CN107622525A - Threedimensional model preparation method, apparatus and system - Google Patents
Threedimensional model preparation method, apparatus and system Download PDFInfo
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- CN107622525A CN107622525A CN201710933250.4A CN201710933250A CN107622525A CN 107622525 A CN107622525 A CN 107622525A CN 201710933250 A CN201710933250 A CN 201710933250A CN 107622525 A CN107622525 A CN 107622525A
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Abstract
The present invention relates to a kind of threedimensional model preparation method, apparatus and system, belong to dimensional Modeling Technology field.Threedimensional model preparation method includes：There is single-lens unmanned plane to fly to the first aerial region corresponding to first area for control, the unmanned plane is controlled to obtain the image data of the first area at least two angle shots, based on the image data, the first threedimensional model of the first area is established, this threedimensional model preparation method improves the image collection and three-dimensional modeling efficiency of three-dimensional data City Modeling.
Description
Technical field
The present invention relates to dimensional Modeling Technology field, in particular to a kind of threedimensional model preparation method, device and is
System.
Background technology
For modern city all towards maximization and the rapid development of digitized direction, three-dimensional digital city model is smart city
Important foundation data, there is important value in the related application scenarios in the various cities such as management, planning, fire-fighting, public security.
The building-up work cost of three-dimensional digital city model is high, speed is slow, while expends a large amount of man power and materials.In recent years, internationally
Reason message area combines traditional air photo technique and ground acquisition technology, has developed a kind of referred to as airborne inclined photography
Technology, abbreviation oblique photograph technology, it is progressively referred to as establishing one of important technical of three-dimensional digital city model.
With the popularization of unmanned plane, oblique photograph technology is gradually applied on unmanned plane, and prior art is using small-sized
More camera lens unmanned planes of rotor five.This oblique photograph system is fixed together by five different cameras of shooting angle and formed, and is taken
It is loaded in multi-rotor unmanned aerial vehicle.Five smaller low-resolution cameras are used in above-mentioned small-sized more camera lens unmanned planes of rotor five, are continued a journey
Time is short, cost is high, and then makes image acquisitions and three-dimensional modeling efficiency low.
The content of the invention
It is an object of the invention to provide a kind of threedimensional model preparation method, apparatus and system, and it can pass through multi-angle
Multiple pictures quick obtaining image data is shot, and three-dimensional modeling is carried out according to image data, solves image acquisitions and three
Tie up the problem of modeling efficiency is low.
What embodiments of the invention were realized in：
In a first aspect, the embodiment of the present invention provides a kind of threedimensional model preparation method, this method is in implementation process, first
There is single-lens unmanned plane to fly to the first aerial region corresponding to first area for control, then control the unmanned plane at least two
Individual angle shot obtains the image data of the first area, is finally based on the image data, establishes the first area
First threedimensional model.
Synthesis is in a first aspect, there is single-lens unmanned plane to fly to the first aerial area corresponding to first area for the control
Domain, including：The first location data of the first area and the basic flight parameter of the unmanned plane normal flight are obtained, and
Based on first location data and the basic flight parameter, the unmanned plane is controlled to fly to institute corresponding to the first area
State the first aerial region.
Synthesis is in a first aspect, the control unmanned plane obtains the shadow of the first area at least two angle shots
As data, including：Control central point of the unmanned plane around the first area surround flight, at the same it is described nobody
Machine controls the unmanned plane to obtain the first area at least two angle shots in the circular flight course is carried out
Image data.
It is comprehensive in a first aspect, central point of the control unmanned plane around the first area carries out surrounding flight,
Including：Obtain around flight parameter, control the unmanned plane based on the circular flight parameter in the first area
Heart point carries out described around flight.The control unmanned plane obtains the shadow of the first area at least two angle shots
As data, including：Obtain acquisition parameters, control the unmanned plane be based on the acquisition parameters when carrying out the circular flight
At least two angle shots obtain the image data of the first area.
It is comprehensive in a first aspect, central point of the control unmanned plane around the first area carries out surrounding flight,
Including：Control the unmanned plane around the contour of the circle determined with the central point in the described first aerial region around flight, wherein,
Plane where the circle is parallel with plane where the first area.
It is comprehensive to establish the first threedimensional model of the first area in a first aspect, be based on the image data, including：Base
The current second location data progress obtained when Image Matching technology is by the image data and the shooting image data
Match somebody with somebody, obtain matched data.It is then based on the first threedimensional model that the matched data establishes the first area.
It is comprehensive in a first aspect, described establish first threedimensional model based on the matched data, including：Obtain and throw first
Shadow matrix, wherein, the projection matrix is that the current pose data based on unmanned plane when shooting the image data calculate
Obtain.Establish the first three-dimensional mould of the first area according to the projection matrix and the matched data based on triangle principle again
Type.
Second aspect, the embodiment of the present invention provide a kind of threedimensional model and obtain device, and described device includes unmanned aerial vehicle (UAV) control
Module, image acquiring module and model building module.Wherein, the unmanned aerial vehicle (UAV) control module is used to control with single-lens
Unmanned plane flies to the first aerial region corresponding to first area.The image acquiring module is used to control the unmanned plane at least
Two angle shots obtain the image data of the first area.The model building module is used to be based on the image data,
Establish the first threedimensional model of the first area.
Comprehensive second aspect, the unmanned aerial vehicle (UAV) control module include parameter acquiring unit and control execution unit.Wherein,
The parameter acquiring unit is used to obtain the first location data of the first area and the base of the unmanned plane normal flight
Plinth flight parameter.The control execution unit is used to be based on first location data and the basic flight parameter, controls institute
State unmanned plane and fly to the first aerial region corresponding to the first area.
The third aspect, the embodiment of the present invention provide a kind of threedimensional model and obtain system, including unmanned plane, control station and modeling
Equipment.It is described with single-lens unmanned plane include be used for from control station receive data the first receiving module, and for
The control station sends the first sending module of data；The control station is connected with the unmanned plane, including for the nothing
Second sending module of man-machine transmission data, and for receiving the second receiving module of data from the unmanned plane；It is described to build
Mould equipment is connected with the control station, and the data for being received according to the control station from the unmanned plane establish the first three-dimensional mould
Type.
The beneficial effect of the embodiment of the present invention is：
Threedimensional model preparation method provided by the invention, apparatus and system, when carrying out three-dimensional modeling to certain region, pass through
The control of this threedimensional model preparation method there is single-lens unmanned plane to fly to first area obtain the at least two angle shots
The image data in one region, the image data based on the purpose region establish the threedimensional model of first area, improve image number
According to collecting efficiency, and then improve three-dimensional modeling efficiency.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows a kind of structured flowchart for the electronic equipment being applied in the embodiment of the present invention；
Fig. 2 is a kind of flow chart for threedimensional model preparation method that first embodiment of the invention provides；
Fig. 3 is circumvolant track signal in a kind of threedimensional model preparation method that first embodiment of the invention provides
Figure；
Fig. 4 is the flow chart of the step S300 in a kind of threedimensional model preparation method that first embodiment of the invention provides；
Fig. 5 is the structured flowchart that a kind of threedimensional model that second embodiment of the invention provides obtains device；
Fig. 6 is the structured flowchart that a kind of threedimensional model that third embodiment of the invention provides obtains system.
Icon：100- electronic equipments；101- memories；102- storage controls；103- processors；104- Peripheral Interfaces；
105- input-output units；106- wireless transmission units；107- display units；200- threedimensional models obtain device；210- nobody
Machine control module；220- image acquiring modules；230- model building modules；300- threedimensional models obtain system；310- has single
The unmanned plane of camera lens；320- control stations；330- modelling apparatus.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be configured to arrange and design with a variety of herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
Fig. 1 is refer to, Fig. 1 shows a kind of structured flowchart for the electronic equipment 100 that can be applied in the embodiment of the present application.
Electronic equipment 100 can include threedimensional model acquisition device, memory 101, storage control 102, processor 103, peripheral hardware and connect
Mouth 104, input-output unit 105, wireless transmission unit 106, display unit 107.
The memory 101, storage control 102, processor 103, Peripheral Interface 104, input-output unit 105, nothing
Line transmission unit 106,107 each element of display unit are directly or indirectly electrically connected between each other, to realize the transmission of data
Or interaction.It is electrically connected with for example, these elements can be realized by one or more communication bus or signal wire between each other.It is described
Threedimensional model obtains device can be stored in the memory 101 including at least one in the form of software or firmware (firmware)
In or the software function module that is solidificated in the threedimensional model acquisition system.The processor 103 is used to perform memory 101
The executable module of middle storage, such as the threedimensional model obtain the software function module or computer program that device includes.
Wherein, memory 101 may be, but not limited to, random access memory (Random Access Memory,
RAM), read-only storage (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Wherein, memory 101 is used for storage program, and the processor 103 performs described program after execute instruction is received, foregoing
The method performed by server that the stream process that any embodiment of the embodiment of the present invention discloses defines can apply to processor 103
In, or realized by processor 103.
Processor 103 can be a kind of IC chip, have the disposal ability of signal.Above-mentioned processor 103 can
To be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit
(Network Processor, abbreviation NP) etc.；Can also be digital signal processor (DSP), application specific integrated circuit (ASIC),
Ready-made programmable gate array (FPGA) either other PLDs, discrete gate or transistor logic, discrete hard
Part component.It can realize or perform disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor
Can be microprocessor or the processor 103 can also be any conventional processor etc..
Various input/output devices are coupled to processor 103 and memory 101 by the Peripheral Interface 104.At some
In embodiment, Peripheral Interface 104, processor 103 and storage control 102 can be realized in one single chip.Other one
In a little examples, they can be realized by independent chip respectively.
Input-output unit 105 is used to be supplied to user input data to realize user and the server (or local terminal)
Interaction.The input-output unit 105 may be, but not limited to, mouse and keyboard etc..
Wireless transmission unit 106 provides a user COBBAIF, its may include one or more microphones, one or more
Individual loudspeaker and voicefrequency circuit.
Display unit 107 provided between the electronic equipment 100 and user an interactive interface (such as user operate boundary
Face) or for display image data give user reference.In the present embodiment, the display unit 107 can be liquid crystal display
Or touch control display.If touch control display, it can be the capacitance type touch control screen or resistance for supporting single-point and multi-point touch operation
Formula touch screen etc..Single-point and multi-point touch operation is supported to refer to that touch control display can sense on the touch control display one
Or multiple opening positions are with caused touch control operation, and the touch control operation that this is sensed transfer to processor 103 calculate and
Processing.
Various input/output devices are coupled to processor 103 and memory 101 by the Peripheral Interface 104.At some
In embodiment, Peripheral Interface 104, processor 103 and storage control 102 can be realized in one single chip.Other one
In a little examples, they can be realized by independent chip respectively.
Input-output unit 105 is used to be supplied to user input data to realize interacting for user and processing terminal.It is described defeated
Enter output unit 105 may be, but not limited to, mouse and keyboard etc..
It is appreciated that the structure shown in Fig. 1 is only to illustrate, the electronic equipment 100 may also include more more than shown in Fig. 1
Either less component or there is the configuration different from shown in Fig. 1.Each component shown in Fig. 1 can use hardware, software
Or its combination is realized.
First embodiment
It refer to Fig. 2, a kind of flow chart for threedimensional model preparation method that Fig. 2 provides for first embodiment of the invention, institute
The method of stating specifically comprises the following steps：
Step S100：There is single-lens unmanned plane to fly to the first aerial region corresponding to first area for control.
The first location data of first area and the basic flight parameter of unmanned plane normal flight are obtained, it is fixed based on first
There is single-lens unmanned plane to fly to the first aerial region corresponding to first area for position data and the control of basic flight parameter.Its
In, basic flight parameter is used for the normal flight for ensureing unmanned plane, and it includes the flying height of unmanned plane and flying speed.Nobody
The flying height and flying speed of machine can determine according to specific aeronautical environment and flight progress, can also fly to the in unmanned plane
Particular case is corresponded in first aerial region way corresponding to one region by operating personnel rationally to be changed.
, can be with during unmanned plane flies to the first aerial region corresponding to first area as a kind of embodiment
The present position and i.e. speed per hour of unmanned plane are obtained by global positioning system (i.e. GPS) or Beidou satellite navigation system (i.e. BDS)
Degree, is monitored in real time with the state of flight to unmanned plane.
Step S200：The unmanned plane is controlled to obtain the image data of the first area at least two angle shots.
After unmanned plane arrives at the first aerial region corresponding to first area, the unmanned plane for obtaining operating personnel's setting is surround
Flight parameter, carry out surrounding flight based on central point of the flight parameter control unmanned plane around first area is surround；Obtain nobody
The acquisition parameters of machine, unmanned plane is controlled at least to obtain first in two angle shots when carrying out surrounding flight based on acquisition parameters
The image data in region.
Wherein, due to needing to carry out image data shooting work when unmanned plane is around flight, flown around flight and basis
Parameter it is different, so needing to carry out to reset unmanned plane after the first aerial region corresponding to first area is arrived at
Around flight parameter.Around flight parameter be used for ensure unmanned plane shooting when flight stability, including unmanned plane surround
Flying height, it surround flying speed.Acquisition parameters are used to control the camera lens of unmanned plane to be shot, including camera site, shutter
The basic camera arrange parameter such as speed and time for exposure.Operating personnel will set adjustment acquisition parameters manually according to specific environment,
Or the camera lens of unmanned plane can set adjustment acquisition parameters automatically according to specific environment, so that the image data that unmanned plane shooting obtains
It is more suitable for three-dimensional modeling.
As a kind of embodiment, all wire loop of the control unmanned plane around the circle determined with the central point in the first aerial region
Around flight, wherein, plane is parallel with plane where first area where the circle.
Further, at least obtained when carrying out surrounding flight based on acquisition parameters control unmanned plane in two angle shots
, will be by global positioning system (i.e. GPS) or Beidou satellite navigation system (i.e. BDS) to nothing when obtaining the image data of first area
The man-machine location data for being positioned acquisition immediately is as the second location data, and the records photographing when carrying out filmed image data
Current second location data of unmanned plane when time and shooting.Meanwhile by obtaining the second location data of unmanned plane also just
In carrying out accurately real-time locating and monitoring when around flight to unmanned plane, to control unmanned plane to quickly adapt to specific flying ring
Border, so as to ensure the quality of the image data of the first area of unmanned plane shooting acquisition.
Meanwhile at least obtain the in two angle shots when carrying out surrounding flight based on acquisition parameters control unmanned plane
During the image data in one region, the attitude data of unmanned plane will be also obtained by the attitude transducer on unmanned plane.Appearance
State sensor is the high performance three-dimensional motion attitude measuring system based on MEMS technology.It includes three-axis gyroscope, three axles accelerate
The motion sensors such as degree meter, three axle electronic compass, the three-dimensional by temperature-compensating is obtained by embedded low-power consumption arm processor
The data such as posture and orientation.Using three-dimensional algorithm and the special data integration technology based on quaternary number, output in real time with quaternary number,
The zero shift 3 d pose bearing data that Eulerian angles represent.Attitude data is used to determine image number described in the lens shooting of unmanned plane
According to when camera lens direction.
It should be appreciated that after the image acquisitions that unmanned plane completes first area, operating personnel can also be obtained
The second location data set, unmanned plane is controlled to fly to the second aerial area corresponding with second area according to the second location data
Domain, circular flight parameter and acquisition parameters based on acquisition carry out surrounding flight to second area, complete the shadow to second area
As data collection task.
By taking one square kilometre of region as an example, such as using traditional unmanned plane planning camera lens towards respectively front, rear, left and right and
Five positive course lines, which carry out image acquisitions, will take 25 minutes 3 hours, if the circular flight side provided using the present embodiment
Time-consuming about 34 minutes 1 hour of each square kilometre of area image acquisitions of formula.Wherein, as shown in figure 3, the circle in figure is
Unmanned plane carries out circumvolant track, and square is image acquisitions region.Unmanned plane can perform 64 secondary rings and be completed around flight
Area is the image collection in one square kilometre of region, and 140 meters are may be set to around flying radius, is 120 meters around flying height,
It is 10 meter per seconds around flying speed.
Step S300：Based on the image data, the first threedimensional model of the first area is established.
The second location data and attitude data matched based on image data and with the image data, it is former based on triangle
Reason carries out 3-d recovery to the first area, establishes the first threedimensional model of first area.
Fig. 4 is refer to, Fig. 4 is the stream of the step S300 in a kind of threedimensional model preparation method provided in an embodiment of the present invention
Cheng Tu, based on the image data, the first 3-D view of the first area is established, specifically includes following steps：
Step S310：It is based on Image Matching technology that the image data is current with being obtained during the shooting image data
Second location data is matched, and obtains the anaglyph of the first area.
Wherein, Image Matching is the basis for generating the spatial data products such as digital surface model, and building etc. is manually
The basis of three reconstructions of ground object target.The present embodiment uses image dense Stereo Matching technology, so-called dense Stereo Matching, is one in fact
Energy-optimised process, for carrying out successful match to available point a small amount of on image, notable feature or marking area, solve simultaneously
Certainly it is widely present in the typical difficult regions such as blocking on image, texture shortage/repeat region and gray scale discontinuity border
Disparity computation problem, to export pixel-by-pixel or dense disparity map.The end product of dense Stereo Matching, be requirement obtain one it is thick
Close depth map, that is, recover the depth information of each pixel, the correctness of dense Stereo Matching result, largely affect most
The precision of threedimensional model afterwards.
Step S320：Projection square is calculated in current pose data based on unmanned plane when shooting the image data
Battle array.
The current pose parameter of the unmanned plane and the second location data can when shooting the image data based on unmanned plane
Spatial coordinate location during image data described in unmanned plane row is obtained, projection matrix is obtained according to the spatial coordinate location.
Wherein, the current pose parameter of unmanned plane is the flight attitude parameter of unmanned plane, and flight attitude refers to unmanned plane
Three axles are in the air relative to certain reference line or some reference planes, or the state between the coordinate system of certain fixation.
Step S330:The first area is established according to the projection matrix and the anaglyph based on triangle principle
First threedimensional model.
Using triangle principle based on projection matrix by the parallax model conversion of the first area for the first area
Depth image, the first threedimensional model of the first area is established according to the depth image of the first area.
Wherein, depth image is also referred to as range image, refers to the distance of each point in from image acquisition device to scene is (deep
Degree) image as pixel value, it directly reflects the geometry of scenery visible surface.Triangle principle refers to a kind of mathematics
Principle, it is to detect target bearing in diverse location using detector, the position of target is then precisely determined with triangle geometrical principle
Put and distance.
Threedimensional model preparation method provided by the invention, when carrying out three-dimensional modeling to certain region, by this threedimensional model
Preparation method control flies to shadow of the first area at least two angle shots acquisition first area with single-lens unmanned plane
As data, the image data based on the purpose region establishes the threedimensional model of first area, improves image acquisitions efficiency,
And then improve three-dimensional modeling efficiency.
Second embodiment
Fig. 5 is refer to, Fig. 5 is the structural frames that a kind of threedimensional model that second embodiment of the invention provides obtains device 200
Figure, described device specifically include：Unmanned aerial vehicle (UAV) control module 210, image acquiring module 220 and model building module 230.
Unmanned aerial vehicle (UAV) control module 210, for controlling there is single-lens unmanned plane to fly to the first sky corresponding to first area
Middle region, it is additionally operable to control unmanned plane to carry out surrounding flight around first area.
Wherein, unmanned aerial vehicle (UAV) control module 210 includes：Parameter acquiring unit with, control execution unit, posture acquiring unit and
Positioning unit.
Parameter acquiring unit, fly for obtaining the first location data of first area and the basis of unmanned plane normal flight
Row parameter, it is additionally operable to obtain around flight parameter.
Execution unit is controlled, for flying to the firstth area based on the first location data and basic flight parameter, control unmanned plane
First aerial region corresponding to domain；It is additionally operable to be based on around flight parameter, control unmanned plane, which around first area surround, to fly
OK.
Posture acquiring unit, for obtaining attitude parameter of unmanned plane when around flight.
Positioning unit, for detecting the second location data when obtaining unmanned plane operation.
Image acquiring module 220, for controlling unmanned plane in the image number of at least two angle shots acquisition first area
According to.
Wherein, image acquiring module 220 includes：Acquisition parameters acquiring unit, shooting control execution unit and memory cell.
Acquiring unit is shot, for obtaining acquisition parameters.
Execution unit is shot, for based on acquisition parameters, controlling the camera lens of unmanned plane to shoot first area, completing
Image acquisitions.
Memory cell, the image data obtained for storing shooting.
Alternatively, image acquiring module 220 also includes being used for the data transmission unit for transmitting the image data.
Model building module 230, for based on the image data, establishing the first threedimensional model of the first area.
Wherein, model building module 230 includes Image Matching unit, matrix acquiring unit, advanced treatment unit.
Image Matching unit, for based on Image Matching technology that image data is current with being obtained during filmed image data
Second location data is matched, and obtains the anaglyph of the first area.
Matrix acquiring unit, the current pose data acquisition projection matrix of unmanned plane during for based on filmed image data.
Advanced treatment unit, for obtaining depth image based on projection matrix and anaglyph, and depth image is carried out
The first threedimensional model of the first area is established after processing.
The present embodiment obtains the process of the respective function of each Implement of Function Module of device 200 to threedimensional model, refers to
The content of description shown in Fig. 1 is stated, here is omitted.
3rd embodiment
Fig. 6 is refer to, Fig. 6 is the structural frames that a kind of threedimensional model that third embodiment of the invention provides obtains system 300
Figure, the system specifically include：With single-lens unmanned plane 310, control station 320 and modelling apparatus 330.
With single-lens unmanned plane 310, including the first receiving module and the first sending module.First receiving module
For receiving the first location data, basic flight parameter, around flight parameter from control station 320.First sending module is used
In sending image data, the second location data and attitude parameter to control station 320.
Control station 320, including the second receiving module and the second sending module.Second receiving module is used for from single-lens
Unmanned plane 310 receive image data, the second location data, attitude parameter.Second sending module is used for single-lens
Unmanned plane 310 sends the first location data, basic flight parameter, around flight parameter.
Modelling apparatus 330, for according to image data, the second location data and the attitude data received from control station 320
Three-dimensional modeling is carried out, obtains threedimensional model.In the embodiment of the present invention, modelling apparatus 330 can be that conventional computer etc. has
Meet that modeling requirement calculates the processing equipment of disposal ability.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
In summary, the embodiment of the present invention provides a kind of threedimensional model preparation method, apparatus and system, enters to certain region
During row three-dimensional modeling, by the control of this threedimensional model preparation method there is single-lens unmanned plane to fly to first area, and surround
First area carries out track as circular circular flight, and obtains purpose region at least two angle shots when around flight
Image data, the image data based on the purpose region establishes the threedimensional model of first area, improves image acquisitions
Efficiency, and then improve three-dimensional modeling efficiency.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method can be with
Realize by another way.For example, device embodiment described above is only schematical, for example, the unit
Division, only a kind of division of logic function, can there is other dividing mode, such as multiple units or component when actually realizing
Another system can be combined or be desirably integrated into, or some features can be ignored, or do not perform.It is another, it is shown or
The mutual coupling discussed or direct-coupling or communication connection can be the indirect couplings by some interfaces, device or unit
Close or communicate to connect, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
If the function is realized in the form of software function module and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.Need
Illustrate, herein, such as first and second or the like relational terms be used merely to by an entity or operation with
Another entity or operation make a distinction, and not necessarily require or imply between these entities or operation any this reality be present
The relation or order on border.Moreover, term " comprising ", "comprising" or its any other variant are intended to the bag of nonexcludability
Contain, so that process, method, article or equipment including a series of elements not only include those key elements, but also including
The other element being not expressly set out, or also include for this process, method, article or the intrinsic key element of equipment.
In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including the key element
Process, method, other identical element also be present in article or equipment.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.It should be noted that：Similar label and letter exists
Similar terms is represented in following accompanying drawing, therefore, once being defined in a certain Xiang Yi accompanying drawing, is then not required in subsequent accompanying drawing
It is further defined and explained.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
- A kind of 1. threedimensional model preparation method, it is characterised in that including：There is single-lens unmanned plane to fly to the first aerial region corresponding to first area for control；The unmanned plane is controlled to obtain the image data of the first area at least two angle shots；Based on the image data, the first threedimensional model of the first area is established.
- 2. threedimensional model preparation method according to claim 1, it is characterised in that the control is with single-lens nobody Machine flies to the first aerial region corresponding to first area, including：Obtain the first location data of the first area and the basic flight parameter of the unmanned plane normal flight；Based on first location data and the basic flight parameter, the unmanned plane is controlled to fly to the first area corresponding The described first aerial region.
- 3. threedimensional model preparation method according to claim 1, it is characterised in that the control unmanned plane is at least Two angle shots obtain the image data of the first area, including：Central point of the unmanned plane around the first area is controlled to carry out surrounding flight；In the unmanned plane in the circular flight course is carried out, the unmanned plane is controlled to be obtained at least two angle shots The image data of the first area.
- 4. threedimensional model preparation method according to claim 3, it is characterised in that the control unmanned plane is around institute The central point for stating first area carries out surrounding flight, including：Obtain and around flight parameter, control the unmanned plane based on the circular flight parameter around the center of the first area Point carries out described around flight；The control unmanned plane obtains the image data of the first area at least two angle shots, including：Acquisition parameters are obtained, control the unmanned plane to be based on the acquisition parameters when carrying out the circular flight at least two Angle shot obtains the image data of the first area.
- 5. threedimensional model preparation method according to claim 3, it is characterised in that the control unmanned plane is around institute The central point for stating first area carries out surrounding flight, including：Control the unmanned plane around the contour of the circle determined with the central point in the described first aerial region around flight, wherein, Plane where the circle is parallel with plane where the first area.
- 6. threedimensional model preparation method according to claim 5, it is characterised in that based on the image data, establish institute The first threedimensional model of first area is stated, including：Current second location data obtained during based on Image Matching technology by the image data and the shooting image data Matched, obtain the anaglyph of the first area；The first threedimensional model of the first area is established based on the anaglyph.
- 7. threedimensional model preparation method according to claim 6, it is characterised in that described to be established based on the matched data First threedimensional model, including：Current pose data acquisition projection matrix based on unmanned plane when shooting the image data；The first threedimensional model of the first area is established according to the projection matrix and the anaglyph based on triangle principle.
- 8. a kind of threedimensional model obtains device, it is characterised in that described device includes unmanned aerial vehicle (UAV) control module, image acquiring module And model building module, wherein,The unmanned aerial vehicle (UAV) control module is used to control, and there is single-lens unmanned plane to fly to the first aerial area corresponding to first area Domain；The image acquiring module is used for the shadow for controlling the unmanned plane to obtain the first area at least two angle shots As data；The model building module is used to be based on the image data, establishes the first threedimensional model of the first area.
- 9. device according to claim 8, it is characterised in that the unmanned aerial vehicle (UAV) control module include parameter acquiring unit with And control execution unit, wherein,The parameter acquiring unit is used to obtain the first location data of the first area and the unmanned plane normal flight Basic flight parameter；The control execution unit is used to be based on first location data and the basic flight parameter, controls the unmanned plane Fly to the first aerial region corresponding to the first area.
- 10. a kind of threedimensional model obtains system, it is characterised in that including：With single-lens unmanned plane, the unmanned plane includes being used for the first receiving module that data are received from control station, and For sending the first sending module of data to the control station；Control station, it is connected with the unmanned plane, including for sending the second sending module of data, Yi Jiyong to the unmanned plane In the second receiving module that data are received from the unmanned plane；Modelling apparatus, it is connected with the control station, the data for being received according to the control station from the unmanned plane establish One threedimensional model.
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