted mainly for the data progress building concentration acquired in large aerospace camera and vegetation model Automatically extract, and can not well for unmanned plane low latitude take photo by plane data (film size is small, unsteady attitude, and data volume is big) carry out Processing, and have the ingredient of manual intervention in processing procedure, image data-handling efficiency.

Invention content

To overcome drawbacks described above, the purpose of the present invention be to provide a kind of one camera oblique photograph 3 d modeling system and Method.

A kind of one camera oblique photograph 3 d modeling system, including unmanned plane and earth station, the unmanned plane include single-phase Machine acquisition module, posture position information module fly control execution module;The earth station includes flying control control module, three-dimensional data Analysis and processing module, true three-dimensional data library module;Wherein

The one camera acquisition module is connect with the posture position information module, for acquiring picture signal and recording appearance State and location information, then picture signal and posture position information are sent to earth station;

The posture position information module is wirelessly connected with earth station, the location information for determining unmanned plane and flight appearance State, and carry out judging whether to reach precalculated position with default course line according to location information and flight attitude, if then controlling single-phase Machine acquisition module acquires picture signal;

The winged control execution module flies control control module with earth station and is wirelessly connected, and flies flying for control control module for receiving Control instruction simultaneously instructs control unmanned plane according to default airline operation according to winged control;

The winged control control module flies control instruction for inputting flight path and being sent out to winged control execution module;

The three-dimensional data analysis and processing module for receiving picture signal, and carries out analyzing processing and obtains three-dimensional data;

The true three-dimensional data library module is connect with the three-dimensional data analysis and processing module, three dimensions for that will generate According to carrying out LOD layerings, and temporally, geographic element and fixed format stored, to facilitate the calling in use from now on.

As an improvement the default course line is specially to be specified in region by " bow " font since the first starting point Circuit one along the line of the other one so as to plough deeper is flown and is returned, to specify the central point in region to deviate 60 degree as second as axle center after returning to the first starting point Starting point, and flown and returned by " bow " font circuit one along the line of the other one so as to plough deeper in specified region since the second starting point, returning to second After starting point again using specify region central point be axle center offset 60 degree as third starting point, and since third starting point It is flown and is returned by " bow " font circuit one along the line of the other one so as to plough deeper in specified region.

As an improvement the default course line can also be to be specified in region by " bow " word since fourth initial point Shape circuit one along the line of the other one so as to plough deeper is flown and is returned, and to specify the central point in region is 45 degree as the of axle center offset after returning to fourth initial point Five starting points, and flown and returned by " bow " font circuit one along the line of the other one so as to plough deeper in specified region since the 5th starting point, in return the Again to specify the central point in region to deviate 45 degree as the 6th starting point, and since the 6th starting point as axle center after five starting points It is flown and is returned by " bow " font circuit one along the line of the other one so as to plough deeper in specified region, again to specify the center in region after returning to the 6th starting point Point is that axle center deviates 45 degree as the 7th starting point, and is being specified in region by " bow " font circuit set since the 7th starting point It ploughs and flies and return.

Further, the one camera acquisition module and the unmanned plane are at 40-45 degree slanted angles.

Specifically, being additionally provided with wireless communication module on the unmanned plane, the wireless communication module wirelessly connects with earth station It connects, the exchange for establishing data and signal between unmanned plane and earth station.

Further, the earth station further includes DOM database modules, and DOM database modules are used for according to very three-dimensional Data switch produced 2-D data behind positive depression angle, and are stored according to time and information of geographic elements.

As an improvement the earth station further includes interactive display device, the interactive display device and described true three Dimensional database module connects comprising motion sensing control device, combined display and host computer pass through motion sensing control three-dimensional range Visual angle, host computer call the model data in true three-dimensional data library module, combined display that three-dimensional data is presented.

Specifically, the location information includes latitude, longitude, height above sea level, pressure altitude;The posture information includes bowing The elevation angle, roll angle, course angle, earth polar course angle, the posture information are recorded by the airbone gyro instrument.

Further, the one camera acquisition module includes that camera system and shutter inspire system;Shutter inspire system with Posture position information module is connected, and when unmanned plane during flying picture-taking position set to course line, shutter inspires system startup, control Camera system is shot.

As an improvement the three-dimensional data analysis and processing module is first extracted acquisition picture signal using MVS methods The point cloud data of dense Stereo Matching carries out denoising by bilateral filtering or wavelet algorithm, carries out dough sheet by delaunay model later Change is handled, and is carried out automatic textures finally by constraint texture mapping method, is obtained finally obtaining threedimensional model after global even color.

A kind of one camera oblique photograph 3 d modeling system of the present invention, including unmanned plane and earth station, by unmanned plane Upper setting one camera acquisition module, posture position information module fly control execution module;Fly control control mould with being arranged in earth station Block, three-dimensional data analysis and processing module, true three-dimensional data library module, and special optimization has been carried out to path of taking photo by plane, only pass through One camera can be carried out the data acquisition of multi-angle aerophotograph and three-dimensional reconstruction;Overcome existing threedimensional model modeling tool master It to be automatically extracted for the data progress building concentration acquired in large aerospace camera and vegetation model automatically extracts, and can not It is handled well for unmanned plane low latitude data (film size is small, unsteady attitude, and data volume is big) of taking photo by plane, and in processing procedure There is the problem of ingredient of manual intervention, image data treatment effeciency.

Description of the drawings

The present invention is described in detail by following preferred embodiments and attached drawing for ease of explanation,.

Fig. 1 is a kind of entire block diagram of one camera oblique photograph 3 d modeling system of the present invention;

Fig. 2 is a kind of the first line of flight schematic diagram of one camera oblique photograph 3 d modeling system of the present invention;

Fig. 3 is a kind of second of line of flight schematic diagram of one camera oblique photograph 3 d modeling system of the present invention.

Specific implementation mode

In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.

As shown in Figure 1:A kind of one camera oblique photograph 3 d modeling system of the present invention, including unmanned plane and earth station, institute Unmanned plane is stated to include one camera acquisition module, posture position information module, fly control execution module;The earth station includes flying control to control Molding block, three-dimensional data analysis and processing module, true three-dimensional data library module;Wherein

One camera acquisition module is connect with the posture position information module, for acquire picture signal and record posture and Location information, then picture signal and posture position information are sent to earth station;The one camera acquisition module includes camera system System and shutter inspire system;Shutter inspires system and is connected with posture position information module, when unmanned plane during flying is set to course line When picture-taking position, shutter inspires system startup, and control camera system is shot.

Wireless communication module is additionally provided on unmanned plane, the wireless communication module is wirelessly connected with earth station, for establishing The exchange of data and signal between unmanned plane and earth station.

Posture position information module is wirelessly connected with earth station, location information and flight attitude for determining unmanned plane, And carry out judging whether to reach precalculated position with default course line according to location information and flight attitude, it is adopted if then controlling one camera Collect module and acquires picture signal.Wherein, location information includes latitude, longitude, height above sea level, pressure altitude;The posture information Including pitch angle, roll angle, course angle, earth polar course angle, the posture information is recorded by the airbone gyro instrument.Posture position It sets information module and is integrated in and fly control execution module one, course line setting is carried out by earth station, unmanned plane is with level altitude (200- One along the line of the other one so as to plough deeper flight 300m) is carried out in target area overhead, while according to certain image degree of overlapping, fixed location triggering in the air is inclined Skewing scheme sheet data acquisition module is shot, and generally need to shoot a pictures every 50-80m in the air, and track spacing controls In 100m or so, position and the posture information taken pictures a little are recorded while taking pictures, and by demarcating and calibrating, be scaled phase The position of machine focus.

The winged control execution module flies control control module with earth station and is wirelessly connected, and flies flying for control control module for receiving Control instruction simultaneously instructs control unmanned plane according to default airline operation according to winged control;

The winged control control module flies control instruction for inputting flight path and being sent out to winged control execution module;By flying control Control module carries out flight course planning, and frame favored area generally extends out 100-200m than target area, filled by remote manual control when taking off It sets (such as futaba remote controlers) to be controlled, fly to enroute altitude after unmanned plane, switching is carried out automatically controlling by flight control system And it is monitored in real time by earth station.

The three-dimensional data analysis and processing module for receiving picture signal, and carries out analyzing processing and obtains three-dimensional data; Specifically, three-dimensional data analysis and processing module will first acquire point cloud data of the picture signal using MVS methods extraction dense Stereo Matching, Denoising is carried out by bilateral filtering or wavelet algorithm, tiled processing is carried out by delaunay model later, finally by constraint Texture mapping method carries out automatic textures, obtains finally obtaining threedimensional model after global even color.

The true three-dimensional data library module is connect with the three-dimensional data analysis and processing module, three dimensions for that will generate According to carrying out LOD layerings, and temporally, geographic element and fixed format stored, to facilitate the calling in use from now on.

The earth station further includes DOM database modules, and DOM database modules are used to just bowed according to the switching of true three-dimensional data Produced 2-D data behind visual angle, and stored according to time and information of geographic elements, to facilitate the calling in use from now on.

The earth station further includes interactive display device, and the interactive display device connects with the true three-dimensional data library module It connects comprising motion sensing control device, combined display and host computer pass through motion sensing control three-dimensional range visual angle, host computer Call the model data in true three-dimensional data library module, combined display that three-dimensional data is presented.

Default course line is specifically divided into two kinds:The first is hexagon course line;Second of " rice " font course line.As shown in Fig. 2, The first hexagon course line is to be flown and returned by " bow " font circuit one along the line of the other one so as to plough deeper in specified region since the first starting point, It is 60 degree of axle center offset as the second starting point to return after the first starting point to specify the central point in region, and from the second starting point Start to be flown and returned by " bow " font circuit one along the line of the other one so as to plough deeper in specified region, again to specify region after returning to the second starting point Central point is that axle center deviates 60 degree as third starting point, and is being specified in region by " bow " font line since third starting point Road one along the line of the other one so as to plough deeper is flown and is returned.

As shown in figure 3, second of course line " rice " font course line is to be specified in region by " bow " since fourth initial point Font circuit one along the line of the other one so as to plough deeper is flown and is returned, after returning to fourth initial point using specify region central point be axle center offset 45 degree as 5th starting point, and flown and returned by " bow " font circuit one along the line of the other one so as to plough deeper in specified region since the 5th starting point, it is returning It is opened again using specifying the central point in region to deviate 45 degree as axle center as the 6th starting point, and from the 6th starting point after 5th starting point Begin to be flown and returned by " bow " font circuit one along the line of the other one so as to plough deeper in specified region, again in specified region after returning to the 6th starting point Heart point is that axle center deviates 45 degree as the 7th starting point, and is being specified in region by " bow " font circuit since the 7th starting point One along the line of the other one so as to plough deeper is flown and is returned.

Its working method is:In one piece of exemplary requirement region, size is 1-2 square kilometres or so, and it is attached to select demand region Nearly one piece of open ground is unmanned plane landing place, has planned course line by the earth station that unmanned aerial vehicle platform is configured, has then passed through Manual control (such as futaba remote controlers) is controlled, and is flown to enroute altitude after unmanned plane, switching by flight control system into Row is automatically controlled and is monitored in real time by earth station.Aircraft on-course flies at a constant speed, and speed is 50km/h or so, this When, when aircraft is often taken pictures by one on course line, is taken pictures by tilting image data acquisition module and stored down Image data, " the one camera acquisition module is with the unmanned plane at 40-45 degree slanted angles." while inspiring position and attitude letter Breath acquisition module records position and the posture information taken pictures a little, and by demarcating and calibrating, is scaled the position of camera focus. Wait for that airline operation is completed, unmanned plane returns to takeoff point overhead, then switches to manual mode control unmanned plane and carry out gliding drop It falls or parachuting.Unmanned plane take-off weight is not more than 5 kilograms, while carrying one camera acquisition module and posture position information module. After the completion of entire data acquisition, image data will be tilted, position and attitude information data imports three-dimensional data analyzing processing Module is extracted the point cloud data of dense Stereo Matching using MVS (multi-view stereo) method, passes through bilateral filtering or small echo Algorithm carries out denoising, carries out tiled processing by delaunay model later, is carried out certainly finally by constraint texture mapping method Textures are moved, obtain finally obtaining full-automatic threedimensional model achievement after global even color.Later three-dimensional data achievement according to the time, Geographic element and fixed format are stored to true three-dimensional data library module, and three-dimensional data switches the two dimension generated behind positive depression angle Data are then stored to DOM database modules.The data are directed into the host computer of interactive display device, body-sensing control is passed through Device processed manipulates three-dimensional range visual angle, and host computer calls the model data in true three-dimensional database, combined display to present Three-dimensional data, to achieve the effect that three-dimensional live-action data roams.

The present invention is based on the oblique photograph data acquisition more light and flexibles of small-sized unmanned plane (being less than 5kg), while can Obtain the three-D grain textures of higher resolution.The point cloud of dense Stereo Matching is extracted by MVS (multi-view stereo) method Data are true color point cloud, and more intuitive compared with laser point cloud, by denoising, tiled, a series of means such as texture mapping obtain True three-dimensional data fidelity it is high, roaming effect is good.The three-dimensional live roaming experience effect manipulated by body sensing mode is good, really Sense is strong.

And further pass through the adjustment to path so that can be collected than polyphaser degree of overlapping more comprehensively by one camera (more comprehensively than existing polyphaser scheme to the visual angle of atural object, terrestrial object information is also more rich), the processing mode of image with it is existing Method simultaneously differs.Existing method is by being overlapped the three-dimensional (contraposition of generation after resolving contour line model, and orthophotoquad Set and posture information dependency degree want high), and the present invention is to first pass through the mode of dense Stereo Matching to obtain close point cloud model (this and bat It is very related to take the photograph mode, if style of shooting not using the present invention will shortage of data), pass through close point cloud model later and generates three Dimension data, during practical flight, there are GPS signal missing, IMU loss of learning, and the present invention believes position and posture The dependency degree of breath is low, therefore practicability is stronger.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention God and principle it is interior made by all any modification, equivalent and improvement etc., should be included in the interior of protection scope of the present invention.

Claims (9)

1. a kind of one camera oblique photograph 3 d modeling system, including unmanned plane and earth station, which is characterized in that the unmanned plane Including one camera acquisition module, posture position information module, fly control execution module;The earth station include fly control control module, Three-dimensional data analysis and processing module, true three-dimensional data library module;Wherein
The one camera acquisition module is connect with the posture position information module, for acquire picture signal and record posture and Location information, then picture signal and posture position information are sent to earth station;
The posture position information module is wirelessly connected with earth station, location information and posture information for determining unmanned plane, And carry out judging whether to reach precalculated position with default course line according to location information and posture information, it is adopted if then controlling one camera Collect module and acquires picture signal;
The winged control execution module flies control control module with earth station and is wirelessly connected, and the winged control for receiving to fly control control module refers to It enables and instructs control unmanned plane according to default airline operation according to winged control;
The winged control control module flies control instruction for inputting flight path and being sent out to winged control execution module;
The three-dimensional data analysis and processing module for receiving picture signal, and carries out analyzing processing and obtains three-dimensional data;
The true three-dimensional data library module is connect with the three-dimensional data analysis and processing module, for the three-dimensional data that will generate into Row LOD layering, and temporally, geographic element and fixed format stored, to facilitate the calling in use from now on;
The default course line is specially to be flown and returned by " bow " font circuit one along the line of the other one so as to plough deeper in specified region since the first starting point It returns, to specify the central point in region is 60 degree of axle center offset as the second starting point after returning to the first starting point, and from second Starting point starts to be flown and returned by " bow " font circuit one along the line of the other one so as to plough deeper in specified region, again with specified after returning to the second starting point The central point in region is that axle center deviates 60 degree as third starting point, and is being specified in region by " bow " since third starting point Font circuit one along the line of the other one so as to plough deeper is flown and is returned.
2. a kind of one camera oblique photograph 3 d modeling system, including unmanned plane and earth station, which is characterized in that the unmanned plane Including one camera acquisition module, posture position information module, fly control execution module;The earth station include fly control control module, Three-dimensional data analysis and processing module, true three-dimensional data library module;Wherein
The one camera acquisition module is connect with the posture position information module, for acquire picture signal and record posture and Location information, then picture signal and posture position information are sent to earth station;
The posture position information module is wirelessly connected with earth station, location information and posture information for determining unmanned plane, And carry out judging whether to reach precalculated position with default course line according to location information and posture information, it is adopted if then controlling one camera Collect module and acquires picture signal;
The winged control execution module flies control control module with earth station and is wirelessly connected, and the winged control for receiving to fly control control module refers to It enables and instructs control unmanned plane according to default airline operation according to winged control;
The winged control control module flies control instruction for inputting flight path and being sent out to winged control execution module;
The three-dimensional data analysis and processing module for receiving picture signal, and carries out analyzing processing and obtains three-dimensional data;
The true three-dimensional data library module is connect with the three-dimensional data analysis and processing module, for the three-dimensional data that will generate into Row LOD layering, and temporally, geographic element and fixed format stored, to facilitate the calling in use from now on;
The default course line is specially to be flown and returned by " bow " font circuit one along the line of the other one so as to plough deeper in specified region since fourth initial point It returns, to specify the central point in region is 45 degree of axle center offset as the 5th starting point after returning to fourth initial point, and from the 5th Starting point starts to be flown and returned by " bow " font circuit one along the line of the other one so as to plough deeper in specified region, again with specified after returning to the 5th starting point The central point in region is that axle center deviates 45 degree as the 6th starting point, and is being specified in region by " bow " since the 6th starting point Font circuit one along the line of the other one so as to plough deeper is flown and is returned, again to specify the central point in region to deviate 45 degree of works as axle center after returning to the 6th starting point For the 7th starting point, and is flown and returned by " bow " font circuit one along the line of the other one so as to plough deeper in specified region since the 7th starting point.
3. one camera oblique photograph 3 d modeling system as claimed in claim 1 or 2, which is characterized in that the one camera is adopted Collect module with the unmanned plane into 40-45 degree slanted angles.
4. one camera oblique photograph 3 d modeling system as claimed in claim 3, which is characterized in that also set on the unmanned plane There is wireless communication module, the wireless communication module is wirelessly connected with earth station, for establishing between unmanned plane and earth station The exchange of data and signal.
5. one camera oblique photograph 3 d modeling system as claimed in claim 4, which is characterized in that the earth station further includes DOM database modules, DOM database modules are used for according to produced 2-D data behind the positive depression angle of true three-dimensional data switching, and It is stored according to time and information of geographic elements.
6. one camera oblique photograph 3 d modeling system as claimed in claim 5, which is characterized in that the earth station further includes Interactive display device, the interactive display device are connect with the true three-dimensional data library module comprising motion sensing control device, combination Formula display and host computer, by motion sensing control three-dimensional range visual angle, host computer calls in true three-dimensional data library module Three-dimensional data is presented in model data, combined display.
7. one camera oblique photograph 3 d modeling system as claimed in claim 6, which is characterized in that the location information includes Latitude, longitude, height above sea level, pressure altitude;The posture information includes pitch angle, roll angle, course angle, the posture information It is recorded by the airbone gyro instrument.
8. one camera oblique photograph 3 d modeling system as claimed in claim 7, which is characterized in that the one camera acquires mould Block includes camera system and shutter triggering system;Shutter triggering system is connected with posture position information module, when unmanned plane flies When row picture-taking position set to course line, shutter triggers system and starts, and control camera system is shot.
9. one camera oblique photograph 3 d modeling system as claimed in claim 8, which is characterized in that the three-dimensional data analysis Processing module will first acquire point cloud data of the picture signal using MVS methods extraction dense Stereo Matching, pass through bilateral filtering or small echo Algorithm carries out denoising, carries out tiled processing by delaunay model later, is carried out certainly finally by constraint texture mapping method Textures are moved, obtain finally obtaining threedimensional model after global even color.
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