CN106203335A - Sign board visibility evaluation methodology based on three-dimensional point cloud - Google Patents
Sign board visibility evaluation methodology based on three-dimensional point cloud Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/35—Categorising the entire scene, e.g. birthday party or wedding scene
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Abstract
The invention discloses a kind of sign board visibility evaluation methodology based on three-dimensional point cloud, invention proposes can the definition of visual field and spacing-visible degree, and using spacing-visible degree as sign board in the space observability evaluation criterion of different observation positions.In three-dimensional point cloud, four element method, alpha shape algorithm and retina image-forming principle is utilized to calculate the visual field intensity of sign board at this viewpoint；Whether the point cloud projection in view frustums is calculated for blocking a cloud by ray method；Utilizing the visibility of the sign board of the correlation calculations viewpoint position of visual field intensity and visibility, calculate traffic signs can visual field.The method automatically, directly perceived, accurately, efficiently, install at traffic mark board safeguard, billboard is thrown in, can be given in terms of roadside greening and architectural design and reasonably instruct and suggestion, has the highest actual promotional value.
Description
Technical field
The present invention relates to a kind of sign board visibility evaluation methodology based on three-dimensional point cloud.
Background technology
Sign board refers to indicate feature with word or symbol, attracts the plate that pedestrian notes, the most normal in we are daily
Seeing, it includes prohibitory sign board, caution sign board, tourist symbol board, speed(-)limit sign board, indicating signboard, reflecting sign board, peace
Full sign boards etc., billboard is also one of its purposes amplified out.Direction board is as the marker of a kind of directiveness, it should to people
Eye-catching visual impact, but in actual applications, there is the factor of its eye-catching effect of many restrictions, because of installation site and installation
The most incorrect surrounding buildings caused blocks, and it is exactly one of factor wherein affecting maximum that greening-tree blocks.Traffic indication board
Being blocked, driver can not see instruction information in advance, easily go to the wrong way route or because slow down find instruction information and cause unnecessary
Block up and rear-end collision；Billboard is blocked, and the investment of investor can not get intended return；And for regulatory authorities
For, the pruning of greening-tree can only be carried out by subjective judgement, thus causes part way stability appraisal, and part way is neglected
Depending on, inefficiency and result is unsatisfactory.Therefore need one badly to evaluate sign board intuitively, exactly and wake up in actual applications
The method of purpose degree, installs as to sign board, billboard throw in and the guidance method whether greening-tree pruned and
Suggestion.
Summary of the invention
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art, it is provided that a kind of mark based on three dimensional point cloud
Board spacing-visible degree evaluation methodology.
For achieving the above object, the present invention is by the following technical solutions:
Sign board visibility evaluation methodology based on three-dimensional point cloud, comprises the following steps:
S1, calculation flag board are in the visual field intensity of benchmark of referenced viewpoints: to cross the normal at sign board center, from sign board
Viewpoint on the basis of position at the d rice of center, calculates the sign board imaging area on the retina when this referenced viewpoints is observed, fixed
Justice visual field intensity now is 1；
S2, calculation flag board are in the visual field intensity of viewpoint: calculate the sign board one-tenth on the retina when viewpoint is observed
The ratio of sign board imaging area on the retina when image planes are long-pending and referenced viewpoints is observed, it is visual that this ratio is on this aspect
Field intensity；
S3, calculation flag board are in the space visibility of viewpoint: calculated sign board center, with sign board central point and viewpoint
Line is that in the plane of normal vector, sign board is not blocked the ratio between area and sign board area, and this ratio is this
Space visibility on point；
S4, calculation flag board are at the spacing-visible degree of viewpoint: the spacing-visible degree of this point be this point visual field intensity with
The product of the space visibility of this point；
S5, calculation flag board can visual field: calculate and store the institute that distance marker board centre distance is R according to spherical equation
Having the spherical coordinate of viewpoint, repeat step S2-S4, calculate the space visibility of each viewpoint, setting up observed range is mark during R
The visual field model of board.
Further, step S1 specifically includes following steps:
S11, use existing sign board extraction algorithm, a cloud scene is extracted mark pip cloud；
S12, the center of calculation flag pip cloud and the normal vector Normal of sign board plane；
S13, four element method are used to rotate to mark pip cloud normal vector with sign board planar process vector Normal as Z
In the coordinate space of axle；
S14, mark pip cloud is projected to XOY plane, use alpha shape algorithm to calculate the border of point cloud projection；
S15, polygon area formula is used to calculate the area of sign board according to the border vertices of point cloud projection；
S16, calculating referenced viewpoints and the distance at sign board center, according to retina image-forming principle, calculation flag board is regarding
Imaging area above nethike embrane.
Further, described step S2 specifically includes:
S21, calculate alignment amount L of line between viewpoint and sign board center, use four element method will mark pip clouds
Rotate in the coordinate space with alignment amount L as Z axis；
S22, mark pip cloud is projected to XOY plane, use alpha shape algorithm to calculate the border of point cloud projection；
S23, border vertices according to point cloud projection, use polygon area formula to calculate the area of sign board；
S24, calculating viewpoint and the distance at sign board center, according to retina image-forming principle, calculation flag board is at retina
Imaging area above, this imaging area is the visual field intensity at this viewpoint with the ratio of the visual field intensity of benchmark.
Further, described step S3 specifically includes:
Eye coordinates is rotated in the coordinate space with alignment amount L as Z axis by S31, repetition step S21；
In S32, coordinate space after conversion, according to the sign board border vertices coordinate calculated in step S22, even
Connect the line of viewpoint and each summit, calculate the angle between the line at this line and viewpoint and sign board center, then calculate and look for
Go out the angle α of maximum；
S33, in former coordinate space, with the line at viewpoint and sign board center as direction, form one with α for visual angle angle
Individual view frustums, it is judged that whether the angle that the line of some cloud in viewpoint and view frustums and the line at viewpoint and sign board center are formed
More than α, if ＞ is α, give up, if≤α, carry out next step；
Putting the intersection point of the line of cloud and the place plane of sign board in S34, calculating viewpoint and view frustums, this intersection point point cloud is remembered
For Cloud1, four element method are used to rotate in the coordinate space with alignment amount L as Z axis by a cloud Cloud1, coordinate transform
After some cloud be designated as Cloud2；
S35, a cloud Cloud2 is projected on XOY plane, whether judge the point of Cloud2 point cloud projection by ray method
The border inner of the sign board point cloud projection calculated in step S22, if this point is in inside, is considered as intersection point, otherwise gives up
This point, it is thus achieved that intersection point point converge and be designated as Cloud3；
S36, use alpha shape algorithm calculate the border of some cloud Cloud3, according to the summit on the border of Cloud3,
Polygon area formula is used to calculate the area of intersection point point cloud；
The area ratio of the sign board calculated in S37, calculating intersection point point cloud boundary and step S24, deducts this ratio with 1
It is the space visibility at this viewpoint.
After using technique scheme, the present invention, compared with background technology, has the advantage that
Can automatically, intuitively, accurately and efficiently to the visibility of sign board be evaluated, install at sign board safeguard, advertisement
Board input, roadside greening and architectural design aspect are given and reasonably instruct and suggestion, especially can periodically make in urban road
It is scanned by Vehicle-borne Laser Scanning system, thus judges the greening-tree coverage extent to sign board, prune week as greening-tree
Phase and the reference of pruning rate.
Accompanying drawing explanation
Fig. 1 is that visual field model builds schematic diagram；
Fig. 2 is shelter schematic diagram during observation；
Fig. 3 is calculation process block diagram of the present invention；
Fig. 4 is the present invention visual field intensity computing block diagram；
Fig. 5 is that area of a polygon calculates schematic diagram；
Fig. 6 is retina image-forming principle schematic；
Fig. 7 is space of the present invention visibility calculation process block diagram；
Fig. 8 is that result is overlooked in intersection point point cloud computing；
Fig. 9 intersection point point cloud computing side-looking result；
Figure 10 is for blocking a cloud computing result figure；
Figure 11 is border and the result of calculation on sign board border of Cloud3；
Figure 12 is the sphere viewpoint point cloud schematic diagram of storage in embodiment；
Figure 13 be in embodiment with or without circumstance of occlusion can visual field display result.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, and
It is not used in the restriction present invention.
Embodiment
In order to represent sign board visibility in different distance, different visual angles intuitively, introduce can the definition of visual field,
As it is shown in figure 1, definition can visual field be: with sign board center as the centre of sphere, with R as radius, set up a three-dimensional sphere, definition mark
Hemisphere corresponding to the front of board be this sign board can visual field.
Viewpoint v that then each point on spheroid is all is R with sign board distancei, viewpoint viA cone is formed with sign board
Body.Human eye to the spacing-visible degree of sign board by viewpoint viDistance and observation angle affect: when observed range one timing, for
Different viewpoints, observation angle and sign board imaging area on the retina is inversely proportional to, observation angle deviation sign board normal
Direction is the biggest, and retina image-forming area is the least；When observation angle one timing, observed range and sign board imaging on the retina
Area is inversely proportional to, and distance is the most remote, and retina image-forming area is the least.
For stating this relation intuitively, viewpoint position is defined as visual field intensity to the impact of spacing-visible degree.For
The visual field intensity of tolerance by visual field intensity normalization, defined sign board center, along sign board normal direction distance
Viewpoint on the basis of the position at sign board center d rice (the usual ＜ of d 10, depending on practical situation) place, records now sign board and exists
Imaging area on retina, definition visual field intensity now is 1, then viewpoint viVisual field intensity be in viewpoint viTime
Sign board imaging area on the retina and the ratio of sign board imaging area on the retina when referenced viewpoints.
Thus, each viewpoint v on hemisphereiAll have a unique visual field intensity, visual field intensity with viewpoint away from
From increase and decay, with deviation sign board normal direction angle increase and decay.Visual field intensity at referenced viewpoints is
1, infinite point or visual field intensity when being 90 degree with sign board normal direction drift angle are 0.
But as in figure 2 it is shown, in the case of not considering illumination, in actual environment, in different viewpoints, sign board still can
Being blocked by different objects, in figure, circular and star represents blocking of the object such as leaves, light pole.So, solely use
The spacing-visible degree of sign board is evaluated being inaccurate by visual field intensity, and the position of viewpoint is different, then the mark observed
The area of will board is different, and the shielded area that shelter is formed is the most different, for stating this relation intuitively, by coverage extent to sky
Between the impact of visibility be labeled as space visibility, then the space visibility of viewpoint is defined as: cross sign board center, with sign board
On central point and plane that viewpoint line is normal vector, the ratio that sign board is not blocked between area and the area of sign board
Value.Then having, shielded area is the biggest, and space visibility is the least.
So, the spacing-visible degree of sign board is the visual field intensity product with space visibility of viewpoint, calculates visual
In Chang, i.e. obtain can the spacing-visible degree of visual field for the spacing-visible degree of each viewpoint.
As it is shown on figure 3, concrete calculation procedure is as follows:
S1, calculation flag board in the visual field intensity of benchmark of referenced viewpoints, particularly as follows:
S11, use existing sign board extraction algorithm, a cloud scene is extracted mark pip cloud；
S12, the center of calculation flag pip cloud and the normal vector Normal of sign board plane；
S13, four element method are used to rotate to mark pip cloud normal vector with sign board planar process vector Normal as Z
In the coordinate space of axle；
S14, mark pip cloud projects to XOY plane, and (now XOY plane i.e. crosses mark pip cloud center and sign board method
The plane that line is vertical), use alpha shape algorithm to calculate the border of point cloud projection；
S15, polygon area formula is used to calculate the area of sign board according to the border vertices of point cloud projection；
S16, calculating referenced viewpoints and the distance at sign board center, according to retina image-forming principle, calculation flag board is regarding
Imaging area above nethike embrane.
S2 calculation flag board in the visual field intensity of viewpoint, particularly as follows:
S21, calculate alignment amount L of line between viewpoint and sign board center, use four element method will mark pip clouds
Rotate in the coordinate space with alignment amount L as Z axis；
S22, mark pip cloud projects to XOY plane, and (now XOY plane i.e. crosses mark pip cloud center and alignment amount L
Vertical plane), use alpha shape algorithm to calculate the border of point cloud projection；
S23, border vertices according to point cloud projection, use polygon area formula to calculate the area of sign board；
S24, calculating viewpoint and the distance at sign board center, according to retina image-forming principle, calculation flag board is at retina
Imaging area above, this imaging area is the visual field intensity at this viewpoint with the ratio of the visual field intensity of benchmark.
As shown in Figure 4 be the calculation process block diagram of step S1 and S2, can the calculation process block diagram of visual field intensity, such as figure
Shown in 5 is area of a polygon calculate schematic diagram, as shown in Figure 6 be retina image-forming principle schematic.Wherein, four element
Method, alpha shape and area of a polygon calculate and belong to prior art, and concrete algorithm does not repeats at this, should be noted that
It is the determination that can affect border of the value of alpha, should arrange according to practical situation, the present embodiment is set to 0.1 meter.
S3, calculation flag board, in the space visibility of viewpoint, specifically include:
Eye coordinates is rotated in the coordinate space with alignment amount L as Z axis by S31, repetition step S21；
In S32, coordinate space after conversion, according to the sign board border vertices coordinate calculated in step S22, even
Connect the line of viewpoint and each summit, calculate the angle between the line at this line and viewpoint and sign board center, then calculate and look for
Go out the angle α of maximum；
S33, in former coordinate space, with the line at viewpoint and sign board center as direction, form one with α for visual angle angle
Individual view frustums, now in view frustums some cloud be possible and sign board between produce the some cloud blocked, it is judged that viewpoint and the cone
Whether the angle that the internal line of some cloud and the line at viewpoint and sign board center are formed, more than α, if ＞ is α, is given up, if≤α
Then carry out next step；
Putting the intersection point of the line of cloud and the place plane of sign board in S34, calculating viewpoint and view frustums, this intersection point point cloud is remembered
For Cloud1, four element method are used to rotate in the coordinate space with alignment amount L as Z axis by a cloud Cloud1, coordinate transform
After some cloud be designated as Cloud2；
S35, a cloud Cloud2 is projected on XOY plane (now XOY plane i.e. crosses mark pip cloud center and alignment amount
The plane that L is vertical), judge, by ray method, the sign board whether point of Cloud2 point cloud projection calculates in step S22
The border inner of point cloud projection, if this point is in inside, is considered as intersection point, otherwise gives up this point, it is thus achieved that intersection point point converge and be designated as
Cloud3；
S36, use alpha shape algorithm calculate the border of some cloud Cloud3, according to the summit on the border of Cloud3,
Polygon area formula is used to calculate the area of intersection point point cloud；
The area ratio of the sign board calculated in S37, calculating intersection point point cloud boundary and step S24, deducts this ratio with 1
It is the space visibility at this viewpoint.
As shown in Figure 7 be step S3 (i.e. the calculating of space visibility) FB(flow block).Fig. 8-Figure 10 is then followed successively by step
In S35: intersection point point cloud computing is overlooked result, intersection point point cloud computing side-looking result and blocks a cloud computing result figure.Figure 11 is
The border of Cloud3 and the result of calculation on sign board border.
S4, calculation flag board are at the spacing-visible degree of viewpoint: the spacing-visible degree of this point is the visual field intensity of this point
Product with the space visibility of this point.
S5, calculation flag board can visual field:
With sign board center as the centre of sphere, observed range R is radius, sets up sphere model, take sign board front towards
Positive hemisphere face, θ,It is respectively angle both horizontally and vertically, then has according to the parametric equation of ball,
Umbilical point cloud utilize four element coordinate transformation methods umbilical point cloud rotates to the dead ahead of sign board.Storage is just
The spherical coordinate of all viewpoints on hemisphere face, repeats step S2-S4, calculates the space visibility of each viewpoint, set up observed range
Visual field model for sign board during R.
As shown in figure 12 be storage sphere viewpoint point cloud schematic diagram.It is can referenced viewpoints in visual field as shown in fig. 13 that
Being 10 meters, can visual field radius be 13 meters, horizontal and vertical angle be the display result of 6 degree, display when left figure is unobstructed
As a result, right figure is to have display result when blocking.
The above, the only present invention preferably detailed description of the invention, but protection scope of the present invention is not limited thereto,
Any those familiar with the art in the technical scope that the invention discloses, the change that can readily occur in or replacement,
All should contain within protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
It is as the criterion.
Claims (4)
1. sign board visibility evaluation methodology based on three-dimensional point cloud, it is characterised in that comprise the following steps:
S1, calculation flag board are in the visual field intensity of benchmark of referenced viewpoints: to cross the normal at sign board center, from sign board center
Viewpoint on the basis of position at d rice, calculates the sign board imaging area on the retina when this referenced viewpoints is observed, defines this
Time visual field intensity be 1；
S2, point with distance marker board centre distance as R are as viewpoint, and calculation flag board is in the visual field intensity of viewpoint: calculate and exist
Sign board imaging surface on the retina when sign board imaging area on the retina is observed with referenced viewpoints during viewpoint observation
Long-pending ratio, this ratio is the visual field intensity on this aspect；
S3, calculation flag board are in the space visibility of viewpoint: calculated sign board center, with sign board central point and viewpoint line
Not being blocked the ratio between area and sign board area for sign board in the plane of normal vector, this ratio is on this aspect
Space visibility；
S4, calculation flag board are at the spacing-visible degree of viewpoint: the spacing-visible degree of this point is visual field intensity and this point of this point
The product of space visibility；
S5, calculation flag board can visual field: calculating and store distance marker board centre distance according to spherical equation is that all of R regard
The spherical coordinate of point, repeats step S2-S4, calculates the space visibility of each viewpoint, and setting up observed range is sign board during R
Visual field model.
Sign board visibility evaluation methodology based on three-dimensional point cloud the most according to claim 1, it is characterised in that step S1
Specifically include following steps:
S11, use existing sign board extraction algorithm, a cloud scene is extracted mark pip cloud；
S12, the center of calculation flag pip cloud and the normal vector Normal of sign board plane；
S13, use four element method will mark pip cloud normal vector rotate to the coordinate space with normal vector Normal as Z axis
In；
S14, mark pip cloud is projected to XOY plane, use alpha shape algorithm to calculate the border of point cloud projection；
S15, polygon area formula is used to calculate the area of sign board according to the border vertices of point cloud projection；
S16, calculating referenced viewpoints and the distance at sign board center, according to retina image-forming principle, calculation flag board is at retina
Imaging area above.
Sign board visibility evaluation methodology based on three-dimensional point cloud the most according to claim 1, it is characterised in that described step
Rapid S2 specifically includes:
S21, calculate alignment amount L of line between viewpoint and sign board center, use four element method to be rotated by mark pip clouds
In the coordinate space with alignment amount L as Z axis；
S22, mark pip cloud is projected to XOY plane, use alpha shape algorithm to calculate the border of point cloud projection；
S23, border vertices according to point cloud projection, use polygon area formula to calculate the area of sign board；
S24, calculating viewpoint and the distance at sign board center, according to retina image-forming principle, calculation flag board face on the retina
Imaging area, the ratio of this imaging area and the visual field intensity of benchmark is the visual field intensity at this viewpoint.
Sign board visibility evaluation methodology based on three-dimensional point cloud the most according to claim 1, it is characterised in that described step
Rapid S3 specifically includes:
Eye coordinates is rotated in the coordinate space with alignment amount L as Z axis by S31, repetition step S21；
In S32, coordinate space after conversion, according to the sign board border vertices coordinate calculated in step S22, connection regards
Point and the line on each summit, calculate the angle between the line at this line and viewpoint and sign board center, then calculate and find out
Big angle α；
S33, in former coordinate space, with the line at viewpoint and sign board center as direction, form one with α for visual angle angle and regard
Cone, it is judged that whether the angle that the line of some cloud in viewpoint and view frustums and the line at viewpoint and sign board center are formed is more than
α, if ＞ is α, gives up, if≤α, carries out next step；
Putting the intersection point of the line of cloud and the place plane of sign board in S34, calculating viewpoint and view frustums, this intersection point point cloud is designated as
Cloud1, uses four element method to rotate in the coordinate space with alignment amount L as Z axis by a cloud Cloud1, after coordinate transform
Some cloud be designated as Cloud2；
S35, a cloud Cloud2 is projected on XOY plane, judge that whether the point of Cloud2 point cloud projection is in step by ray method
The border inner of the sign board point cloud projection calculated in rapid S22, if this point is in inside, is considered as intersection point, otherwise gives up this
Point, it is thus achieved that intersection point point converge and be designated as Cloud3；
S36, use alpha shape algorithm calculate the border of some cloud Cloud3, according to the summit on the border of Cloud3, use
Polygon area formula calculates the area of intersection point point cloud；
The area ratio of the sign board calculated in S37, calculating intersection point point cloud boundary and step S24, deducts this ratio with 1 and is
Space visibility at this viewpoint.
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