CN109035321A - A kind of volume estimation method of building - Google Patents
A kind of volume estimation method of building Download PDFInfo
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- CN109035321A CN109035321A CN201710434435.0A CN201710434435A CN109035321A CN 109035321 A CN109035321 A CN 109035321A CN 201710434435 A CN201710434435 A CN 201710434435A CN 109035321 A CN109035321 A CN 109035321A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
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Abstract
The present invention provides a kind of volume estimation method of building, including carries out aeroplane photography sampling to building and sample on the spot, obtains the multiple image of building, and carry out image preprocessing to the multiple image；The original point of building, original side and original face, find out the corresponding relationship of identical point in any two images, side and face, match to the multiple image sequence of acquisition after acquisition image preprocessing；Calculate the actual range in threedimensional model between all specified points；Calculate the volume of building.Discreteness and randomness of the present invention for the point, line, surface of building, relative restraint is added to the characteristic point after reconstruction, obtain ratio of the building in relative coordinate system with building actual size, as dimensional information, to complete to achieve the purpose that using building three-dimensional reconstruction precisely quick volume estimation.
Description
Technical field
The present invention relates to 3-D image fields, and in particular, to a kind of volume estimation method of building.
Background technique
Objective world is spatially three-dimensional, and image acquired in existing image collecting device is two-dimensional.To the greatest extent
Contain some form of three-dimensional spatial information in pipe image, these information include geometrical relationship between object edge and side, two width
The corresponding relationship of characteristic point and contour of object information etc. in the parallax relationship of image, two images, but really to calculate
In machine using these information carry out further application processing, just must using three-dimensional reconstruction from two dimensional image reasonably
It extracts and expresses these three-dimensional informations.Have actively in conjunction with application of the three-dimensional reconstruction based on image in land survey
Realistic meaning, the advantage that it has traditional means incomparable have many convenient places.A large amount of field operation can be measured work by it
Move on to indoor completion, it have fast speed, precision it is higher and uniform, it is at low cost, do not damage original place object, not climate and season
The advantages that limitation of section.Novel volume measurement techniques are widely used in land survey, are able to achieve the target of precise measurement.By
It is at low cost required for the three-dimensional reconstruction based on image, there is very big flexibility, and simple three-dimensional can be reached and built
Mould function, therefore, in the occasion for needing realistic modeling, the modeling based on image undoubtedly has very high practical value.
Three-dimensional reconstruction based on image is the important means for obtaining building three-dimensional structure information, in urban planning, disaster
The fields such as monitoring, communications facility construction and digital city have very extensive application.For a long time, it is always and photographs to survey
The important topic that the fields such as amount, remote sensing, computer vision, pattern-recognition and mapping study for a long period of time.There is generation in the world at present
There are the Zurich polytechnical university of Switzerland, the Bonn University of Germany, the Oxford University of Britain, French state letter from home in the research institution of table
Breath and automation research and the University of Southern California in the U.S. etc..Mainly there are Wuhan University, Central China science and technology in domestic research institution
University and remote sensing institute of the Chinese Academy of Sciences etc..In the development process of decades, following feature is presented in three-dimensional rebuilding method research:
1. available data sources are more and more abundant, it experienced and integrated by single three-dimensional aviation remote sensing image to more images, then arrive most evidences
Source fusion process, newly-increased data include LIDAR, floor planning figure, DEM, SAR, etc.；2. the description to building is more and more thinner
It causes, the building type that can be rebuild is more to pinnacle, herringbone and the flat-top being of universal significance by simple rectangular body Model
Side shape etc., then mould is stepped up to complicated unique building model so as to more meticulously describe the structure of building
Type can measure precision；3. the business system or experimental prototype system the degree of automation established are higher and higher, by it is initial it is main according to
It is manually accomplished to and is mainly automatically performed by machine, then to the currently full-automatic building three-dimensional reconstruction system that is striving for
System.Building three-dimensional reconstruction is increasingly becoming computer graphics, the research hotspot of computer vision.
This field is mostly studied and achievement is all based on building under normal conditions with normal appearance, to rule
Building carry out region detection and reconstructing three-dimensional model and volume estimation.However, building shows discreteness and randomness,
And not predictability, so that directly carrying out mesh reconstruction with these data, it is difficult to find reasonable rule, it will generate huge
Error, even result in three-dimensional reconstruction failure, seriously affected the effect of mesh reconstruction and volume estimation.It is asked herein for these
Topic, the present invention are rebuild on the basis of technique of binocular stereoscopic vision by space three-dimensional, real between completion all characteristic points of building
The measurement of border distance；The multiple image sequence shot in different direction is obtained using a camera, is calculated and is shot every two sheet photo
Camera relative position, carry out Stereo matching using the characteristic point of Stereo Matching Algorithm and three-dimensional reconstruction algorithm to image and build
Build object three-dimensional reconstruction；Using with the area of space Tetrahedron subdivision and triangulation under Prescribed Properties, the three of building are realized
Dimension is rebuild；To after reconstruction characteristic point be added relative restraint, obtain building in relative coordinate system with building actual size
Ratio, as dimensional information, to complete to achieve the purpose that using building three-dimensional reconstruction precisely quick volume estimation.
Summary of the invention
The technological deficiency with volume estimation is rebuild for building based on this field, the present invention provides a kind of buildings
Volume estimation method can achieve precisely quickly three-dimensional reconstruction and volume estimation effect.
A kind of volume estimation method of building of the invention, which comprises the steps of:
Step 1 carries out aeroplane photography sampling to building and samples on the spot, obtains the multiple image of building, and to institute
It states multiple image and carries out image preprocessing；
Step 2 obtains the original point of building after image preprocessing, original side and original face, finds out any two images
In identical point, side and face corresponding relationship, the multiple image sequence of acquisition is matched；
Step 3 carries out three-dimensional modeling to building, obtains the threedimensional model of building；
Step 4 selects in the threedimensional model of building and measures the reality on building corresponding to two specified points
Distance is calculated ratio of the actual range at a distance from the two specified points are in the relative coordinate system, utilizes institute
It states ratio calculation and obtains the actual range in threedimensional model between all specified points；
Step 5 calculates the datum level of building according to the obtaining three-dimensional model of the building, according to the datum level
And the volume of the actual distance calculation building between all specified points.
Preferably, the step 1, image preprocessing include image denoising processing, picture smoothing processing, Edge contrast.
Preferably, the multiple image sequence of acquisition is matched in the step 2, is based on binocular stereo vision skill
Art.
Preferably, the threedimensional model of the building in the step 3 can be Delaunay triangulation network model.
Preferably, the step 5 calculates the benchmark mask body of building according to the obtaining three-dimensional model of the building
Include: the closed figure for constituting all boundary edges of the threedimensional model of building, is fitted to a smooth flat, it is described smooth
Plane is as the datum level for calculating building volume.
By the invention it is possible to the discreteness and randomness of building, and not predictability are directed to, using with constraint
Under the conditions of area of space Tetrahedron subdivision and triangulation, realize the three-dimensional reconstruction of building；Characteristic point after reconstruction is added
Enter relative restraint, ratio of the building in relative coordinate system with building actual size is obtained, as dimensional information, thus complete
Achieve the purpose that precisely quickly volume estimation at using building three-dimensional reconstruction.
Detailed description of the invention
The volume estimation method flow diagram of building Fig. 1 proposed by the invention.
Specific embodiment
For a better understanding of the present invention, with reference to the description of the embodiment of the accompanying drawings, method of the invention is carried out
Further instruction.
In order to fully understand the present invention, numerous details are referred in the following detailed description.But art technology
Personnel are it should be understood that the present invention may not need these details and realize.In embodiment, it is not described in detail well known side
Method, process, component, in order to avoid unnecessarily make embodiment cumbersome.
It is shown in Figure 1, the volume estimation method of a kind of building proposed by the invention, which is characterized in that including such as
Lower step:
Step 1 carries out aeroplane photography sampling to building and samples on the spot, obtains the multiple image of building, and to institute
It states multiple image and carries out image preprocessing；
Step 2 obtains the original point of building after image preprocessing, original side and original face, finds out any two images
In identical point, side and face corresponding relationship, the multiple image sequence of acquisition is matched；
Step 3 carries out three-dimensional modeling to building, obtains the threedimensional model of building；
Step 4 selects in the threedimensional model of building and measures the reality on building corresponding to two specified points
Distance is calculated ratio of the actual range at a distance from the two specified points are in the relative coordinate system, utilizes institute
It states ratio calculation and obtains the actual range in threedimensional model between all specified points；
Step 5 calculates the datum level of building according to the obtaining three-dimensional model of the building, according to the datum level
And the volume of the actual distance calculation building between all specified points.
Preferably, the step 1, image preprocessing include image denoising processing, picture smoothing processing, Edge contrast.
Preferably, the multiple image sequence of acquisition is matched in the step 2, is based on binocular stereo vision skill
Art.
Preferably, the threedimensional model of the building in the step 3 can be Delaunay triangulation network model.
Preferably, the step 5 calculates the benchmark mask body of building according to the obtaining three-dimensional model of the building
Include: the closed figure for constituting all boundary edges of the threedimensional model of building, is fitted to a smooth flat, it is described smooth
Plane is as the datum level for calculating building volume.
Preferably, the step 3 carries out three-dimensional modeling to building, obtains the threedimensional model of building, specifically include:
Step 1, to the discrete original point for obtaining building, original side and original face are pre-processed；
Step 2, the tetrahedral grid and triangulated mesh of building are established；
Step 3, building data are obtained by tetrahedral grid and triangulated mesh, three-dimensional is carried out to building and is built
Mould.
Preferably, the step 2 establishes tetrahedral grid and triangulated mesh, specifically includes:
Step 2.1, specified point is chosen from original point, chooses certain edges thereof from original side, is chosen from original face specific
Face, to establish specific point set, certain edges thereof collection, certain surface collection；
Step 2.2, initial tetrahedral mesh and initial triangulated mesh are established with specific point set；
Step 2.3, it carries out certain edges thereof and segments iterative process；
Step 2.4, it carries out certain surface and segments iterative process.There is each triangle in the triangulated mesh of certain surface
Empty circumsphere guarantees that the triangle is present in Tetrahedron subdivision grid, at this moment certain surface is also present in tetrahedron and cuts open
In subnetting lattice；When iteration is present in each certain surface in Tetrahedron subdivision grid, specific Tetrahedron subdivision is just completed
Work.The triangle in triangulated mesh in order to make certain surface all occurs in Tetrahedron subdivision grid, needs to specific
The triangulated mesh in face is iterated subdivision.
Preferably, the step 2.1 is established specific point set, certain edges thereof collection, certain surface collection meet and following constrain item
Part:
2.1.1, it is not overlapped between each specified point, between each certain edges thereof, between each certain surface；
2.1.2, if specified point is in certain edges thereof, specified point must be the endpoint of certain edges thereof；
2.1.3, if two certain edges thereofs have intersection point, intersection point must be the endpoint of certain edges thereof；
2.1.4, if certain edges thereof and certain surface intersection, intersection point must be the endpoint of certain edges thereof；
2.1.5, two certain surfaces only intersect at public certain edges thereof；
2.1.6, the endpoint of all certain edges thereofs is all specified point, and the boundary line of all certain surfaces is all certain edges thereof.
For example, specified point can be chosen from following point: the vertex of building surface profile, each metope of interior of building it
Between formed apex angle, every floor ground and two metopes formed apex angle, every floor ceiling and two metopes formation apex angle,
The metope includes indoor wall and outdoor wall surface, etc.；
Certain edges thereof selection, etc. from the intersecting lens of all metopes and metope, metope and ground or ceiling；
Feature face is chosen, etc. from metope, ground or ceiling；
Preferably, the step 2.2 establishes initial tetrahedral mesh and initial triangulated mesh with specific point set, specifically
Include:
Step 2.2.1 carries out the Tetrahedron subdivision of point set to specific point set, obtains an initial Tetrahedron subdivision net
Lattice.
Step 2.2.2, the plane trigonometry for carrying out point set to all specified points fallen in certain surface in specific point set are cutd open
Point, generate the initial triangulated mesh of each certain surface.
Preferably, the step 2.3 carries out certain edges thereof and segments iterative process, specifically includes:
Step 2.3.1 checks each certain edges thereof, if there is no empty outer in current Tetrahedron subdivision grid on the side
It receives, it is segmented from the M of midpoint, and point M is added in Tetrahedron subdivision grid as node；
Step 2.3.2, meanwhile, for each certain surface, if the midpoint M is fallen in certain surface, also by point M as section
Point is added in the current triangulated mesh of the certain surface；Each certain surface has a triangulated mesh, and will be located at spy
Determine the triangle within the boundary in face to be identified.
Step 2.3.3 executes step 2.3.1 and step 2.3.2, until all sides all go out in Tetrahedron subdivision grid
It is existing, and the triangle being identified can cover each corresponding certain surface, the four sides after obtaining certain edges thereof subdivision iteration
Body subdivision grid and triangulated mesh.
It is clear that after side subdivision iterative process, if the side AB one small of certain edges thereof subdivision is fallen in certain surface,
So, AB is necessarily present in the triangulated mesh of certain surface.Because at this moment AB is necessarily present in Tetrahedron subdivision grid,
So AB is free circumsphere, this sky circumsphere is exactly sky of the AB in the triangulated mesh of certain surface with the friendship circle of certain surface
Circumscribed circle, so, AB mono-, which is scheduled in the triangulated mesh of certain surface, to be existed.
The boundary of one certain surface by while segment iterative process be subdivided into it is small while centainly also fall in certain surface, so it
All exist in the triangulated mesh of certain surface.That is, triangulated mesh of the boundary of certain surface in certain surface
In all exist.
Therefore, simply the triangle in the triangulated mesh of certain surface within the boundary of certain surface can be identified
Out, the triangulated mesh of certain surface is obtained, the triangulated mesh of certain surface can just spell out certain surface.To every
A certain surface can obtain a triangulated mesh.
Preferably, the step 2.4 carries out certain surface and segments iterative process, specifically includes:
Step 2.4.1 checks each triangle T in the triangulated mesh of each certain surface, if T is cutd open in tetrahedron
There is no empty great circle circumsphere in subnetting lattice, the unfaithful intention P of T is calculated, sub-dividing operations of adding some points then are carried out；Wherein, the great circle
Circumsphere is will to be known as the great circle circumsphere of T using the circumscribed circle of triangle T as the ball of great circle:
Step 2.4.2 adds some points when operating, if the small side that any certain edges thereof is subdivided into not in Tetrahedron subdivision grid P
Diameter ball in, be added in the triangulated mesh of Tetrahedron subdivision grid and certain surface using P as node；If P is small at certain
In the diameter ball of side AB, AB is segmented from midpoint M, and is added M point as node in Tetrahedron subdivision grid；Wherein, described
It is small while diameter ball i.e. using it is small while as the ball of diameter；
Step 2.4.3, meanwhile, for each certain surface, if M is fallen in certain surface, also point M is added as node should
In the triangulated mesh of certain surface；
Step 2.4.4, after completing an operation of adding some points, with changing when segmenting alternative manner and carrying out for the step 2.3
Generation subdivision, guarantees that all certain edges thereofs occur in Tetrahedron subdivision grid；
This is because certain certain edges thereofs may be deposited no longer in Tetrahedron subdivision grid after completing an operation of adding some points
, therefore also make all certain edges thereofs in Tetrahedron subdivision grid again with the iteration subdivision when segmenting iterative process and carrying out
Occur.
Step 2.4.5 judges whether each triangle in the triangulated mesh of each certain surface in Tetrahedron subdivision
All exist in grid, if yes then enter step 2.4.6；If not, judgement not triangle in Tetrahedron subdivision grid
Whether size is less than preset size threshold, does not subdivide iteration if it is and enters step 2.4.6, repeats step if not
Rapid 2.4.2-2.4.5.
Step 2.4.6, iteration terminate, and obtain the final Tetrahedron subdivision grid and triangle that iteration is segmented by certain surface
Subdivision grid.
As it can be seen that can achieve accurate quick three-dimensional reconstruction the present invention provides a kind of volume estimation method of building
With volume estimation effect, the technological deficiency for overcoming this field realizes the accurate of irregular, regular unexpected building
It efficiently rebuilds and estimates.
Here the preferred embodiment of the present invention is only illustrated, but its meaning is not intended to limit the scope of the invention, applicability and is matched
It sets.On the contrary, detailed explanation of the embodiments can be implemented by those skilled in the art.It will be understood that without departing from appended power
In the case of the spirit and scope of the invention that sharp claim determines, changes and modifications may be made to details.
Claims (5)
1. a kind of volume estimation method of building, which comprises the steps of:
Step 1 carries out aeroplane photography sampling to building and samples on the spot, obtains the multiple image of building, and to described more
Width image carries out image preprocessing；
Step 2 obtains the original point of building after image preprocessing, original side and original face, finds out phase in any two images
Same point, side and the corresponding relationship in face, matches the multiple image sequence of acquisition；
Step 3 carries out three-dimensional modeling to building, obtains the threedimensional model of building；
Step 4 selects and measures the actual range on building corresponding to two specified points in the threedimensional model of building,
Ratio of the actual range at a distance from the two specified points are in the relative coordinate system is calculated, utilizes the ratio
The actual range in threedimensional model between all specified points is calculated；
Step 5 calculates the datum level of building according to the obtaining three-dimensional model of the building, according to the datum level and
The volume of actual distance calculation building between all specified points.
2. according to the method described in claim 1, wherein, the step 1, image preprocessing includes image denoising processing, picture
Smoothing processing, Edge contrast.
3. according to the method described in claim 1, wherein, matched in the step 2 to the multiple image sequence of acquisition,
It is based on technique of binocular stereoscopic vision.
4. according to the method described in claim 1, wherein, the threedimensional model of the building in the step 3 can be
Delaunay triangulation network model.
5. according to the method described in claim 1, wherein, the step 5, according to the obtaining three-dimensional model meter of the building
The datum level for calculating building specifically includes: the closed figure that all boundary edges of the threedimensional model of building are constituted is fitted to
One smooth flat, the smooth flat is as the datum level for calculating building volume.
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| CN112288853A (en) * | 2020-10-29 | 2021-01-29 | 字节跳动有限公司 | Three-dimensional reconstruction method, three-dimensional reconstruction device, and storage medium |
| CN112465976A (en) * | 2020-12-14 | 2021-03-09 | 广州港数据科技有限公司 | Storage yard three-dimensional map establishing method, inventory management method, equipment and medium |
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