CN108318007B - Shooting method of spliced aerial oblique photography - Google Patents
Shooting method of spliced aerial oblique photography Download PDFInfo
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- CN108318007B CN108318007B CN201810087327.5A CN201810087327A CN108318007B CN 108318007 B CN108318007 B CN 108318007B CN 201810087327 A CN201810087327 A CN 201810087327A CN 108318007 B CN108318007 B CN 108318007B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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Abstract
The invention provides a shooting method of splicing aerial oblique photography, which comprises the following steps: s1, when the aircraft reaches a preset shooting position, shooting of the two oblique cameras in the first cabin at multiple angles is completed by rotating the first cabin; s2, completing shooting of the two oblique cameras in the second cabin body at multiple angles by rotating the second cabin body; s3, finishing shooting of the rest preset positions, and overlapping spliced images shot at adjacent preset positions; at the same preset shooting position, two oblique cameras in the first cabin body and two oblique cameras in the second cabin body are mutually overlapped between images shot at adjacent angles. The whole shooting method has simple and reliable process, high shooting precision and low requirement on an inclined camera, and realizes multi-angle free shooting; the expanded spliced image obtained by the shooting method is convenient for post-processing, and is beneficial to improving the efficiency of post-modeling and the precision of the model.
Description
Technical Field
The invention relates to a shooting method of splicing aerial oblique photography.
Background
The aviation panorama oblique photography device belongs to the technical field of aviation photogrammetry and aviation oblique photography volume. Aerial photogrammetry is based on aerial photographic images and uses photogrammetry techniques to produce a variety of mapping products, including digital ground models, orthophotographs, and line maps. The aerial oblique photogrammetry is to obtain the side texture of the ground object by shooting an oblique image and then establish a real urban three-dimensional model by the photogrammetry technology.
Aviation oblique photography is taken as a breakthrough of traditional aviation photogrammetry, and natural objects and artificial buildings on the ground are photographed through camera combinations with different visual angles. The conventional aerial oblique photographing device generally adopts a five-camera combination, and comprises a downward-looking camera and four oblique cameras. Because there are many cameras, when the size and weight of the system are taken into consideration, the designed tilt camera generally adopts a commercial medium-frame camera or full-frame camera.
Chinese patent 2017100622249 discloses an aerial panoramic oblique photographing apparatus, which comprises a pod body, wherein at least two downward-looking cameras and a plurality of oblique cameras are arranged on the pod body, the at least two downward-looking cameras are arranged in a transverse direction, and photographing areas of adjacent downward-looking cameras in the at least two downward-looking cameras are partially overlapped.
Chinese patent 2014800800293 discloses a system for capturing aerial images, the system comprising at least one panoramic camera, a plurality of detail cameras, each detail camera having a longer focal length than the at least one panoramic camera, and a frame for supporting the cameras, each detail camera being mounted at a laterally different angle such that the fields of view of the detail cameras overlap to form an extended lateral field of view, the frame being attachable to the floor of an aircraft above a camera hole to provide the cameras with a view of the ground below the aircraft through the camera hole.
Chinese patent 201010562117.0 discloses a splicing imaging system based on a shift-axis principle, which includes at least one imaging lens, wherein the at least one imaging lens is disposed on the same plane and has the same focal length and field of view; and at least one imaging device disposed on a focal plane of each of the imaging lenses; wherein each imaging lens is arranged with its optical axis perpendicular to its focal plane, and each imaging device is arranged with a preset amount of shift in its focal plane.
The defects of the prior art are as follows: the aviation oblique photography device who uses at present generally adopts a plurality of built-in cameras, through putting of different angles, realizes a plurality of angles and shoots to acquire the panoramic picture on ground. The required number of built-in cameras is large, the size and the weight of the photographing device are large, and the cost is high.
Therefore, how to provide a photographing method of an oblique photographing system with wide application range and high efficiency is a problem to be solved in the industry.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a shooting method of splicing aerial oblique photography, wherein adjacent shot images are mutually overlapped, the positioning precision is high, the shooting efficiency is high, and multi-angle free shooting is realized.
In order to achieve the above object, the present invention provides a shooting method of a splicing aerial oblique photography, wherein a mounting cabin is provided with a first cabin body and a second cabin body, the first cabin body is provided with two oblique cameras, the second cabin body is provided with two oblique cameras, and the four oblique cameras are all installed at different angles, so that the fields of view of the four oblique cameras are mutually overlapped in the same shooting area to form a spliced image; the shooting method comprises the following steps:
s1, when the aircraft reaches a preset shooting position, shooting of the two oblique cameras in the first cabin at multiple angles is completed by rotating the first cabin;
s2, completing shooting of the two oblique cameras in the second cabin body at multiple angles by rotating the second cabin body;
s3, finishing shooting of the rest preset positions, and overlapping spliced images shot at adjacent preset positions;
at the same preset shooting position, two oblique cameras in the first cabin body and two oblique cameras in the second cabin body are mutually overlapped between images shot at adjacent angles.
The first cabin body and the second cabin body are rotated to further drive the oblique cameras in the first cabin body and the oblique cameras in the second cabin body to shoot so as to obtain a matrix type image; the images shot at adjacent angles are mutually overlapped to form an expanded spliced image, the coverage area of the spliced image is large, the shooting efficiency can be improved to a great extent, and the shooting time is saved.
According to another embodiment of the invention, two oblique cameras in the first cabin complete the shooting at 6 angles; the two oblique cameras in the second cabin complete shooting at 6 angles; and finishing shooting at 12 angles at a preset position to obtain a spliced image with three rows and four columns or four rows and three columns.
According to another embodiment of the present invention, step S1 includes:
rotating a first rotating shaft of the first cabin body to a first inclination angle, and shooting, wherein two cameras of the first cabin body obtain an image of a first visual angle;
rotating the first rotating shaft to a second inclination angle, and shooting, wherein the two cameras of the first cabin body obtain images of a second visual angle;
and rotating the first rotating shaft to a third inclination angle for shooting, wherein the two cameras of the first cabin body obtain an image of a third visual angle.
In the scheme, in the images among the first visual angle, the second visual angle and the third visual angle, the adjacent images are mutually overlapped, namely a certain degree of engagement exists among the adjacent visual angles among the first visual angle, the second visual angle and the third visual angle, and the shooting position of the camera has partial superposition of the visual fields. The first rotating shaft is provided with a steering engine or other similar driving components, such as a transmission rod structure and the like, and drives the first rotating shaft to drive the first cabin to swing.
According to another specific embodiment of the present invention, the two tilt cameras in the first cabin are symmetrically arranged along a direction perpendicular to the first rotation axis, and an included angle between the two tilt cameras is: 15 to 30.
According to another embodiment of the present invention, step S2 includes:
rotating a second rotating shaft of the second cabin to a fourth inclination angle for shooting, and obtaining an image of a fourth visual angle by two cameras of the second cabin;
rotating the second rotating shaft to a fifth inclination angle, and shooting, wherein two cameras of the second cabin body obtain an image of a fifth visual angle;
and rotating the second rotating shaft to a sixth inclination angle for shooting, wherein the two cameras of the second cabin body obtain an image of a sixth visual angle.
In the scheme, in the images among the fourth view angle, the fifth view angle and the sixth view angle, the adjacent images are overlapped, namely a certain degree of engagement exists among the adjacent angles among the fourth angle, the fifth angle and the sixth angle, and the shooting position of the camera has partial superposition of the view field. The first rotating shaft is provided with a steering engine or other similar driving components, such as a transmission rod structure and the like, and drives the first rotating shaft to drive the first cabin to swing.
According to another specific embodiment of the present invention, the two oblique cameras in the second cabin are symmetrically arranged along a direction perpendicular to the second rotation axis, and an included angle between the two oblique cameras is: 60 DEG to 90 deg.
According to another embodiment of the present invention, the first and second rotating shafts are disposed in parallel with each other. In this scheme, four slope cameras are the setting of field font, guarantee that the focus of four slope cameras is identical with the focus of airborne vehicle, make the shooting process more stable.
According to another specific embodiment of the present invention, the first viewing angle and the fourth viewing angle are downward viewing angles, and the downward viewing angles are coincident with the vertical plane; the second visual angle and the fifth visual angle are front visual angles, and the angle between the second inclination angle and the first inclination angle is as follows: 30 ° -45 °, the angle between the fifth and fourth inclination angles being: 30 to 45 degrees; the third visual angle and the sixth visual angle are rear visual angles, and the angle between the third inclination angle and the first inclination angle is as follows: 30 ° -45 °, the angle between the sixth inclination and the first inclination being: from 30 DEG to 45 deg. Preferably, the front view angle, the bottom view angle and the rear view angle are distributed at intervals, that is, the included angles between the front view angle and the bottom view angle and between the rear view angle and the bottom view angle are the same.
According to another specific embodiment of the present invention, the lenses of the four oblique cameras are fixed focus lenses, and the focal length is 20mm to 150mm, which may be specifically selected as: 20mm, 21mm, 22mm, 24mm, 25mm, 28mm, 30mm, 32mm, 35mm, 40mm, 50mm, 55mm, 58mm, 60mm, 85mm, 90mm, 100mm, 105mm, 135mm, 150 mm; in the scheme, the focal length of the oblique camera is selected according to conditions such as the flying height and required precision requirement.
According to another embodiment of the invention, there is an overlap of 10% -15% between images taken at adjacent angles. The images shot between the adjacent oblique cameras are mutually overlapped, so that the definition of the expanded spliced image can be improved, and the splicing and the later-stage processing of the images are facilitated.
According to another specific embodiment of the invention, twelve oblique cameras are arranged in the mounting cabin, the twelve oblique cameras are distributed in three rows and four columns or four rows and three columns, and adjacent oblique cameras are installed at different angles, so that the same shooting areas of the twelve oblique cameras are mutually overlapped to form a spliced image; the shooting method comprises the following steps: the control module controls twelve inclined cameras to sequentially complete shooting at a plurality of preset positions; there is overlap between the extended stitched images that are shot between adjacent preset positions.
According to the invention, the rotation angles of the first rotating shaft and the second rotating shaft are consistent, the rotation range of the first cabin body covers three continuous shooting areas, and the rotation range of the second cabin body covers three continuous shooting areas, so that at the same shooting position, the first cabin body and the second cabin body rotate twice to finish image acquisition of twelve shooting areas, thereby forming an expanded spliced image.
In the invention, the expanded spliced images obtained by adjacent shooting areas are overlapped, the overlapping degree is 70% -90%, and the overlapping degree range can meet the modeling requirement of most target areas. The overlapping rate should be selected as small as possible according to the complexity of the target area to improve the shooting efficiency. For example, 70% overlap is selected for aerial oblique photography where the target area is a sparse low building, and 90% overlap is selected for aerial oblique photography where the target area is a dense high building.
The image obtained by the oblique photography shooting method provided by the invention has high image cleanliness and high modeling precision, can be widely applied to various fields of land management, city planning, city management, construction and the like, can improve the updating speed, reduce the field workload, and can meet the occasions of basic spatial information data requirements with large range, full coverage and high accuracy requirements.
Compared with the prior art, the invention has the advantages that:
1. the matrix type extended spliced image is obtained by switching the positions of the four oblique cameras, the shooting area at the same position is large, the shooting efficiency is high, and the time of shooting operation is saved;
2. the whole shooting method has simple and reliable process, high shooting precision and low requirement on an inclined camera, and realizes multi-angle free shooting;
3. the expanded spliced image obtained by the shooting method is convenient for post-processing, and is beneficial to improving the efficiency of post-modeling and the precision of the model.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic flow chart of a photographing method of embodiment 1;
FIG. 2 is a schematic view of a stitched image obtained by the photographing method of embodiment 1;
fig. 3 is an overall configuration diagram of a photographing system that completes the photographing method of embodiment 1;
FIG. 4 is a bottom view of FIG. 3;
FIG. 5 is a schematic view of a portion of the structure of FIG. 3;
FIG. 6 is a schematic structural view of the first enclosure of FIG. 3;
fig. 7 is a schematic structural view of the second enclosure of fig. 3.
Detailed Description
Example 1
The embodiment provides a shooting method of a splicing aerial oblique photography, as shown in fig. 1-2, to achieve shooting at twelve angles at a preset position, so as to obtain a spliced image with four rows and three columns, wherein the shooting method includes the following steps:
s1: when the aircraft reaches a preset shooting position, shooting of six angles of two oblique cameras in the first cabin is completed by rotating the first cabin; the specific implementation process is as follows: rotating a first rotating shaft of the first cabin body to a first inclination angle, and shooting, wherein two cameras of the first cabin body obtain an image of a first visual angle; rotating the first rotating shaft to a second inclination angle, and shooting, wherein the two cameras of the first cabin body obtain images of a second visual angle; and rotating the first rotating shaft to a third inclination angle for shooting, wherein the two cameras of the first cabin body obtain an image of a third visual angle.
S2: shooting of six angles of two oblique cameras in the second cabin body is completed by rotating the second cabin body; the specific implementation process is as follows: rotating a second rotating shaft of the second cabin to a fourth inclination angle for shooting, and obtaining an image of a fourth visual angle by two cameras of the second cabin; rotating the second rotating shaft to a fifth inclination angle, and shooting, wherein two cameras of the second cabin body obtain an image of a fifth visual angle; and rotating the second rotating shaft to a sixth inclination angle for shooting, wherein the two cameras of the second cabin body obtain an image of a sixth visual angle.
S3: finishing the shooting of the rest preset positions, and overlapping the spliced images shot at the adjacent preset positions; the spliced images shot at the adjacent preset positions are mutually overlapped, and the overlapping degree is 85%.
As shown in fig. 2, the flying direction is as shown by the arrows in the figure, wherein the first viewing angle and the fourth viewing angle are downward viewing angles, and the downward viewing angles are coincident with the vertical plane; the second visual angle and the fifth visual angle are left visual angles, and the third visual angle and the sixth visual angle are right visual angles. Twelve images are shot at the same position, the twelve images are distributed in four rows and three columns relative to the flight direction, the obtained adjacent images are overlapped, for example, 10% of the images are overlapped, the adjacent images are mutually overlapped, the definition of the expanded spliced image can be improved, and the splicing and the later-stage processing of the images are facilitated.
A photographing system for implementing the above photographing method, as shown in fig. 3 to 7, includes: the device comprises a mounting cabin 1, a photographing mechanism 2, a first cabin body 3, a second cabin body 4 and a control module 5.
The hanging cabin 1 is detachably connected with an aircraft, a connecting piece 11, a supporting frame 12 and a top carrier plate 13 are arranged on the hanging cabin 1, and the connecting piece 11 is arranged above the top carrier plate 13 and used for quickly realizing connection with the aircraft; the support frame 12 is arranged below the top carrier plate 13 and the control module 5 is arranged on the top carrier plate 13.
The photographing mechanism 2 is arranged on the support frame 12 and comprises four oblique cameras, the four oblique cameras can be interchanged, the focal lengths and the accuracies of the four oblique cameras are determined according to different areas needing to be operated, for example, the flying height is 135m, and the oblique camera with the focal length of 35mm is selected. Each oblique camera is installed at different angles, so that the oblique cameras are mutually overlapped in shooting areas at preset positions to form an expanded spliced image; the four tilt cameras are a first camera 21, a second camera 22, a third camera 23, and a fourth camera 24, respectively.
As shown in fig. 3, the first and second pods 3 and 4 are disposed on the support frame 12, the first and second cameras 21 and 22 are fixed in the first pod 3, the first pod 3 can continuously swing around the first rotation shaft 141, and the first opening 142 is disposed at the bottom of the first pod 3 to provide a viewing space for the first and second cameras 21 and 22. The third camera 23 and the fourth camera 24 are fixed in the second cabin 4, the second cabin 4 can continuously swing around the second rotating shaft 151, and the bottom of the second cabin 4 is provided with a second opening 152, which can provide a field space required for shooting for the third camera 23 and the fourth camera 24. Wherein, be equipped with first steering wheel 143 on the first pivot 141, be equipped with second steering wheel 153 on the second pivot 151, first steering wheel 143, second steering wheel 153 are all installed on braced frame 12, in order to keep the rotational precision and the stationarity of rotation process, first pivot 141, the position that second pivot 151 and braced frame 12 are connected is equipped with the bearing, in order to reduce the frictional force of rotation process, control first steering wheel 143, second steering wheel 153 through control module 5 and rotate, and then realize the change in the inclination of four slope cameras in first cabin body 3, the second cabin body 4.
The first camera 21 and the second camera 22 are arranged symmetrically with respect to the central axis L1, the angle between the optical axis G1 of the first camera 21 and the central axis L1 is 11 °, and the angle between the optical axis G2 of the second camera 22 and the central axis L1 is 11 °, as shown in fig. 6.
The layout of the third camera 23 and the fourth camera 24 is as shown in fig. 7, the third camera 23 and the fourth camera 24 are symmetrical with respect to a central axis L2, wherein the central axis L1 and the central axis L2 are both in a vertical plane D1 perpendicular to the flight direction of the aircraft, and the central axis L1 and the central axis L2 are parallel to each other. The optical axis G3 of the third camera 23 makes an angle of 33 ° with the central axis L2, and the optical axis G4 of the fourth camera 24 makes an angle of 33 ° with the central axis L2.
In the photographic system, the rotation angles of the first rotating shaft and the second rotating shaft are consistent, the rotation range of the first cabin body covers three continuous shooting areas, and the rotation range of the second cabin body covers three continuous shooting areas, so that image acquisition of twelve shooting areas can be completed by rotating the first cabin body and the second cabin body twice at the same shooting position, and an expanded spliced image is formed. When shooting is carried out at the same position (the same position does not mean that the aircraft stops flying, but the shooting interval between the first camera and the second camera is smaller, the traveling distance of the aircraft can be ignored, and the aircraft flies at a constant speed in the whole shooting process), the first camera and the second camera shoot six images corresponding to two middle lines in the graph 1, and the third camera and the fourth camera shoot six images corresponding to two upper lines and two lower lines in the graph 1.
In the photographing system, the control module is in communication connection with the four oblique cameras so as to control the oblique cameras to shoot, and under the control of the control module, spliced image acquisition of a plurality of preset shooting positions in a preset air route is completed.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that changes may be made without departing from the scope of the invention, and it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense.
Claims (9)
1. A shooting method of spliced aerial oblique photography is characterized in that a mounting cabin is provided with a first cabin body and a second cabin body, the first cabin body is provided with two oblique cameras, the second cabin body is provided with two oblique cameras, and the four oblique cameras are all installed at different angles, so that the view fields of the four oblique cameras are mutually overlapped in the same shooting area to form a spliced image;
the shooting method comprises the following steps:
s1, when the aircraft reaches a preset shooting position, shooting of the two oblique cameras in the first cabin at multiple angles is completed by rotating the first cabin;
s2, completing shooting of the two oblique cameras in the second cabin at multiple angles by rotating the second cabin;
s3, shooting of the residual preset positions is completed, and spliced images shot at adjacent preset positions are overlapped, wherein the overlapping degree is 70% -90%;
in the same preset shooting position, 10% -15% of overlapping is formed between images shot at adjacent angles of the two oblique cameras in the first cabin body and the two oblique cameras in the second cabin body.
2. The photographing method according to claim 1, wherein the two tilt cameras in the first cabin perform photographing at 6 angles; the two oblique cameras in the second cabin complete shooting at 6 angles; and finishing shooting at 12 angles at a preset position to obtain a spliced image with three rows and four columns or four rows and three columns.
3. The photographing method according to claim 1, wherein the step S1 includes:
rotating a first rotating shaft of the first cabin to a first inclination angle, and shooting, wherein two cameras of the first cabin obtain images of a first visual angle;
rotating the first rotating shaft to a second inclination angle for shooting, wherein the two cameras of the first cabin body obtain images of a second visual angle;
and rotating the first rotating shaft to a third inclination angle for shooting, wherein the two cameras of the first cabin body obtain an image of a third visual angle.
4. The shooting method of claim 3, wherein the two oblique cameras in the first cabin are symmetrically arranged along a direction perpendicular to the first rotating shaft, and an included angle between the two oblique cameras is as follows: 15 to 30.
5. The photographing method according to claim 4, wherein the step S2 includes:
rotating a second rotating shaft of the second cabin to a fourth inclination angle for shooting, wherein two cameras of the second cabin obtain images of a fourth visual angle;
rotating the second rotating shaft to a fifth inclination angle for shooting, wherein the two cameras of the second cabin body obtain an image of a fifth visual angle;
and rotating the second rotating shaft to a sixth inclination angle for shooting, wherein the two cameras of the second cabin body obtain an image of a sixth visual angle.
6. The shooting method of claim 5, wherein the two oblique cameras in the second cabin are symmetrically arranged along a direction perpendicular to the second rotating shaft, and an included angle between the two oblique cameras is as follows: 60 DEG to 90 deg.
7. The photographing method of claim 5, wherein the first rotation shaft and the second rotation shaft are disposed in parallel with each other.
8. The shooting method according to claim 5, wherein the first angle of view and the fourth angle of view are down-angles of view, the down-angles of view being coincident with a vertical plane; the second angle of view and the fifth angle of view are front-view angles, and the angle between the second inclination angle and the first inclination angle is: 30 ° -45 °, the angle between said fifth inclination and said fourth inclination being: 30 to 45 degrees; the third view angle and the sixth view angle are rear view angles, and an angle between the third inclination angle and the first inclination angle is as follows: 30 ° -45 °, the angle between said sixth inclination and said first inclination being: from 30 DEG to 45 deg.
9. The photographing method according to claim 1, wherein the lenses of the four tilt cameras are fixed focus lenses having a focal length of 20mm to 150 mm.
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| CN109163705A (en) * | 2018-09-12 | 2019-01-08 | 广州市红鹏直升机遥感科技有限公司 | A kind of image pickup method of aviation oblique photograph |
| CN111405269B (en) * | 2020-03-12 | 2021-09-28 | 深圳臻像科技有限公司 | Method for adjusting view field overlapping rate of multi-view camera acquisition system |
| CN112017119A (en) * | 2020-09-04 | 2020-12-01 | 江门市低空遥感科技有限公司 | Single-camera spliced image data acquisition method |
| GB2614250A (en) * | 2021-12-22 | 2023-07-05 | Hidef Aerial Surveying Ltd | Aerial imaging array |
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