CN106709983A - Three-dimensional model acquisition and application system and method - Google Patents
Three-dimensional model acquisition and application system and method Download PDFInfo
- Publication number
- CN106709983A CN106709983A CN201611019771.0A CN201611019771A CN106709983A CN 106709983 A CN106709983 A CN 106709983A CN 201611019771 A CN201611019771 A CN 201611019771A CN 106709983 A CN106709983 A CN 106709983A
- Authority
- CN
- China
- Prior art keywords
- data
- threedimensional model
- flight
- module
- application
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Graphics (AREA)
- Geometry (AREA)
- Software Systems (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Image Processing (AREA)
Abstract
The invention discloses a three-dimensional model acquisition and application system and a three-dimensional model acquisition and application method, which relate to the technical field of image acquisition, so as to simplify the application process of multi-rotor UAV oblique photography. The three-dimensional model acquisition and application system comprises a data acquisition module, a data processing module and a model application module, wherein the data acquisition module is used for acquiring image data of a region to be photographed by adopting the oblique photographic technology; the data processing module is used for processing the image data, establishing and outputting a three-dimensional model according to the processed image data; and the model application module is used for applying the three-dimensional model. The three-dimensional model acquisition and application system is used for performing integrated application on the images acquired by means of multi-rotor UAV oblique photography.
Description
Technical field
The present invention relates to acquisition technology field, more particularly to a kind of threedimensional model acquisition and application system and side
Method.
Background technology
Oblique photograph technology is the new and high technology that photogrammetric field grew up in recent years, that it changes tradition just
The limitation that projection picture can only shoot from vertical angle of view, oblique photograph technology can simultaneously from multiple different angle acquisition images.
This technology is combined with multi-rotor unmanned aerial vehicle, can be directed to small range operating area, quick effectively to obtain inclining in operating area
Oblique image.
The image collected by multi-rotor unmanned aerial vehicle oblique photograph can be used for various aspects, for example：Monitoring, the disaster relief, public affairs
Peace work etc..It is disadvantageous that in the image collected using multi-rotor unmanned aerial vehicle oblique photograph, in addition it is also necessary to which staff is led to
Cross image of the special equipment to collecting to process, then the image after treatment is pointedly applied to respectively by staff
Platform.So allowing for the application process of multi-rotor unmanned aerial vehicle oblique photograph becomes cumbersome.
The content of the invention
It is an object of the invention to provide a kind of acquisition of threedimensional model and application system and method, with many rotors of simplification without
The application process of man-machine oblique photograph.
To reach above-mentioned purpose, the present invention is adopted the following technical scheme that：
On the one hand, the acquisition the invention provides a kind of threedimensional model and application system, the system include：Data acquisition
Module, the data acquisition module is used to be gathered by oblique photograph technology the view data in region to be captured；Data processing mould
Block, the data processing module is used to process described image data, is set up simultaneously according to the described image data handled well
Output threedimensional model；Model application module, the model application module is used to apply the threedimensional model.
The present invention provide threedimensional model acquisition and application system, including data acquisition module, data processing module and
Model application module, the view data that the system can successively treat shooting area is acquired, processes and applies, so as to revolve more
After wing unmanned plane oblique photograph collects view data, directly can be used in every field.Compared in the prior art, this
The acquisition of the threedimensional model in invention and application system are realized using the integration of multi-rotor unmanned aerial vehicle oblique photograph, without work
Make personnel to switch in multiple equipment or multiple places, so as to simplify the application process of multi-rotor unmanned aerial vehicle oblique photograph.
On the other hand, the invention provides a kind of acquisition and methods for using them of threedimensional model, methods described includes：By inclining
Oblique camera work gathers the view data in region to be captured；Described image data are processed, according to the figure handled well
As data are set up and export threedimensional model；Using the threedimensional model.
The beneficial effect of the acquisition and methods for using them of threedimensional model provided by the present invention and the acquisition of above-mentioned threedimensional model
Beneficial effect with application system is identical, will not be repeated here.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, embodiment will be described below
Needed for the accompanying drawing to be used be briefly described, it should be apparent that, drawings in the following description are only more of the invention
Embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can also be attached according to these
Figure obtains other accompanying drawings.
Fig. 1 is acquisition and the first structure schematic diagram of application system of the threedimensional model in the embodiment of the present invention one；
Fig. 2 is acquisition and second structural representation of application system of the threedimensional model in the embodiment of the present invention one；
Fig. 3 is the flow chart of the acquisition and methods for using them of the threedimensional model in the embodiment of the present invention two.
Description of reference numerals：
10- data acquisition modules；11- unmanned planes；
The axle stereoscopic cameras of 12- five；13- controllers；
131- flight course planning sub-controllers；132- flight sub-controllers；
20- data processing modules；21- reading units；
22- modeling units；23- output units；
30- model application modules；31- receiving units；
32- applying units.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is a part of embodiment of the invention, rather than whole embodiments.Based on this hair
Embodiment in bright, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
Embodiment one
Referring to Fig. 1, acquisition and the application system of a kind of threedimensional model are the embodiment of the invention provides, the system includes：According to
The data acquisition module 10 of secondary connection, data processing module 20 and model application module 30, wherein, data acquisition module 10 is used for
The view data in region to be captured is gathered by oblique photograph technology, data processing module 20 is used to adopt data acquisition module 10
The view data of collection is processed, and threedimensional model is set up and exported according to the view data handled well, and model application module 30 is used
In the threedimensional model of the output of application data processing module 20.
The acquisition of above-mentioned threedimensional model and the course of work of application system are：Data acquisition module 10 is treated shooting area and is entered
The collection of row view data, so that the view data that data processing module 20 will be collected is processed, and according to handling well
View data is modeled, and to set up and exports threedimensional model with Region Matching to be captured, and then model application module 30 will
Threedimensional model with Region Matching to be captured is applied in every field.By said process as can be seen that being in the present embodiment
System realizes automatic integratedization of the collection, modeling and application of view data, it is to avoid staff carries out follow-up place's science and engineering
Make so that the process of the view data collected using multi-rotor unmanned aerial vehicle oblique photograph is succinct, convenient.
Referring to Fig. 2, it is preferred that data acquisition module 10 can be multi-rotor unmanned aerial vehicle oblique photograph device, corresponding, data
Acquisition module 10 may include unmanned plane 11, five axle stereoscopic cameras 12 and controller 13, and five axle stereoscopic cameras 12 are arranged on unmanned plane
Upper 11 (in fig. 2, are expressed as five axle stereoscopic cameras 12 to be arranged on unmanned plane 11), five axle stereoscopic cameras 12 are used with annexation
In collection view data, controller 13 is used to planning the line of flight of unmanned plane 11, and controls unmanned plane 11 according to having planned
The line of flight flies.
In the multi-rotor unmanned aerial vehicle oblique photograph device of said structure, unmanned plane 11 can select four rotor wing unmanned aerial vehicles.It is special
Other, in the present embodiment, the unmanned plane 11 of selection can have when growing boat and big load ability, can carry five axle inclined cameras
Double light gondolas round the clock, fuselage is using the fine integrally formed hollow demoulding frame of carbon, and intensity is good, lightweight；While fuselage and machine
Arm possesses Quick Release ability, it is ensured that fast assembling-disassembling, convenient transport；Possess the anti-rain ability of certain wind resistance, can be in more severe ring
Worked under border, cruising time during five axle stereoscopic camera 12 of carrying was up to 60 minutes.
In the present embodiment, the bottom of unmanned plane 11 is arranged on from five axle stereoscopic cameras 12, is because of five axle stereoscopic cameras
It is 12 small volumes, lightweight, facilitate carry and carrying, it is suitable for the carry of unmanned plane 11 such that it is able to which quick obtaining small range is inclined
The data of photography.Further, five axle stereoscopic cameras 12 can also possess the ability of synchronous exposure, synchronous data collection, Yi Ji
The ability of location data a little of taking pictures can be obtained while taking pictures, further, five axle stereoscopic cameras 12 can also possess seamless
The ability of Interworking Data processing module 20, the view data that will be collected is quickly transferred to data processing module 20.
Referring to Fig. 2, refer to, controller 13 may include connected flight course planning sub-controller 131 and flight son control
Device 132, flight course planning sub-controller 131 is used to determine the type in region to be captured, and according to the type projects in region to be captured
The line of flight of unmanned plane 11, flight sub-controller 132 can be connected with unmanned plane 11, for control unmanned plane 11 according to planning
Good line of flight flight.Exemplary, the type in region to be captured here may include：Flat site, high-rise area
Domain, Mixed Zone (including flat site and skyscraper object area), Mountainous Regions and hilly region.
Wherein, flight sub-controller 132 can be easy to operate auto-pilot controller.Preferably, flight sub-controller
132 composition is concretely：High performance industrial level sensor is built-in with, the use requirement under harsh environment can be met；Modularization
Design, and many central processing unit collaborations treatment, can complete 1000Hz samplings and computing；Dual bus architecture reasonable diffluence, greatly
Improve system data throughput and stability；With sufficient external interface, flexible configuration so that master control can realize it is various
Complex control, and the operation to airborne equipment, operate steadily so as to reach.
Flight course planning sub-controller 131 can determine that region to be captured belongs to flat site, skyscraper object area, mixing
It is any in region, Mountainous Regions and hilly region, and according to the specific area type for determining, consider into graph region,
Operating area, into factors such as figure resolution ratio, image degree of overlapping, Texture mapping degree and topography and geomorphologies, according to corresponding course line
Planing method, cooks up the suitable line of flight.When using flight course planning sub-controller 131, man-machine interaction is less, it is only necessary to defeated
Enter a small amount of parameter, you can quickly realize scientific and reasonable flight course planning so that the application of unmanned plane oblique photograph technology is more square
Just.
It should be noted that oblique photograph is different from the data acquisition of orthography, the two requirement to image degree of overlapping
All different with emphasis, oblique photograph is in order to gather sufficiently comprehensive model texture information, the coverage of its line of flight
Graph region typically is greater than into, is so not only able to obtain and is vertically just penetrated information, while side grain information can also be obtained, so that
Meet the requirement of subsequent automated outdoor scene three-dimensional rapid modeling, in order to fully effectively obtain side grain information, oblique photograph
Endlap rate and sidelapping rate are not less than 66%.Based on this principle, flight course planning sub-controller 131 is for inhomogeneity
The line of flight in the region of type is planned.
For example：For flat site, the planing method of the line of flight of the oblique photograph of flat site and traditional just penetrate
The planing method of the line of flight of image is similar, and the two different place is mainly reflected in air strips overlap between air strips
On degree, therefore fundamental plan thinking is：First according to the requirement into figure resolution ratio, determine that operation flying height and operating area extend out model
Enclose；Then according still further to endlap rate 66% and sidelapping rate 66%, exposure point and exposure interval are determined.In planning flight boat
During line, to consider to reduce the quantity of the turning in the line of flight as far as possible, and turning will form min. turning radius.
Refer to, the planing method of the line of flight of flat site can be：
Graph region is determined into according to region to be captured；
According to operating area and safety zone into graph region, is determined, operating area covers into graph region, and operating area position
In in safety zone, the rectangle for being shaped as rule of operating area；
It is determined that shooting into the resolution ratio of figure, obtain shooting the flying height in course line according to resolution ratio and formula one；Formula one is：R
=c*H/f, R are resolution ratio, and H is flying height, and f is focal length, and c is charge coupled cell (Charge-coupled Device, abbreviation
CCD Pixel size)；
Screening-mode is selected according to actual needs, and the degree of overlapping and formula two in selected screening-mode determine to clap
The air strips interval in course line is taken the photograph, is determined to shoot the interval of taking pictures in course line according to degree of overlapping and formula three；Wherein, formula two is：
Mstrip=R*w* (1- δ strip), Mstrip are spaced for air strips, and R is resolution ratio, and w is picture traverse, and δ strip are for other to weight
Folded degree；Formula three is：M=R*h (1- δ), M are interval of taking pictures, and R is resolution ratio, and h is picture altitude, and δ is ship's control；
It is determined that shooting the inceptive direction in course line, the direction phase that the inceptive direction in course line can be extended with the side long of rectangle is shot
Together, the quantity of flex point in course line is shot to reduce as far as possible；
The first destination for setting shooting course line is the nearest corner of the takeoff point apart from unmanned plane in rectangle, and according to boat
Spaced principle determines to shoot the flex point in course line.
And for example：For skyscraper object area, the line of flight can be planned to carry out high-rise from bottom to top or from
Envelope flight under above.
Refer to, the planing method of the line of flight of skyscraper object area can be：
Selection screening-mode, screening-mode is fine pattern；
Graph region is determined into according to region to be captured；
According to operating area and safety zone into graph region, is determined, operating area covers into graph region, and operating area position
In in safety zone；
Record the high-rise in operating area estimates height h；
It is determined that shooting into the resolution ratio of figure, obtain shooting the boat that the minimum course line in course line is enclosed with height is estimated according to resolution ratio
H highmin；
Obtain shooting course line according to resolution ratio and extend out apart from W+, and select to extend out apart from W+With it is larger in safe distance
Person is used as the envelope distance for shooting course line；
Obtained shooting the flying height H that the highest course line in course line is enclosed according to formula fourmax；Wherein, formula four is：Hmax=h+tan
(90°-а-θw/2)*W+), HmaxBe highest course line circle flying height, h for high-rise estimate height, α be many rotors nobody
Five camera shaft angles of inclination of machine oblique photograph system, θ w are laterally regarded for five camera shafts of multi-rotor unmanned aerial vehicle oblique photograph system
Rink corner, W+To extend out distance；
Obtain shooting the interpolation number of turns in course line according to formula five；Wherein, formula five is：N=INT [(Hmax-Hmin)/A], n
To shoot the interpolation number of turns in course line, HmaxIt is the flying height of highest course line circle, HminIt is the flying height of minimum course line circle, A is adjacent interior
Insert the interval steps between circle；
Obtain shooting the flying height of the interpolation circle in course line according to formula six；Wherein, formula six is：Hn=Hmin+(for(1：Circle
Number) * StepH), HnTo shoot the flying height of the interpolation circle in course line, HminIt is the flying height of minimum course line circle, StepH is adjacent course line
Row spacing high between circle.
For formula six, it is necessary to explain, if it is first lap interpolation circle, then the flying height of the interpolation circle is H1, H1=
Hmin+ 1*StepH, by that analogy, so as to calculate the flying height of all interpolation circles.
And for example：For being mixed with skyscraper object area, such as city, this area in Mixed Zone, that is, flat site
Domain landforms are complicated, the planning of the line of flight of flat site need to be combined with the line of flight planning of skyscraper object area, fly
The planing method in row course line can be：The line of flight planing method for being first according to flat site is planned, but high level need to be built
Build and taking pictures for distance condition is met around object area a little carry out flying height modification and attribute modification；Then to the height in Mixed Zone
Layer construction zone carries out the planning in solo hop course line according to the line of flight planing method of skyscraper object area, to be formed
The single line of flight.
Refer to, the planing method of the line of flight of Mixed Zone can be：
Method one
Selection screening-mode, screening-mode is fine pattern；
Graph region is determined into according to region to be captured；
According to operating area and safety zone into graph region, is determined, operating area covers into graph region, and operating area position
In in safety zone；
It is determined that shooting into the resolution ratio of figure, obtain shooting the basic flying height in course line according to resolution ratio, and according to basic flying height
Obtain extending out apart from W+；
Mark the scope of the high-rise in the operating area, and record high-rise estimate height h, estimate
Height h is more than basic flying height and the difference of safe distance；
Planning shoots the envelope line of flight that course line is the scope around high-rise, and the envelope line of flight includes some
From it is upper and it is upper or it is lower and on course line circle, the flying height H that minimum course line is enclosed is obtained according to resolution ratiomin；
Selection is extended out apart from W+With the greater in safe distance as the envelope distance for shooting course line；
Obtained shooting the flying height H that the highest course line in course line is enclosed according to formula fourmax；Wherein, formula four is：Hmax=h+tan
(90°-а-θw/2)*W+), HmaxIt is the flying height of highest course line circle, h estimates height for high-rise, and α is multi-rotor unmanned aerial vehicle
Five camera shaft angles of inclination of oblique photograph system, θwIt is five camera shaft transverse fields of multi-rotor unmanned aerial vehicle oblique photograph system
Angle, W+To extend out distance；
Obtain shooting the interpolation number of turns in course line according to formula five；Wherein, formula five is：N=INT [(Hmax-Hmin)/A], n
To shoot the interpolation number of turns in course line, HmaxIt is the flying height of highest course line circle, HminIt is the flying height of minimum course line circle, A is adjacent interior
Insert the interval steps between circle；
Obtain shooting the flying height H of the interpolation circle in course line according to formula sixn；Wherein, the formula six is：Hn=Hmin+(for
(1：The number of turns) * StepH), HnTo shoot the flying height of the interpolation circle in course line, HminIt is the flying height of minimum course line circle, StepH is adjacent
Course line circle between row spacing high.
Method two
Selection screening-mode, screening-mode is fast anti-pattern；
Graph region is determined into according to region to be captured；
According to operating area and safety zone into graph region, is determined, operating area covers into graph region, and operating area position
In in safety zone, operating area is shaped as rectangle；
It is determined that shooting into the resolution ratio of figure, obtain shooting the basic flying height in course line according to resolution ratio；
The scope of the high-rise in mark operating area, and estimating highly for high-rise is recorded, estimate height
More than basic flying height and the difference of safe distance；
It is determined that shooting the inceptive direction in course line, the direction phase that the inceptive direction in course line is extended with the side long of rectangle is shot
Together；
The first destination for setting shooting course line is the nearest corner of the takeoff point apart from unmanned plane in rectangle, and according to boat
Spaced principle determines to shoot the flex point in course line；
Flying height modification is carried out less than the way point of safe distance to the scope in operating area apart from high-rise, and it is right
Scope in operating area apart from high-rise a little carries out flying height modification and attribute modification less than taking pictures for safe distance.
And for example：For Mountainous Regions and hilly region, because its topography and geomorphology is complex, it is impossible to accurately obtain wait to clap in time
The surface relief running parameter taken the photograph in region, the optimal line of flight is risen and fallen according to specific relative according to the height on ground
Highly planned.In practice, two kinds of situations can be divided into for the line of flight planing method of Mountainous Regions and hilly region.
The first situation：Common flight course planning method, i.e., according into figure resolution ratio, calmodulin binding domain CaM dispersed elevation and region apogee altitude
Determine initial job height and actual job highly；Then determine Duplication according to operation flying height and peak relative altitude, count
Calculate track spacing and exposure interval；Second situation：Fine flight course planning method, that is, be first carried out orthography flight operation,
And carry out expert data treatment；Secondly according to expert data process achievement and into figure resolution ratio calculate flight operation terrain clearance and
Flying height above mean sea level；Determine exposure interval and operation course line further according to terrain clearance.
Refer to, the planing method of the line of flight of Mountainous Regions and hilly region can be：
Graph region is determined into according to region to be captured；
According to operating area and safety zone into graph region, is determined, operating area covers into graph region, and operating area position
In in safety zone, operating area is shaped as rectangle；
The elevation of peak and the elevation of minimum point are marked in operating area according to base map, and obtains dispersed elevation；
It is determined that shooting into the resolution ratio of figure, obtain shooting the initial flying height in course line according to resolution ratio and dispersed elevation；
Judge whether the elevation of peak meets enroute I. F. R. altitude with the difference of initial flying height, if it is, under
One step；If it is not, then setting initial flying height as the elevation and enroute I. F. R. altitude sum of peak, and enter next step；
Relative altitude according to initial flying height and the elevation of peak determines degree of overlapping, is determined to shoot course line according to degree of overlapping
Take pictures a little or exposure point；
It is determined that shooting the inceptive direction in course line, the direction phase that the inceptive direction in course line is extended with the side long of rectangle is shot
Together；
The first destination for setting shooting course line is the nearest corner of the takeoff point apart from unmanned plane in rectangle, and according to boat
Spaced principle determines to shoot the flex point in course line.
Can be seen that flight course planning sub-controller 131 by the planning of above-mentioned several lines of flight can realize planning flight boat
The intellectuality of line.It can be seen that flight course planning sub-controller 131 can further increase unmanned plane and incline operated by most of user
The generality tiltedly photographed.
Referring to Fig. 2, it is preferred that data processing module 20 may include：For reading the figure that data acquisition module 10 is collected
Reading unit 21 as data, for setting up the modeling unit 22 of threedimensional model and for mould according to the view data for reading
Type application module 30 exports the output unit 23 of threedimensional model.
Wherein, the course of work of modeling unit 22 can be：The view data for reading is pre-processed first, Ran Houyi
It is secondary to carry out automatic triangulation, the reconstruction of point cloud, curved surface composition, texture mapping, finally set up outdoor scene threedimensional model.It can be seen that,
Data processing module 20 realizes automation outdoor scene three-dimensional rapid modeling.
The image real time transfer for inclining image has the characteristics of data volume is big, computationally intensive, automatization level is high, for existing
Some data processing servers having, most of all costs are higher, and treatment effeciency is low.It is noted that in the present embodiment
Data processing module 20 in order to realize automation outdoor scene three-dimensional rapid modeling, considered following factor：Data processing mould
The intelligence degree of block 20, core algorithm, whether support concurrent operation, and the mobility of data processing module 20, three anti-property and
Parallel.Aspects above factor is being combined, the data processing module 20 in the present embodiment is preferably capable carrying out view data
Treatment, sets up and exports the cluster processing workstation of threedimensional model, cluster processing workstation tool according to the view data handled well
Standby multiprocessor Parallel Processing ability, and the demand of motion in the field sharp work is realized, cluster processing workstation can in 1 hour
Completion is not less than 200 original resolution ortho-image processings of 20,000,000 pixel images.
The design of the cluster processing workstation in the present embodiment is based on multi views as three-dimensional reconstruction, substantially without artificial
Intervene, you can quickly generated more than 10 grades of other outdoor scene threedimensional models of pyramid level by the tilted image of a folded degree of overlapping, and
And many general compatible format can be exported.It can be seen that, the cluster processing workstation in embodiment have simple to operate, high precision,
Fireballing feature.
Refer to, each parameter of the cluster processing workstation in the present embodiment can be：Node is 4, central processing unit
Dominant frequency is 2.6~4.0GHz, inside saves as 16~32G, and video card is GTX970, and hard disk is 120~512G solid state hard discs, and interchanger is
5 mouthfuls of full gigabit ethernet switch, the volume of casing is 64*62*37cm, and casing is 6U aviation cabinets, and casing is IP65 waterproofs
Performance, weight is 10kg.
Common high-performance data processing server is substantially in preferable external environment condition, temperature humidity is suitable,
Power reliable and stable, free from dust, without electromagnetic interference, the hard disk corruptions brought more without friction.As various regions public security system is to outdoor scene
The deep application of three-dimensional data, demand higher is proposed to data processing server：Any need of work can be brought to
Place；Can adapt to various wild environments；The ability of high speed processing can be carried out to outdoor scene three-dimensional data at the scene.Based on these
Demand, in the present embodiment, data processing module 20 can also be vehicle-mounted outdoor scene three-dimensional server, vehicle-mounted outdoor scene three-dimensional server energy
Enough meeting the requirement such as high-performance, shockproof, dust-proof, anti-electromagnetic radiation, and possess scene out of doors carries out the height of outdoor scene three-dimensional data
Fast disposal ability, it is seen then that vehicle-mounted outdoor scene three-dimensional server meets above-mentioned multiple requirements.
Particularly, in the present embodiment, the model of the output of data processing module 20 can be multiple product, for example, three-dimensional real
Scape model, high accuracy number surface model (digital surface model, abbreviation DSM), data processing module 20 can also be defeated
Go out high-resolution digital orthophotoquad (Digital Orthophoto Map, abbreviation DOM).It can be seen that, data processing module 20
Multiple product product fast automatic can be generated based on multi-angle oblique image, reached and once gathered, various outcome datas outputs
Effect.
Referring to Fig. 2, model application module 30 may include：For receiving connecing for the threedimensional model that data processing module 20 is exported
Receive the applying unit 32 of unit 31 and the threedimensional model for application output.
In the present embodiment, model application module 30 can apply in many aspects, such as the threedimensional model of foundation：Monitoring
Deng.
Preferably, model application module 30 can be outdoor scene three dimensional depth application platform.Wherein, outdoor scene three dimensional depth application is put down
Platform is divided into outdoor scene three dimensional depth application platform client-server structure (Client/Server Structs abbreviation C/S) version
With outdoor scene three dimensional depth application platform browser and server structure (Browser/Server, abbreviation B/S) version.
In the present embodiment, at outdoor scene three dimensional depth application platform C/S editions and foregoing data acquisition module 10 and data
Reason module 20 is combined, and the major function that can be realized has Video processing and image procossing, in video processing function, main bag
Video acquisition, storage are included, splicing is just being penetrated, merge and is being positioned several parts；In image processing function, mainly include that orthography is fast
Fast treatment, three-dimensional live rapid modeling, three-dimensional panorama quickly generate several parts.
In practice, can be used for field monitor with reference to the system of outdoor scene three dimensional depth application platform C/S editions, supervise at the scene
Depending on during, the main operation of system is：The access of the monitor in real time video of unmanned plane 11 and telemetry intelligence (TELINT), in real time plotting, three-dimensional
Spatial measurement and spatial analysis；The system can be additionally used in prediction scheme analysis and simulated restoration, to utilize threedimensional model in advance quick
Editing is merging editing afterwards, and based on this, the system is widely used in public security, anti-terrorism, fire-fighting, emergency disaster relief
Deng field.Outdoor scene three dimensional depth application platform C/S editions can be used to meeting field or it is emergent it is fast it is anti-in the case of individual soldier use.
In the present embodiment, the achievable seamless access GIS-Geographic Information System of outdoor scene three dimensional depth application platform B/S editions
(Geographic Information System, abbreviation GIS) platform and all kinds of video monitoring platforms, to realize that outdoor scene is three-dimensional
The smooth loading of data and retrieval, realize being had access to, being marked plotting, three-dimensional measuring and space based on the three-dimensional monitoring probe inquiry of outdoor scene
The functions such as analysis.
Particularly, in the present system, the data of outdoor scene threedimensional model are detail (Levels of Detail, letter
Claim LOD) form, the data display of multilevel hierarchy, piecemeal is realized, while can be with conventional terrain data and image data etc.
Fusion that Fundamental Geographic Information Data is seamless.
The acquisition of the threedimensional model in the present embodiment and the maximum of application system are can be seen that by above-described embodiment content
Feature is：Realize simple and efficient installation, arbitrary flight, a key high speed data processing, and good application platform
System is based on three-dimensional GIS platform and builds, and the data after the video information of acquisition and treatment of taking photo by plane can seamless and GIS platform reality
Existing data fusion analysis is applied with visualization, user without toggling multiple equipment or editing the file of various different-formats,
It is achieved thereby that from outdoor scene three-dimensional quick obtaining to the integration of good application, whole operation is simple, quick, meets optimal use
The requirement of family experience.
In sum, multi-rotor unmanned aerial vehicle oblique photograph be by carrying five axle stereoscopic cameras on unmanned plane, while from
One it is vertical and four incline five different angle acquisition view data, be only capable of being adopted from a vertical angle compared to traditional
Collection view data photography, multi-rotor unmanned aerial vehicle oblique photograph substantially increases the accuracy of collection view data, while also reducing
Time that collection view data is consumed.So that when outdoor scene three-dimensional modeling is carried out using the view data for being collected, because
The raising of accuracy and time-consuming reduction, corresponding modeling time and modeling cost are also reduced.Therefore, multi-rotor unmanned aerial vehicle is inclined
Camera work is gradually developed and popularizes.
The present invention for multi-rotor unmanned aerial vehicle carry five axle inclined camera systems unique features and based on multi views as
Three-dimensional reconstruction actual demand, independent research completes a kind of multi-rotor unmanned aerial vehicle oblique photograph data Quick Acquisition and quick
The structure of modeling, and for industry good application demand, the outdoor scene three dimensional depth application platform with reference to this structure construction.Pass through
The system, user settled a dispute by the parties concerned themselves by need not possessing professional knowledge smaller area scope high efficiency three-dimensional live modeling problem,
And considerably beyond the efficiency of the outdoor scene modeling using consumer level unmanned plane and non-professional equipment, it is flat in outdoor scene threedimensional model and application
Under the support of platform, user can also smoothly realize docking for spatial information and subscriber service system, realize spatial information and regard in real time
Other multidate informations such as frequency monitoring information, sensor monitoring information, positional information, the fusion application of static information.
Embodiment two
Referring to Fig. 3, a kind of acquisition and methods for using them of threedimensional model is the embodiment of the invention provides, the method includes：
Step S1：The view data in region to be captured is gathered by oblique photograph technology.
Step S2：View data is processed, threedimensional model is set up and exported according to the view data handled well.
Step S3：Using the threedimensional model.
Method in the present embodiment, the view data that shooting area is treated successively is acquired, processes and applies, so that
The truth in region to be captured is converted into three-dimensional data, and application is in all fields, such as monitoring aspect etc., it is seen then that from
Oblique photograph collects the view data in region to be captured, is applied in practice to by the view data in region to be captured, is formed
One complete flow, realizes that oblique photograph collects the integration of application so that collect area to be captured using oblique photograph
The process of the view data in domain becomes simplified.
Preferably, the present invention can be that one kind carries out outdoor scene three-dimensional soon using multi-rotor unmanned aerial vehicle five axle stereoscopic cameras of carrying
Speed acquisition and the method for good application, with it, can realize probing into topography and geomorphology with human eye visual angle.It is more highly preferred to
, system of the method in conjunction with the embodiments in one can be used for smart city, wisdom public security, wisdom fire-fighting, emergency disaster relief etc. each
Field.
Through the above description of the embodiments, it is apparent to those skilled in the art that the present invention can be borrowed
Software is helped to add the mode of required common hardware to realize, naturally it is also possible to which by hardware, but the former is more preferably in many cases
Implementation method.Based on such understanding, the portion that technical scheme substantially contributes to prior art in other words
Dividing can be embodied in the form of software product, and the computer software product is stored in the storage medium that can read, and such as be counted
The floppy disk of calculation machine, hard disk or CD etc., including some instructions are used to so that computer equipment (can be personal computer,
Server, or the network equipment etc.) perform method described in the embodiment of the present invention.
The above, specific embodiment only of the invention, but protection scope of the present invention is not limited thereto, and it is any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of acquisition of threedimensional model and application system, it is characterised in that the system includes：
Data acquisition module, the data acquisition module is used to be gathered by oblique photograph technology the picture number in region to be captured
According to；
Data processing module, the data processing module is used to process described image data, according to handling well
View data is set up and exports threedimensional model；
Model application module, the model application module is used to apply the threedimensional model.
2. system according to claim 1, it is characterised in that the data acquisition module includes that unmanned plane, five axles are three-dimensional
Camera and controller, the five axles stereoscopic camera are arranged on the unmanned plane, and the five axles stereoscopic camera is used to gather described
View data, the controller is used to plan the line of flight of the unmanned plane, and controls the unmanned plane according to the flight
Airline operation.
3. system according to claim 2, it is characterised in that the controller includes flight course planning sub-controller and flight
Sub-controller, the flight course planning sub-controller is used to determine the type in the region to be captured, and according to the area to be captured
The line of flight of unmanned plane described in the type projects in domain, the flight sub-controller is used to control the unmanned plane to fly according to described
Row airline operation；
Wherein, the type in the region to be captured includes：Flat site, skyscraper object area, Mixed Zone, Mountainous Regions and
Hilly region；The Mixed Zone includes the flat site and the skyscraper object area.
4. the system according to any one of claims 1 to 3, it is characterised in that the data processing module includes：
Reading unit, the reading unit is used to read the view data that the data collecting module collected is arrived；
Modeling unit, the modeling unit is used to set up threedimensional model according to the described image data for reading；
Output unit, the output unit is used for the threedimensional model set up to the output of model application module.
5. system according to claim 4, it is characterised in that the data processing module is cluster processing workstation.
6. system according to claim 4, it is characterised in that the data processing module is the three-dimensional service of vehicle-mounted outdoor scene
Device.
7. the system according to any one of claims 1 to 3, it is characterised in that the model application module includes：
Receiving unit, the receiving unit is used to receive the threedimensional model of the data processing module output；
Applying unit, the applying unit is used for the threedimensional model of application output.
8. system according to claim 7, it is characterised in that the model application module is flat for the application of outdoor scene three dimensional depth
Platform.
9. the system according to any one of claims 1 to 3, it is characterised in that the threedimensional model includes three-dimensional live mould
Type and digital surface model.
10. the acquisition and methods for using them of a kind of threedimensional model, it is characterised in that methods described includes：
The view data in region to be captured is gathered by oblique photograph technology；
Described image data are processed, is set up according to the described image data handled well and is exported threedimensional model；
Using the threedimensional model.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611019771.0A CN106709983A (en) | 2016-11-18 | 2016-11-18 | Three-dimensional model acquisition and application system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611019771.0A CN106709983A (en) | 2016-11-18 | 2016-11-18 | Three-dimensional model acquisition and application system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106709983A true CN106709983A (en) | 2017-05-24 |
Family
ID=58940030
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611019771.0A Withdrawn CN106709983A (en) | 2016-11-18 | 2016-11-18 | Three-dimensional model acquisition and application system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106709983A (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107396046A (en) * | 2017-07-20 | 2017-11-24 | 武汉大势智慧科技有限公司 | A kind of stereoscopic monitoring system and method based on the true threedimensional model of oblique photograph |
| CN107613248A (en) * | 2017-09-07 | 2018-01-19 | 湖南茂劲信息科技有限公司 | Monitoring unmanned system and method based on BIM |
| CN108416842A (en) * | 2018-02-28 | 2018-08-17 | 四川益新工程勘察设计有限公司 | A kind of city three-dimensional comprehensive pipe network information management method |
| CN109190462A (en) * | 2018-07-23 | 2019-01-11 | 中国电力科学研究院有限公司 | Method based on snowberg volume on oblique photograph technology measurement charged insulating |
| CN109737924A (en) * | 2019-02-28 | 2019-05-10 | 华南机械制造有限公司 | Three-dimensional mapping system based on unmanned plane |
| CN110136184A (en) * | 2018-02-02 | 2019-08-16 | 云南电网有限责任公司保山供电局 | A method of it is modeled using oblique photograph and carries out substation site selection |
| CN110319816A (en) * | 2018-03-29 | 2019-10-11 | 上海勘测设计研究院有限公司 | Geological record system based on photogrammetric technology and edit and record method |
| CN110458945A (en) * | 2019-08-09 | 2019-11-15 | 中科宇图科技股份有限公司 | Pass through the method for automatic modeling and system of side oblique air photograph combination video data |
| CN111814232A (en) * | 2020-06-29 | 2020-10-23 | 万翼科技有限公司 | Device management method and related device |
| CN112484707A (en) * | 2020-11-25 | 2021-03-12 | 浙江有色勘测规划设计有限公司 | Building measurement method, system, terminal and medium based on aircraft |
| CN112734904A (en) * | 2020-12-29 | 2021-04-30 | 中国船舶重工集团公司第七0九研究所 | Portable rapid image splicing processing system for police |
| CN112946074A (en) * | 2021-01-29 | 2021-06-11 | 中国科学院武汉岩土力学研究所 | Diversion tunnel lining structure damage detection system and method |
| JP2022507716A (en) * | 2018-11-21 | 2022-01-18 | 広州極飛科技股▲ふん▼有限公司 | Surveying sampling point planning method, equipment, control terminal and storage medium |
| JP2022507714A (en) * | 2018-11-21 | 2022-01-18 | 広州極飛科技股▲ふん▼有限公司 | Surveying sampling point planning method, equipment, control terminal and storage medium |
| CN114779816A (en) * | 2022-05-17 | 2022-07-22 | 成都工业学院 | Searching and rescuing unmanned aerial vehicle for lifting in earthquake ruin environment and system thereof |
| CN117091573A (en) * | 2023-08-22 | 2023-11-21 | 苏州庄舟智能科技有限公司 | Full-model integrated system for shore road |
| CN117392328A (en) * | 2023-12-07 | 2024-01-12 | 四川云实信息技术有限公司 | Three-dimensional live-action modeling method and system based on unmanned aerial vehicle cluster |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104504748A (en) * | 2014-12-03 | 2015-04-08 | 中国科学院遥感与数字地球研究所 | Unmanned aerial vehicle oblique photographing infrared three-dimensional imaging system and modeling method thereof |
| WO2016010761A1 (en) * | 2014-07-18 | 2016-01-21 | Restoration Robotics, Inc. | Hair simulation method |
| CN105629980A (en) * | 2015-12-23 | 2016-06-01 | 深圳速鸟创新科技有限公司 | Single-camera oblique photography three-dimensional modeling system |
-
2016
- 2016-11-18 CN CN201611019771.0A patent/CN106709983A/en not_active Withdrawn
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016010761A1 (en) * | 2014-07-18 | 2016-01-21 | Restoration Robotics, Inc. | Hair simulation method |
| CN104504748A (en) * | 2014-12-03 | 2015-04-08 | 中国科学院遥感与数字地球研究所 | Unmanned aerial vehicle oblique photographing infrared three-dimensional imaging system and modeling method thereof |
| CN105629980A (en) * | 2015-12-23 | 2016-06-01 | 深圳速鸟创新科技有限公司 | Single-camera oblique photography three-dimensional modeling system |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107396046A (en) * | 2017-07-20 | 2017-11-24 | 武汉大势智慧科技有限公司 | A kind of stereoscopic monitoring system and method based on the true threedimensional model of oblique photograph |
| CN107613248A (en) * | 2017-09-07 | 2018-01-19 | 湖南茂劲信息科技有限公司 | Monitoring unmanned system and method based on BIM |
| CN110136184B (en) * | 2018-02-02 | 2022-11-29 | 云南电网有限责任公司保山供电局 | Method for site selection of transformer substation by oblique photography modeling |
| CN110136184A (en) * | 2018-02-02 | 2019-08-16 | 云南电网有限责任公司保山供电局 | A method of it is modeled using oblique photograph and carries out substation site selection |
| CN108416842A (en) * | 2018-02-28 | 2018-08-17 | 四川益新工程勘察设计有限公司 | A kind of city three-dimensional comprehensive pipe network information management method |
| CN108416842B (en) * | 2018-02-28 | 2022-03-11 | 四川益新工程勘察设计有限公司 | Urban three-dimensional integrated pipe network information management method |
| CN110319816A (en) * | 2018-03-29 | 2019-10-11 | 上海勘测设计研究院有限公司 | Geological record system based on photogrammetric technology and edit and record method |
| CN109190462A (en) * | 2018-07-23 | 2019-01-11 | 中国电力科学研究院有限公司 | Method based on snowberg volume on oblique photograph technology measurement charged insulating |
| JP7220784B2 (en) | 2018-11-21 | 2023-02-10 | 広州極飛科技股▲ふん▼有限公司 | Survey sampling point planning method, device, control terminal and storage medium |
| JP7220785B2 (en) | 2018-11-21 | 2023-02-10 | 広州極飛科技股▲ふん▼有限公司 | Survey sampling point planning method, device, control terminal and storage medium |
| JP2022507716A (en) * | 2018-11-21 | 2022-01-18 | 広州極飛科技股▲ふん▼有限公司 | Surveying sampling point planning method, equipment, control terminal and storage medium |
| JP2022507714A (en) * | 2018-11-21 | 2022-01-18 | 広州極飛科技股▲ふん▼有限公司 | Surveying sampling point planning method, equipment, control terminal and storage medium |
| CN109737924A (en) * | 2019-02-28 | 2019-05-10 | 华南机械制造有限公司 | Three-dimensional mapping system based on unmanned plane |
| CN110458945A (en) * | 2019-08-09 | 2019-11-15 | 中科宇图科技股份有限公司 | Pass through the method for automatic modeling and system of side oblique air photograph combination video data |
| CN111814232A (en) * | 2020-06-29 | 2020-10-23 | 万翼科技有限公司 | Device management method and related device |
| CN112484707B (en) * | 2020-11-25 | 2022-05-10 | 浙江有色勘测规划设计有限公司 | Building measurement method, system, terminal and medium based on aircraft |
| CN112484707A (en) * | 2020-11-25 | 2021-03-12 | 浙江有色勘测规划设计有限公司 | Building measurement method, system, terminal and medium based on aircraft |
| CN112734904A (en) * | 2020-12-29 | 2021-04-30 | 中国船舶重工集团公司第七0九研究所 | Portable rapid image splicing processing system for police |
| CN112946074A (en) * | 2021-01-29 | 2021-06-11 | 中国科学院武汉岩土力学研究所 | Diversion tunnel lining structure damage detection system and method |
| CN114779816A (en) * | 2022-05-17 | 2022-07-22 | 成都工业学院 | Searching and rescuing unmanned aerial vehicle for lifting in earthquake ruin environment and system thereof |
| CN117091573A (en) * | 2023-08-22 | 2023-11-21 | 苏州庄舟智能科技有限公司 | Full-model integrated system for shore road |
| CN117392328A (en) * | 2023-12-07 | 2024-01-12 | 四川云实信息技术有限公司 | Three-dimensional live-action modeling method and system based on unmanned aerial vehicle cluster |
| CN117392328B (en) * | 2023-12-07 | 2024-02-23 | 四川云实信息技术有限公司 | Three-dimensional live-action modeling method and system based on unmanned aerial vehicle cluster |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106709983A (en) | Three-dimensional model acquisition and application system and method | |
| CN111599001B (en) | Unmanned aerial vehicle navigation map construction system and method based on image three-dimensional reconstruction technology | |
| CN106444841B (en) | A kind of flight course planning method based on multi-rotor unmanned aerial vehicle oblique photograph system | |
| CN107194989B (en) | Traffic accident scene three-dimensional reconstruction system and method based on unmanned aerial vehicle aircraft aerial photography | |
| CN110047241A (en) | A kind of forest fire unmanned plane cruise monitoring system | |
| CN111091613A (en) | Three-dimensional live-action modeling method based on unmanned aerial vehicle aerial survey | |
| CN104330074B (en) | Intelligent surveying and mapping platform and realizing method thereof | |
| CN108344397A (en) | Automation modeling method, system and its auxiliary device based on oblique photograph technology | |
| CN107504957A (en) | The method that three-dimensional terrain model structure is quickly carried out using unmanned plane multi-visual angle filming | |
| CN110530366A (en) | A kind of flight course planning system and method for transmission line of electricity modeling | |
| CN115147538B (en) | Method for dynamically updating live-action three-dimensional modeling based on environment monitoring unmanned aerial vehicle | |
| CN110428501B (en) | Panoramic image generation method and device, electronic equipment and readable storage medium | |
| CN211787203U (en) | Agricultural insurance survey unmanned aerial vehicle device, rotor and fixed wing unmanned aerial vehicle flight platform | |
| CN108510585A (en) | A kind of flyash backlog control method for establishing threedimensional model by unmanned plane shooting | |
| CN207068060U (en) | The scene of a traffic accident three-dimensional reconstruction system taken photo by plane based on unmanned plane aircraft | |
| CN206573110U (en) | A kind of aerophotogrammetry device | |
| CN112288818A (en) | Unmanned quick shooting modeling method below ten thousand square meters | |
| Liu et al. | An object-oriented uav 3d path planning method applied in cultural heritage documentation | |
| Qian et al. | New technologies for UAV navigation with real-time pattern recognition | |
| Sazaly et al. | 3D Indoor Crime Scene Reconstruction from Micro UAV Photogrammetry Technique | |
| Toschi et al. | Geomatics makes smart cities a reality | |
| CN103438867B (en) | Small-sized unmanned aerial vehicle onboard looks three-dimensional airborne remote sensing system more | |
| Becker et al. | A comprehensive framework for high resolution image-based 3D modeling and documentation of crime scenes and disaster sites | |
| CN203443586U (en) | Small light UAV-mounted (unmanned aerial vehicle-mounted) multi-view three-dimensional aerial remote sensing system | |
| Zhu | A pipeline of 3D scene reconstruction from point clouds |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170524 |
|
| WW01 | Invention patent application withdrawn after publication |