CN107741233A - A kind of construction method of the outdoor map of three-dimensional - Google Patents
A kind of construction method of the outdoor map of three-dimensional Download PDFInfo
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- CN107741233A CN107741233A CN201711102602.8A CN201711102602A CN107741233A CN 107741233 A CN107741233 A CN 107741233A CN 201711102602 A CN201711102602 A CN 201711102602A CN 107741233 A CN107741233 A CN 107741233A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
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- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Processing Or Creating Images (AREA)
- Instructional Devices (AREA)
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Abstract
The invention provides a kind of construction method of three-dimensional map, comprise the following steps：It is default to generate the collection dot matrix with three-dimensional equidistant characteristics；Data acquisition is carried out using the mobile device comprising RTK GNSS harvesters and image collecting device simultaneously；By Feature Points Matching, image information is subjected to matching with the GNSS data gathered in real time and combined；Corresponding camera lens posture is merged with the posture of head and the GNSS of shooting point, produces corresponding location estimation；The space coordinates of three-dimensional point is calculated by triangulation by two-dimentional match point；Projection matrix is made according to three-dimensional match point information, and bundle adjustment is carried out to the positional information of three-dimensional point, draws optimal effectiveness solution；Three-dimensional point cloud is generated according to obtained optimal solution.The present invention only carries out data acquisition in setting site position, the view data with RTK GNSS is spliced using algorithm and generates corresponding three-dimensional map, therefore the situation that running efficiency of system caused by avoiding a large amount of RTK GNSS datas and image real time transfer declines.
Description
The present invention generally relates to a kind of construction method of the outdoor map of three-dimensional, more particularly to one kind based on difference GNSS and
The three-dimensional outdoor map method for building up of visual pattern.
Background technology
It is increasingly strong with the demand of high-precision map, also compare system for the mode of establishing of high-precision map.
Up to the present, the applied map of the offer such as Baidu, high moral map, NavInfo is also maintained at highest sub-meter grade
Not, the high-precision map of Centimeter Level is established mode using traditional map and is also unable to reach.
Existing Centimeter Level high accuracy map majority is by the way of laser or RTK differential GPSs, using manpower in map
Border or barrier profile, one by one sampling site.
The embodiment of prior art is：Using a set of RTK-GNSS equipment, progress is each put on the border positioned to needs
Repeatedly measurement, average to obtain the relative coordinate of anchor point, repeat above process.
The file of whole coordinate is imported into map tool, you can obtain a useful high-precision map.
The patent document of Application No. 201410650423.8 describes a kind of electronic map of differential satellite alignment system
Drawing apparatus, it, to receive satellite-signal, and is entered current differential calibration information by wireless communication mode using difference base station
Row broadcast；Difference movement station, it is installed on vehicle and realizes high-precision vehicle location；Video acquisition system, it is positioned on vehicle, wraps
Include at least video camera all the way, the road image that video camera can in real time in collection vehicle running；Processor, it is placed on vehicle
On, for preserving the vehicle location information of the difference movement station acquisition, and the road of video acquisition system collection in real time
Road image.
The patent document of Application No. 201710236477.3 is recorded the invention discloses one kind with being based on high-precision three-dimensional
The vision positioning system and method for figure, the system include：Data acquisition module, for gather current location view data and
GNSS data；Supplementary module is gathered, for data transfer；Power module, for being powered for system module；Data processing module,
Carried for storing vision cartographic information, processing gathered GNSS data and view data, including GNSS data matching, characteristic point
Take with matching, finally realize positioning function.
Prior art has the deficiency of the following aspects：1. for artificial constructed technology, map structuring efficiency
It is relatively low, it is necessary to surveyed and drawn manually, described point work.Also the professional degree of work is tested in flow；Each border is required for manpower
Operation；One map needs multiple workers, larger for the object of complexity, time cost；2. for current based on RTK-
The method of GNSS combination IMAQs is, it is necessary to handle a large amount of GNSS datas and image real time transfer, caused system fortune
Line efficiency declines.
The content of the invention
The present invention is merged RTK-GNSS data with the image gathered, is carried out the image of gained using backstage algorithm
Splicing, low efficiency problem of the prior art is overcome with this.
The present invention is merged using RTK-GNSS information with image information, and information is screened using intelligent algorithm
With splicing, the problem of efficiency is low in the prior art and processing procedure is complex is overcome with this.
The present invention realizes technique effect using following steps：
Pre-set acquisition trajectories are needed before to data acquisition, acquisition trajectories have three-dimensional character by collection point institute track,
All around, six orientation are equal with the distance of the point of surrounding up and down for i.e. each collection point, show the three-dimensional lattice knot of rule
Structure.
Using the aircraft with image capture module and locating module, ground or sea mobile device carry out it is automatic or
The manual mobile sampling site of person, flight positioning provide coordinate data by RTK-GNSS.
Data and the preservation of current point are gathered when caused data reach centimetre class precision and reach predetermined set-points, together
When to this point image information be acquired.
If collecting device reaches the RTK-GNSS data that preset is calculated and not up to Centimeter Level precision, system
This information is not taken.
The data for being acquired to obtain above include RTK-GNSS coordinate informations；Head attitude information includes and gravity direction
Inclination angle, the deviation angle with north and south magnetic pole, head attitude information provides for high-precision inertial sensor, main to provide head course
Angle and over the ground drift angle information, static error are no more than 1 degree；Pictorial information includes the image that pixel is m × n.
Plane characteristic point analysis is carried out to each width picture, finds out individual features point, and every a pair of pictures are all entered in turn
Row Feature Points Matching, so as to draw the point set of matching.
Relevant pole geometrical analysis is carried out to caused matching point set, rejects the poor point set of reliability.
Position estimation is carried out to GNSS data and IMU postures, by posture and the shooting of corresponding camera lens posture and head
The GNSS of point is merged, and produces corresponding location estimation.
According to an information, the 3 d space coordinate of respective point is calculated by triangulation.
By caused three-dimensional information, find out with the reference point per pictures, while use two-dimensional points and three-dimensional point
Information, find out corresponding projection matrix.
Bundle adjustment is carried out to the positional information of three-dimensional point, draws optimal effectiveness solution.
Splice obtained optimal solution data, generate three-dimensional point cloud, as final three-dimensional outdoor map.
This programme can recording photograph and the control information of position and video camera, and believe by the way that algorithm optimization is geographical in real time
Breath., can be very accurately with reference to the coordinate of shooting point, and with accurately building accurate three-dimensional scenic relative to other technical schemes
Figure.And the view data with RTK-GNSS is spliced using algorithm and generates corresponding three-dimensional map, therefore is avoided
The situation that running efficiency of system caused by a large amount of RTK-GNSS data and image real time transfer declines.
In addition, the method can also produce following beneficial effect：The relatively conventional mode of scheme financial cost is relatively low, it is not necessary to
Manpower is on duty；Long term maintenance is more convenient, rapid to obtain map more using the same method of the mode with establishing map for the first time
Newly；Map three dimensional stress, compare general map, contains the information such as height and external form profile.It is rapid to establish map, is taken by rear end
Business device is handled, and map can export in real time within a few houres in region.
Brief description of the drawings
With reference to accompanying drawing, by detailed description below, advantages of the present invention can be more clearly understood that, wherein：
Fig. 1 is：Data acquisition module composition figure；
Fig. 2 is：Post-processing stages flow chart.
Embodiment
It is the embodiment of name of the present invention below, the construction method of whole map is divided into two steps：Data acquisition
And data handling procedure.
Data acquisition
Acquisition trajectories are set：Pre-set acquisition trajectories are needed before to data acquisition, acquisition trajectories are by collection point institute track
With three-dimensional character.
Data acquisition：Carried out either automatically or manually using the mobile device with image capture module and locating module
Mobile sampling site, positions and provides coordinate data by RTK-GNSS.
Data and the preservation of current point are gathered when caused data reach centimetre class precision and reach predetermined set-points, together
When to this point image information be acquired.
Collection judges：If collecting device reaches the RTK-GNSS data that preset is calculated and not up to Centimeter Level essence
Degree, then system does not take this information.
The data for being acquired to obtain above include RTK-GNSS coordinate informations；Head attitude information includes and gravity direction
Inclination angle, the deviation angle with north and south magnetic pole, head attitude information provides for high-precision inertial sensor, main to provide head course
Angle and over the ground drift angle information, static error are no more than 1 degree；Pictorial information is included in image and video camera that pixel is m × n
Portion's parameter.
Data handling procedure
Step S1
Image data standardization
Step S2
Characteristic point is searched and matching：Plane characteristic point analysis is carried out to each width picture, corresponding figure is found out using HOG and SIFT
As characteristic point, and Feature Points Matching is all carried out to every a pair of pictures in turn, so as to draw the point set of matching.
Step S3
Pole geometry reliability estimation：Relevant pole geometrical analysis is carried out to caused matching point set, rejects the poor point set of reliability.
It is implemented as, some characteristic point in the image matched for needs, searches key feature nearest therewith in all pictures
Point and several lower characteristic point mutual distance d1, compared with secondary key feature points, while write down and time characteristic point mutual distance d2.
Work as d1/d2<Threshold, this threshold can adjust.If meeting this condition, it is correct to be considered as matching.
Step S4
Position estimation is carried out to GNSS data and IMU postures：By the posture and shooting point of corresponding camera lens posture and head
GNSS is merged, and produces corresponding location estimation.GNSS data form is from base station relative position coordinates：East, north,
Height, and head attitude data：Yaw angle, the angle of pitch, roll angle.
Step S5
The space coordinates of three-dimensional point is calculated by triangulation by two-dimentional match point and merged：According to an information, pass through
Triangulation calculates the 3 d space coordinate of respective point.And carry out data with GNSS and head attitude information and melt
Close, draw optimal three-dimensional coordinate result.
Step S6
Projection matrix is made by three-dimensional match point information：By caused three-dimensional information, the reference point with every pictures is found out,
Simultaneously using two-dimensional points and the information of three-dimensional point, corresponding projection matrix is found out.
Step S7
Statistical disposition finely is carried out to point coordinates using bundle adjustment：Bundle adjustment is carried out to the positional information of three-dimensional point,
Draw optimal effectiveness solution.
Splice obtained optimal solution data, merged with raw image data, generate three-dimensional point cloud, it is as final
Three-dimensional outdoor map.
Claims (7)
1. a kind of construction method of the outdoor map of three-dimensional, it is characterized in that：The construction method of map includes following steps：
It is default to generate the collection dot matrix with three-dimensional equidistant characteristics；
Data acquisition is carried out simultaneously using the mobile device comprising RTK-GNSS harvesters and image collecting device, and according to essence
Degree demand rejects below standard collection point data；
By Feature Points Matching, image information is subjected to matching with the GNSS data gathered in real time and combined, and is entered using pole geometry
Row reliability is estimated, rejects the poor point of reliability；
Corresponding camera lens posture is merged with the posture of head and the GNSS of shooting point, corresponding position is produced and estimates
Meter；
Calculate the space coordinates of three-dimensional point by triangulation by two-dimentional match point, and with GNSS and head posture
Information carries out data fusion, draws optimal three-dimensional coordinate result；
Projection matrix is made according to three-dimensional match point information, and bundle adjustment is carried out to the positional information of three-dimensional point, is drawn most
Excellent effect solution；
Splice obtained optimal solution data, merged with raw image data, generate three-dimensional point cloud.
2. a kind of construction method of outdoor map of three-dimensional according to claim 1, it is characterized in that：The mobile device can be
Movable equipment under flight equipment or extra large land environment.
3. a kind of construction method of outdoor map of three-dimensional according to claim 1, it is characterized in that：The data acquisition
For every presetting site just carries out data acquisition, and its data gathered includes RTK-GNSS coordinate informations and image information.
4. a kind of construction method of outdoor map of three-dimensional according to claim 1, it is characterized in that：The head attitude information
Including the inclination angle with gravity direction, the deviation angle with north and south magnetic pole.
5. a kind of construction method of outdoor map of three-dimensional according to claim 1, it is characterized in that：The Feature Points Matching is
Plane characteristic point analysis is carried out to each width picture, finds out individual features point, and characteristic point is all carried out to every a pair of pictures in turn
Matching, so as to draw the point set of matching.
6. a kind of construction method of outdoor map of three-dimensional according to claim 1, it is characterized in that：It is described to make projection matrix
It is by caused three-dimensional information, finds out the reference point with every pictures, while using two-dimensional points and the information of three-dimensional point, look for
Go out corresponding projection matrix.
7. a kind of construction method of outdoor map of three-dimensional according to claim 4, it is characterized in that：The head attitude information
Obtained by nine axle sensors or RTK double antennas orientation.
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| CN201711102602.8A CN107741233A (en) | 2017-11-10 | 2017-11-10 | A kind of construction method of the outdoor map of three-dimensional |
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| CN201711102602.8A CN107741233A (en) | 2017-11-10 | 2017-11-10 | A kind of construction method of the outdoor map of three-dimensional |
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