CN106296783B - A kind of space representation method of combination space overall situation 3D view and panoramic pictures - Google Patents
A kind of space representation method of combination space overall situation 3D view and panoramic pictures Download PDFInfo
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Abstract
A kind of space representation method of combination space overall situation 3D view and panoramic pictures, comprising the following steps: 1) 3D modeling and by panoramic pictures generate space overall situation 3D model texturing；2) show the completion textures for generating step 1) for the 3D model in space to be presented using 3 d graphic library；3) panoramic pictures acquire, the panoramic pictures of multiple preset points of observation are acquired with indoor panorama three-dimensional data twin shaft automatic acquisition device in space to be presented while recording the exact space 3D coordinate information of each point of observation, and corresponding rotation axis information including zero degree angle information of the panoramic pictures in the 3D model in space to be presented；4) step 1) is mapped in using the panoramic pictures that 3D panorama mapping algorithm obtains step 3) to obtain on 3D model；5) 3D model display mode and panoramic pictures show the switching of mode.
Description
Technical field
The three-dimensional space display technique that the present invention relates to the use of computer or internet, by combine space 3D data and
Panoramic pictures reach to the comprehensive methods of exhibiting for being demonstrated space from the overall situation to details.
Background technique
Existing space representation method mainly has panoramic pictures to show and three-dimensional modeling displaying.Panoramic pictures lack three dimensions
According to Scene Representation lacks global displaying.And three-dimensional modeling is divided into manual measurement data modeling based on mapping and three-dimensional is swept
Retouch modeling.Model made by the former lacks true structure and texture information, the scene sense of reality is not strong；Although the latter space is tied
Structure is built with the sense of reality, but grain details are incomplete.Therefore, existing space representation method can be broadly divided into: (one) panorama
The displaying of picture, the 3D craft modeler model displaying of (two) scene, the 3D scanning modeling model display of (three) scene.In applicant
In the range of retrieval, the existing literature that the method for space representation can see method (one) is as follows:
In technical solution disclosed in Chinese patent literature CN201110426966, by including at least the complete of two cameras
Scape photographic device shoots space, wherein the sum of visual angle of all cam lens forms the spherical surface visual angle more than or equal to 360 degree,
Then the picture that image processing software will be utilized to shoot different cameras after the image transmitting to image processing terminal taken
Junction is modified, and so that the picture of different camera shootings is realized smooth combination, is generated 360 ° of panoramas.It is free due to not being
Between three-dimensional data, lack the displaying of scene global；
In technical solution disclosed in Chinese patent literature CN201210412995, the photo of panoramic picture is carried out at perspective
Reason generates the file set for having map mark to be modeled as true 3D scene.But this method lacks true spatial information,
Feeling of immersion is not strong；
Flat blueness deliver " 360 degree of panoramic techniques digital museum application (digital technology and application, 09 phase in 2015,
87) photo for " taking a rotating camera shooting space to overlap at center carries out splicing production panorama sketch with PS software
Then piece plays on plug-in unit, user can only can not achieve interactive user experience according to program setting browse space；
In technical solution disclosed in Chinese patent literature CN201510167536.7, aphorama is obtained with high-definition camera system
Obtained video data is spliced into 360 degree of videos by video-splicing software by frequency evidence, and final effect is that user can choose
It is switched between two-dimensional map and panoramic table, and then checks location information.Its shortcomings that, mainly two-dimensional map only included
Geographical location and geographic name lack actual geographic image, and three-dimensional panoramic video stream map not only has Web Publishing format
It is required that and data volume it is big, the data network load time is long, video panorama play fluency by network broadband influenced compared with
Greatly；
In technical solution disclosed in Chinese patent literature CN200910127737.9, shows article method and is characterized in that:
Different operational orders is responded to show different sequence image or animation, viewer cuts image when operating with different instructions
It changes on the image of respective angles, viewer's freely multi angle view is made to be taken article.Although the object of such method shooting
The angle of product is more, and the photo of acquisition is more, but the mode of photo formula browsing still shows article with two dimensional image, lacks three dimensions
According to scene switching is not smooth.
In technical solution disclosed in Chinese patent literature CN200610053842.9, sequence static map is generated with general camera
Picture reapplies software technology serial static image is spliced into 360 degree of cylindricalitys and looks around panorama sketch, since this method is complete using cylinder
Jing Tu, institute in this way can only 360 degree look around, be unable to multi angle view object, and since this method lacks object dimensional depth
Information cannot construct the perspective view with distance perception.
Chinese patent literature CN201310084834.0) disclosed in technical solution, set first with the acquisition of high definition bitmap
360 degree of omnidirectional image datas of standby acquisition carry out at processing bitmap early period with advanced computer graphic image technology
Reason forms outdoor scene full figure, then carries out secondary operation, the panorama sketch connected under each environment to live-action panorama.Add on the image
Add interactive interface, develop the human-computer interaction interface based on Kinect, realizes the intelligence interaction impression of action command.The method is only
User can be allowed to experience the visual experience of the two-dimensional panoramic figure of informative, due to lacking three-dimensional data information, Bu Nengzhen
It is real three-dimensionally to restore scene.
The existing literature of method (two) is as follows:
Liu Jun etc. deliver " modeling of the three dimension realistic of the site of ancient culture remains and virtual display technology (and computer engineering, 2010
20 phases, 286-290) " use projection domain Triangulation Technique fine modeling after 3 D laser scanning, then propose two-step method into
Row texture mapping, although achieving the stronger sense of reality, due to error influence and tower body binding site texture it is imperfect
Property results in the inaccurate of overall space details.And to auxiliary building using on the basis of design drawing by 3D Max
9.0 construct ruins scene, and the topographical information of object is imperfect, lacks the real information of space structure；
In technical solution disclosed in Chinese patent literature CN201310207203.3, house is created that using 3D modeling technology
Model can be moved freely with the use of virtual camera on house 3D model outwardly and inwardly space, and with corresponding position
Visual angle shows house 3D model, in addition the use of input module and control module, realizes human-computer interaction, it is various to guarantee that system is realized
Personalized displaying demand.Although this system can all show the three-dimensional data in space with panorama, since this is
System is created that building model using the method for pure manual 3D modeling, and the structure and texture in space are not from actual physics sky
Between, therefore show untrue, it is that cartoon shows effect.
The existing technical literature of method (three) is as follows
In technical solution disclosed in Chinese patent literature 201310343113.7, the three-dimensional scenic based on globular projection is proposed
" two dimensional image " mapping method, by more three-dimensional information descriptions such as depth in bidimensional panoramic picture and subsidiary description file
In, so that the defect for being unable to immersion roaming, human-computer interaction can only be shown by breaching traditional 360 degree of panorama sketch.Due to the system
Using the position in scene management module analysis room and door, several points of observation are automatically generated, viewer can only be from entrance point of observation
Start, according to the position of syntople switching observation, and point of observation cannot be independently selected, so this system cannot be complete to viewer
The displaying in orientation does not adapt to the displaying demand of various personalizations.
High big " Digital Campus primary construction (the digital skill that three-dimensional panorama is combined with 3 D laser scanning delivered such as strong
Art and application, 05 phase in 2013,106-108) " propose panoramic pictures combine to obtain three-dimensional space with laser scanning it is complete
The thinking of scape picture, but scheme is not made and being illustrated.
It can be seen that the three kinds of main methods shown by computer or network to spatial scene by analyzing above-mentioned document
Respectively there are following advantage and disadvantage.
One, the displaying of panoramic pictures
A) advantage: the displaying in space is fine and smooth true, especially shows to details
B) disadvantage: the switching (panoramic pictures) of scene is lofty, without transition；Lack the displaying of scene global, user experience
Cannot see the wood for the trees；Lack the support of three-dimensional data, scene information is not abundant comprehensive enough.
Two, the 3D craft modeler model of scene shows (similar 3Dmax Hand drawing models)
A) advantage: the existing whole overall situation of displaying in space shows, and has the details of internal part to show.
B) disadvantage: since the structure and texture in space are not from actual physics space, show untrue, be
Picture shows effect.
Three, the 3D scanning modeling model display of scene
A) advantage: the structure and texture in space derive from actual physics space, and the same existing overall situation has part to show again, opens up
Existing strong sense of reality.
B) disadvantage: due to limitation of scanning sensor itself, the not no panoramic pictures in space, therefore the details of model lacks
It loses more serious, it is barely satisfactory to show effect.
To sum up, provide that a kind of comprehensive panoramic pictures are shown and three-dimensional modeling shows advantage, the displaying in space is fine and smooth true, empty
Between the existing whole overall situation of displaying show, and there is the details of internal part to show and overcome the structure and line in respective method space
Reason derives from actual physics space, and the same existing overall situation has part to show again, shows strong sense of reality, reach perfectly to true
The displaying in space.
Summary of the invention
The technical solution adopted by the present invention is that, provide a kind of combination space overall situation 3D view and panorama in order to solve the above problem
The space representation method of picture, it is characterized in that the described method comprises the following steps:
1) 3D modeling acquires the depth in space to be presented by interior panorama three-dimensional data twin shaft automatic acquisition device first
Collected depth data is generated one using the 3D modeling method based on multi-angle of view data fusion by information data and panoramic pictures
The global 3D model in a space to be presented and panoramic pictures are generated space to be presented global 3D model texturing.It is described
The global 3D model hereinafter referred to as 3D model in space to be presented
2) 3D model display shows the 3D model of the completion textures of step 1) generation using 3 d graphic library.
3) panoramic pictures acquire, multiple with the acquisition of indoor panorama three-dimensional data twin shaft automatic acquisition device in space to be presented
The panoramic pictures of preset point of observation record simultaneously each point of observation exact space 3D coordinate information and corresponding panoramic pictures
The rotation axis information including zero degree angle information in 3D model.
4) panoramic pictures map, and are mapped in step 1) using the panoramic pictures that 3D panorama mapping algorithm obtains step 3) and obtain
Onto 3D model.
5) 3D model display mode and panoramic pictures show the switching of mode, when from the 3D model showed certain point to this
When the panoramic pictures of the immediate preset point of observation of point switch over, the user perspective in 3D model is recorded, and with user view
Angle shows panoramic pictures.It is preset in 3D model by being switched to when switching back into 3D model from the distant view photograph of the user perspective
On point of observation.
The space representation method of a kind of the combination space overall situation 3D view and panoramic pictures, it is characterized in that the panorama
Picture is cube (Cube) figure
The space representation method of a kind of the combination space overall situation 3D view and panoramic pictures, it is characterized in that the step
4) mapping algorithm of 3D panorama described in specifically includes following steps
4.1) two-dimensional screen coordinate system X/Y and three-dimensional 3D model coordinate systems X '/Y '/Z ', the 3D model are defined
The direction of coordinate system is always consistent with the orientation of 3D model, while the center of gravity of specified 3D model is former as 3D model coordinate systems
Point O defines the horizontal rotation shaft that Z ' is 3D model, and X ' is the vertical rotating shaft of 3D model.
4.2) the horizontal rotation shaft Z " and vertical rotating shaft X " of panoramic pictures is defined.By the horizontal rotation of each panoramic pictures
Axis Z " is aligned with the horizontal rotation shaft Z ' carry out direction of 3D model coordinate systems, while by the vertical rotating shaft X " of each panoramic pictures
Direction alignment is carried out with 3D model coordinate systems vertical rotating shaft, completes the mapping of panoramic pictures to 3D model.
The space representation method of a kind of the combination space overall situation 3D view and panoramic pictures, it is characterized in that the step
5) following steps are specifically included
5.1) when 3D model display mode shows mode conversion to panoramic pictures, record and user are in 3D model display mode
The direction of observation of the lower immediate preset point of observation of selection region and the level angle of current 3D model.The level angle is 3D
The reference axis X ' of model coordinate systems and angle with screen coordinate system X-axis,
5.2) panoramic pictures with user-selected area closest to preset point of observation are selected, and enable the horizontal rotation of panoramic pictures
Corner Q is equal with the level angle of step 5.1)；
5.3) according to the complete of the feathering angle for the panoramic pictures selected in step 5.2), the indication range of screen and needs
Scape picture display scale determines the range that the panoramic pictures are shown on the screen, and by this part, panoramic pictures are shown, and completes
The conversion of mode is shown from 3D model display mode to panoramic pictures.
5.4) inverse operating procedure 5.1)~5.3), it can be realized from panoramic pictures and show mode to 3D model display mode
Switching.
The space representation method of a kind of the combination space overall situation 3D view and panoramic pictures, it is characterized in that the interior
Panorama three-dimensional data twin shaft automatic acquisition device is by acquisition panoramic pictures and depth information data acquisition module, horizontal rotatable platform
With pitching rotating platform, panoramic pictures and depth information data can be acquired simultaneously.
The space representation method of a kind of the combination space overall situation 3D view and panoramic pictures, it is characterized in that described three
Tieing up shape library includes WebGL, local OpenGL or Direct3D.
The space representation method of a kind of the combination space overall situation 3D view and panoramic pictures, it is characterized in that will be entirely complete
The calculating process of each pixel of scape picture is all placed in server end, and the calculating process for showing 3D model and panoramic pictures is placed in
User terminal, server end are connected with user terminal by network, and the browser of WebGL interface is supported in user terminal installation, are operated in
The Javascript script of user terminal browser can call WebGL interface to realize 3D model showing on the screen；When from 3D mould
When type is switched to panoramic pictures, allowed while gradually being obscured by the shader interface of WebGL by 3D model panoramic pictures gradually
Clearly.
Compared with prior art, the invention has the advantages that
1, user not can be only seen the 3D pattern in entire space, while it can also be seen that the space of high quality is locally thin
Section.
2,3D model shows that the switching of mode is very smooth with two kinds of panoramic pictures, and user experience is made to reach best.When from
When 3D pattern is switched over to panoramic pictures mode, since the movement at visual angle is entirely the source position in normal 3d space
To the movement of destination locations, and source position is also a preset point of observation nearest with the target area of user's mouse click, institute
With consistent with the expection of user, experience is also just very smooth, in fact, preset point of observation is closeer, this experience is more smooth.Into
When row switching user be difficult to distinguish oneself see be on earth 3D model texturing or panoramic pictures, so 3D model
The process for the panoramic pictures that texturing is transitioned into seems that only display area is exaggerated, it is difficult to find area therein
Not.
3, from the point of view of the particular technique showed is realized, the calculating process of each pixel of entire panoramic pictures is all placed in clothes
It is engaged in device end, the calculating process for showing 3D model and panoramic pictures being placed in user terminal, 3D model data and panoramic pictures data can
It is loaded with timesharing, can thus effectively shorten the data network load time, reduce influence of the network bandwidth to user experience, and have
It is placed on the mobile terminal devices such as mobile phone conducive to by user terminal.
Detailed description of the invention
Fig. 1 shows for the horizontal rotation shaft and vertical rotating shaft of the panoramic pictures of an embodiment of the present invention and its direction of rotation
It is intended to；
Fig. 2 is the schematic illustration of the 3D model display mode of an embodiment of the present invention；
Fig. 3 is the schematic illustration of the recording level drift angle of an embodiment of the present invention；
Fig. 4 is that the determination panoramic pictures of an embodiment of the present invention show the schematic illustration of range.
Specific embodiment
Be further discussed below the present invention below with reference to embodiment and its attached drawing, referring herein to implementation method use browser
HTML5 technology, while can also be realized by technologies such as class OpenGL/Direct3D, but the claim of the present patent application is protected
Shield range is not limited by particular technique method is implemented.
The space representation method of a kind of combination space overall situation 3D view provided by the invention and panoramic pictures includes following step
It is rapid:
1) 3D modeling acquires the depth in space to be presented by interior panorama three-dimensional data twin shaft automatic acquisition device first
Collected depth data is generated one using the 3D modeling method based on multi-angle of view data fusion by information data and panoramic pictures
The global 3D model (hereinafter referred to as 3D model) in a space to be presented and the texturing that panoramic pictures are generated to 3D model.
2) 3D model display shows the 3D model for the completion textures for generating step 1) using 3 d graphic library.
3) panoramic pictures acquire, multiple with the acquisition of indoor panorama three-dimensional data twin shaft automatic acquisition device in space to be presented
The panoramic pictures of preset point of observation record simultaneously each point of observation exact space 3D coordinate information and corresponding panoramic pictures
The rotation axis information including zero degree angle information in the 3D model in space to be presented.
4) panoramic pictures map, and are mapped in step 1) using the panoramic pictures that 3D panorama mapping algorithm obtains step 3) and obtain
Onto 3D model.
Embodiment
In the present embodiment, indoor panorama three-dimensional data twin shaft automatic acquisition device includes that horizontal rotatable platform and pitching rotate
The stepper motor of tripod and controlled level the rotation angle of platform, the stepper motor of control pitching rotation angle and Microsoft
Kinect, they are commercial products.Kinect is mounted on tripod, can adjust its level by controlling stepper motor
Angle is rotated with pitching, to complete to treat the acquisition of panoramic pictures and depth information data in spacial flex.
Panoramic pictures are realized using cube (Cube) mode in the present embodiment.A determining moment panoramic pictures only
Part of it (according to screen size and display scale) to be showed on the screen.The 3D model used from applicant with
The model that the 3D scanning mode of Kinect is established.
3D panorama mapping algorithm described in the step 4) specifically includes following steps
4.1) two-dimensional screen coordinate system X/Y and three-dimensional 3D model coordinate systems X '/Y '/Z ', the 3D model are defined
The direction of coordinate system is always consistent with the orientation of 3D model, while the center of gravity of specified 3D model is former as 3D model coordinate systems
Point O, defines the horizontal rotation shaft that Z ' is 3D model, and X ' is the vertical rotating shaft of 3D model.
4.2) the horizontal rotation shaft Z " and vertical rotating shaft X " of panoramic pictures is defined.Due to the depth information data of 3D model
It is acquired simultaneously with panoramic pictures data, therefore by the horizontal rotation shaft Z of each panoramic pictures " and vertical rotating shaft X " and 3D model
The mapping of panoramic pictures to 3D model can be completed in the carry out direction horizontal rotation shaft Z ' and vertical rotating shaft X ' alignment of coordinate system.
The horizontal rotation shaft and vertical rotating shaft and its direction of rotation schematic diagram of the panoramic pictures are as shown in Figure 1
Following steps are specifically included in step 5)
5.1) when 3D model display mode shows mode conversion to panoramic pictures, record and user are in 3D model display mode
The direction of observation of the lower immediate preset point of observation C of selection region and the level angle Q of current 3D model.The level angle is
The reference axis X ' of 3D model coordinate systems and angle with screen coordinate system X-axis.Schematic illustration such as Fig. 2 of 3D model display mode
Shown, the schematic illustration of recording level drift angle is as shown in Figure 3
5.2) the panoramic pictures cube graph with user-selected area closest to preset point of observation is selected, and enables panoramic pictures
Feathering angle Q it is equal with the level angle of step 5.1)；
5.3) according to the complete of the feathering angle for the panoramic pictures selected in step 5.2), the indication range of screen and needs
Scape picture display scale obtains the range that the panoramic pictures should be shown on the screen, and by this part, panoramic pictures are shown,
Complete the conversion that mode is shown from space 3D model display to panoramic pictures.Determine that panoramic pictures show the schematic illustration of range
As shown in Figure 4.Preset point of observation C in figure, panoramic pictures show part of the range between aa ', the horizontal rotation of panoramic pictures
Angle Q is the reference axis X ' of 3D model coordinate systems and with the angle of screen coordinate system X-axis (equal to the reference axis Y ' of 3D model coordinate systems
With the angle with screen coordinate system Y-axis)
5.4) inverse operating procedure 5.1)~5.3), the switching from 3D pattern to panoramic pictures mode can be realized.
From the point of view of actually realizing effect, the above-mentioned effect showed is ideal, and it is big that handoff procedure utmostly meets the mankind
Brain thinking habit has reached good space observation user experience.
The method of the present invention has given full play to the respective advantage that 3D data model is shown and panorama is shown, and by reasonably calculating
Method gets up two kinds of seamless docking of methods of exhibiting, has achieved the effect that ideal.
Claims (5)
1. a kind of space representation method of combination space overall situation 3D view and panoramic pictures, it is characterized in that the method includes following
Step:
1) 3D modeling acquires the depth information in space to be presented by interior panorama three-dimensional data twin shaft automatic acquisition device first
Data and panoramic pictures, using the 3D modeling method based on multi-angle of view data fusion by collected depth data generate one to
The global 3D model of spacial flex and panoramic pictures are generated space to be presented global 3D model texturing, it is described wait open up
Show the global 3D model hereinafter referred to as 3D model in space；
2) 3D model display shows the 3D model of the completion textures of step 1) generation using 3 d graphic library；
3) panoramic pictures acquire, multiple preset with the acquisition of indoor panorama three-dimensional data twin shaft automatic acquisition device in space to be presented
The panoramic pictures of point of observation record the exact space 3D coordinate information of each point of observation simultaneously, and corresponding panoramic pictures to
The rotation axis information including zero degree angle information in the 3D model of spacial flex；
4) panoramic pictures map, and are mapped in step 1) using the panoramic pictures that 3D panorama mapping algorithm obtains step 3) and obtain 3D
On model；3D panorama mapping algorithm described in the step 4) specifically includes the following steps:
4.1) two-dimensional screen coordinate system X/Y and three-dimensional 3D model coordinate systems X '/Y '/Z ', the 3D model coordinate are defined
The direction of system is always consistent with the orientation of 3D model, while the center of gravity of specified 3D model is as 3D model coordinate systems origin O,
The horizontal rotation shaft that Z ' is 3D model is defined, X ' is the vertical rotating shaft of 3D model；
4.2) the horizontal rotation shaft Z " and vertical rotating shaft X " for defining panoramic pictures, by the horizontal rotation shaft Z " of each panoramic pictures
It is aligned with the horizontal rotation shaft Z ' carry out direction of 3D model coordinate systems, while by the vertical rotating shaft X " and 3D of each panoramic pictures
The mapping of panoramic pictures to 3D model is completed in model coordinate systems vertical rotating shaft X ' carry out direction alignment；
5) 3D model display mode and panoramic pictures show the switching of mode, when from the 3D model showed certain point to the point most
When the panoramic pictures of close preset point of observation switch over, the user perspective in 3D model is recorded, and with the user perspective exhibition
Existing panoramic pictures, when switching back into 3D model from the distant view photograph of the user perspective, the preset observation that will be switched in 3D model
On point, the step 5) specifically includes the following steps:
5.1) when 3D model display mode shows mode conversion to panoramic pictures, record and user select under 3D model display mode
The direction of observation of the immediate preset point of observation in region and the level angle of current 3D model are selected, the level angle is 3D model
The reference axis X ' of coordinate system and angle with screen coordinate system X-axis；
5.2) panoramic pictures with user-selected area closest to preset point of observation are selected, and enable the feathering angle of panoramic pictures
Q is equal with the level angle of step 5.1)；
5.3) according to the panorama sketch of the feathering angle for the panoramic pictures selected in step 5.2), the indication range of screen and needs
Piece display scale determines the range that the panoramic pictures are shown on the screen, and by this part, panoramic pictures are shown, and completes from 3D
Model display mode shows the conversion of mode to panoramic pictures；
5.4) inverse operating procedure 5.1)~5.3), it can be realized from panoramic pictures and show mode cutting to 3D model display mode
It changes.
2. a kind of space representation method of combination space overall situation 3D view and panoramic pictures as described in claim 1, feature
Be the panoramic pictures be cube graph.
3. a kind of space representation method of combination space overall situation 3D view and panoramic pictures as described in claim 1, feature
It is the indoor panorama three-dimensional data twin shaft automatic acquisition device by acquisition panoramic pictures and depth information data acquisition module, water
Flat rotating platform and pitching rotating platform form, and can acquire panoramic pictures and depth information data simultaneously.
4. a kind of space representation method of combination space overall situation 3D view and panoramic pictures as described in claim 1, feature
It is the 3 d graphic library include WebGL, local OpenGL or Direct3D.
5. a kind of space representation method of combination space overall situation 3D view and panoramic pictures as described in claim 1, feature
It is that the calculating process of each pixel of entire panoramic pictures is all placed in server end, will shows the meter of 3D model and panoramic pictures
Calculation process is placed in user terminal, and server end is connected with user terminal by network, and the browsing of WebGL interface is supported in user terminal installation
Device, the Javascript script for operating in user terminal browser can call WebGL interface to realize 3D model showing on the screen；
When from 3D models switching to panoramic pictures, panorama is allowed while gradually obscuring by the shader interface of WebGL by 3D model
Picture is gradually clear.
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| CN107240065A (en) * | 2017-04-19 | 2017-10-10 | 中科院微电子研究所昆山分所 | A kind of 3D full view image generating systems and method |
| CN108629828B (en) * | 2018-04-03 | 2019-08-13 | 中德（珠海）人工智能研究院有限公司 | Scene rendering transition method in the moving process of three-dimensional large scene |
| CN108564654B (en) * | 2018-04-03 | 2020-07-31 | 中德（珠海）人工智能研究院有限公司 | Picture entering mode of three-dimensional large scene |
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| CN109064545B (en) * | 2018-06-06 | 2020-07-07 | 贝壳找房(北京)科技有限公司 | Method and device for data acquisition and model generation of house |
| CN108920598B (en) * | 2018-06-27 | 2022-08-19 | 百度在线网络技术（北京）有限公司 | Panorama browsing method and device, terminal equipment, server and storage medium |
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