CN109579793A - Mapping method, apparatus, flying platform, computer equipment and storage medium - Google Patents
Mapping method, apparatus, flying platform, computer equipment and storage medium Download PDFInfo
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- CN109579793A CN109579793A CN201811313002.0A CN201811313002A CN109579793A CN 109579793 A CN109579793 A CN 109579793A CN 201811313002 A CN201811313002 A CN 201811313002A CN 109579793 A CN109579793 A CN 109579793A
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- 238000013507 mapping Methods 0.000 title claims abstract description 78
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000004590 computer program Methods 0.000 claims description 26
- 238000004891 communication Methods 0.000 claims description 18
- 238000009877 rendering Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000004422 calculation algorithm Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 4
- 230000004927 fusion Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 238000005267 amalgamation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 239000004744 fabric Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
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- 230000003068 static effect Effects 0.000 description 1
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Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Multimedia (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Processing Or Creating Images (AREA)
Abstract
This application involves a kind of mapping method, apparatus, flying platform, computer equipment and storage mediums.The described method includes: receiving the image data in the region to be measured that flying platform is sent and the point cloud data in region to be measured, establish the corresponding relationship of image data Yu the point cloud data, the control point of preset quantity is obtained from point cloud data, the attribute of point cloud data middle data is answered according to dominating pair of vertices, determine the control point data at control point, according to corresponding relationship, control point data is merged with image data, the mapping figure in region to be measured is obtained according to fused image data.It can be improved the efficiency of mapping using this method.
Description
Technical field
This application involves terrain mapping technology field, more particularly to a kind of mapping method, apparatus, flying platform,
Computer equipment and storage medium.
Background technique
Unmanned plane aerial photography system is the new tool of national major infrastructure project mapping, and working efficiency is painted with bright compared with conventional measurement
Aobvious advantage.When carrying out boat and taking the photograph mapping, unmanned plane is controlled by controllers and is shot in region to be measured, the shadow of shooting is obtained
As data, by the position at control point in analysis image data, so that the data of unknown point are calculated, to complete to region to be measured
Mapping need artificially to carry out control point arrangement on ground, many human and material resources needed to support however before boat is taken the photograph,
Influence the efficiency of work operations.
Summary of the invention
Based on this, it is necessary in view of the above technical problems, provide a kind of mapping side for being able to solve mapping low efficiency
Method, device, flying platform, computer equipment and storage medium.
A kind of mapping method, which comprises
The image data in the region to be measured that flying platform is sent and the point cloud data in region to be measured are received, the image is established
The corresponding relationship of data and the point cloud data；
The control point that preset quantity is obtained from the point cloud data, is answered in the point cloud data according to the dominating pair of vertices
The attribute of point data determines the control point data at the control point；
According to the corresponding relationship, the control point data is merged with the image data, according to fused
Image data obtains the mapping figure in region to be measured.
Control point includes: vertical control point and level control points in one of the embodiments,；Further include: described in acquisition
Elevation fluctuating point in point cloud data obtains the vertical control point of preset quantity from elevation fluctuating point；And it obtains
The refractive index for taking each point data in the point cloud data determines the level point that refractive index is high in the point data；From the water
The level control points of preset quantity are obtained in flat spot.
In one of the embodiments, further include: obtain the corresponding three-dimensional seat with the control point in the point cloud data
Attribute is marked, the control point is marked according to the three-dimensional coordinate attribute, obtains the control point data at the control point.
In one of the embodiments, further include: according to the corresponding relationship, determine that the control point corresponds to the shadow
As the mark position of data；According to the control point data, the mark position is merged, obtains fused image number
According to.
In one of the embodiments, further include: extract the characteristic point in the fused image data；According to described
The vertical control point data of vertical control point, the level control points data of the level control points and institute's characteristic point, utilize control
Triangulation method processed obtains the characteristic point data of the characteristic point；According to the characteristic point data, rendering obtains the landform
Schema mapping.
In one of the embodiments, further include: obtain the posture information that the flying platform is sent；According to the posture
Information and pre-set camera parameter, are respectively modified the image data and the point cloud data, obtain amendment shadow
As data and amendment point cloud data；Establish the corresponding relationship of the amendment image data and the amendment point cloud data.
A kind of mapping device, described device include:
Receiving module, for receiving the image data in the region to be measured of flying platform transmission and the point cloud number in region to be measured
According to establishing the corresponding relationship of the image data Yu the point cloud data；
Point selection module is controlled, for obtaining the control point of preset quantity from the point cloud data, according to the control
The attribute of the corresponding point cloud data middle data of point, determines the control point data at the control point；
Mapping module, for according to the corresponding relationship, the control point data to be merged with the image data,
The mapping figure in region to be measured is obtained according to fused image data.
A kind of flying platform, comprising:
Flight instruments ontology；
Image data shooting module, for obtaining the image data in region to be measured；
Point cloud obtains module, for obtaining the point cloud data in the region to be measured；
Communication module, for the image data and the point cloud data to be transmitted to server；
The communication module obtains module with the image data shooting module and described cloud respectively and connect；
The image data shooting module, described cloud obtains module and the communication module is mounted on the flight
Device noumenon.
A kind of computer equipment can be run on a memory and on a processor including memory, processor and storage
Computer program, the processor perform the steps of when executing the computer program
The image data in the region to be measured that flying platform is sent and the point cloud data in region to be measured are received, the image is established
The corresponding relationship of data and the point cloud data；
The control point that preset quantity is obtained from the image data determines the control point according to the corresponding relationship
Control point data；
According to the control point data and the image data, the mapping figure in region to be measured is obtained.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
It is performed the steps of when row
The image data in the region to be measured that flying platform is sent and the point cloud data in region to be measured are received, the image is established
The corresponding relationship of data and the point cloud data；
The control point that preset quantity is obtained from the image data determines the control point according to the corresponding relationship
Control point data；
According to the control point data and the image data, the mapping figure in region to be measured is obtained.
Above-mentioned mapping method, apparatus, flying platform, computer equipment and storage medium, simultaneously by flying platform
The image data and point cloud data in region to be measured are shot and sent, is then closed by establishing image data and the corresponding of point cloud data
System, when selecting control point, it is only necessary to pass through control point needed for point cloud data confirmation, so that it may obtain the control point at control point
Data artificially arrange control point without passing through, reduce manpower people sheet, in addition, when carrying out mapping, by above-mentioned right
It should be related to, control point data is merged with image data, so that it may the image data with control point data is obtained, so as to
To carry out mapping calculating, since flying platform returns to image data and point cloud data simultaneously, can quickly treat
It surveys region and carries out topographic survey, to provide topographic efficiency.
Detailed description of the invention
Fig. 1 is the applied environment figure of one embodiment mesorelief mapping method；
Fig. 2 is the flow diagram of one embodiment mesorelief mapping method；
Fig. 3 is the flow diagram that control point step is obtained in one embodiment；
Fig. 4 is the flow diagram of another embodiment mesorelief mapping method；
Fig. 5 is the structural block diagram of one embodiment mesorelief plotting board；
Fig. 6 is the schematic diagram of flying platform in an embodiment；
Fig. 7 is the internal structure chart of computer equipment in one embodiment.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, not
For limiting the application.
Mapping method provided by the present application, can be applied in application environment as shown in Figure 1.Wherein, flight is flat
Platform 102 is carried out wireless communication by passing through with server 104.Wherein, flying platform 102 can be, but not limited to be various dedicated surveys
Unmanned plane, civilian unmanned plane and shooting unmanned plane etc. are drawn, server 104 can use the either multiple services of independent server
The server cluster of device composition is realized.
Flying platform 102 is carried out wireless communication by specific communications protocol and server 104.When shooting, people is controlled
Member's control flying platform 102 shoots the image data and point cloud data in region to be measured in region flying overhead to be measured.Pass through
Image data and point cloud data are sent to server 104 by communications protocol, flying platform 102, in server 104, by image
Data and point cloud data are corresponded to, to can correspond to the control for getting control point when selecting control point in point cloud data
Point data processed, thus according to corresponding relationship, will control point data and image data carry out it is fused as a result, to region to be measured into
Row mapping.
In one embodiment, as shown in Fig. 2, providing a kind of mapping method, it is applied in Fig. 1 in this way
It is illustrated for server, comprising the following steps:
Step 202, the image data in the region to be measured that flying platform is sent and the point cloud data in region to be measured are received, is established
The corresponding relationship of image data and point cloud data.
Wherein, region to be measured refers to carrying out the target object of mapping, when carrying out the mapping in region to be measured,
Flying platform is needed in region flying overhead to be measured, with this available image data for clearly arriving region to be measured and point cloud number
According in addition, can be selected according to the shooting resolution ratio of flying platform to obtain relatively clear image data and point cloud data
It selects and is suitably highly shot.
Image data can be image data, be also possible to video data, when image data is image data, Ke Yitong
Multiple image datas are crossed while sending, it, can be using real-time when image data is video data so as to improve the precision of mapping
The mode of transmitting video data, so that server selects suitable video clip to carry out mapping.Point cloud data can be logical
The set of series of points is crossed, each point includes a variety of attributes in point cloud data.
Specifically, server receive flying platform transmission image data and point cloud data after, according between data
Shooting relationship, can establish the corresponding relationship of image data and point cloud data.What corresponding relationship substantially reflected is image data
It is corresponding that same position in region to be measured is embodied in point cloud data.
Step 204, the control point that preset quantity is obtained from point cloud data, answers in point cloud data according to dominating pair of vertices and counts
According to attribute, determine the control point data at control point.
Wherein, preset quantity can be selected according to demand, for example, can be carried out according to the size of region area to be measured
Selection, area is bigger, and the quantity at control point is more.Control point is one kind of mark point, and control point data is with data markers
Control point.By the attribute of point cloud data middle data, control point is marked, to obtain control point data.
Step 206, according to corresponding relationship, control point data is merged with image data, according to fused image
Data obtain the mapping figure in region to be measured.
It merges and refers to adding new data in image data, which can extract from fused image data
It obtains.
According to corresponding relationship, position of the control point data fusion in image data can be determined, so as in image
Add control point fused data in the corresponding position of data.
In above-mentioned mapping method, the image data and point cloud in region to be measured are shot and sent simultaneously by flying platform
Data, then by establishing the corresponding relationship of image data and point cloud data, when selecting control point, it is only necessary to pass through a cloud number
According to control point needed for confirmation, so that it may the control point data at control point is obtained, without subtracting by artificially arranging control point
Few manpower people sheet, in addition, by above-mentioned corresponding relationship, control point data and image data are carried out when carrying out mapping
Fusion, so that it may the image data with control point data is obtained, so as to carry out mapping calculating, since flying platform is same
When return to image data and point cloud data, therefore, quickly can be carried out to region to be measured topographic survey, to provide landform survey
The efficiency of amount.
In one embodiment, as shown in figure 3, providing a kind of schematic flow chart for obtaining control point step, specific steps
It is as follows:
Step 302, the type at control point is determined.
The type at control point includes: vertical control point and level control points.
Step 304, the elevation fluctuating point in point cloud data is obtained, the height that preset quantity is obtained from elevation fluctuating point is program-controlled
Point processed.
Elevation fluctuating point refers to that in point cloud data, spatial position point outstanding can pass through the attribute meter of point data
It obtains.
Step 306, the refractive index for obtaining each point data in point cloud data, determines the level that refractive index is low in point data
Point obtains the level control points of preset quantity from level point.
Refractive index refers to that flying platform when generating point cloud data, emits laser to the ground, then anti-according to receiving
After penetrating luminous intensity, the refractive index that is calculated.
In the present embodiment, by the attribute of point cloud data middle data, control point can be selected from point cloud data, thus
Compare with manual layout control point, it is more efficient, and can choose the control point of various combination, convenient for improving the precision of mapping.
For step 302, in one embodiment, can according to demand and mapping mode, determine specific control point
Type.For example, when carrying out aerial triangulation, the type that control point can be set is vertical control point and level control points,
Thus according to vertical control point and level control points, it can be in the hope of the attribute of pass point.When choosing other mapping modes, may be used also
To select other control point combinations, the type at other control points further include: astronomil, gravity station etc..
For step 304, in one embodiment, can be believed according to the three-dimensional coordinate that data point each in point cloud data includes
Breath, calculates elevation fluctuating point in three-dimensional system of coordinate.Elevation rises and falls point can be true according to the point of local convergence in point cloud data
It is fixed.In addition, in order to obtain more vertical control point, point around local convergence point can choose as elevation fluctuating point, from
And obtain multiple elevation fluctuating points.
For step 306, in one embodiment, flying platform obtains point cloud data by radar installations, is obtaining point cloud
When data, by radar installations to field emission laser signal to be measured, laser signal contacts the reflective information behind ground by radar
Device receives, and therefore, the three-dimensional coordinate and refractive index of the point data can be calculated according to reflective information.To in a cloud number
Each point data includes three-dimensional coordinate information and refractive index information in.So as to get the refraction of each point data
Rate can determine the small point data of refractive index by comparing, so that the small point data of refractive index is determined as level point, Ke Yishe
A threshold value is set, when refractive index is less than threshold value, it is small to be determined as refractive index, so that multiple level points are obtained, thus can in level point
To determine level control points.
Above embodiments, can be by the flexible selection at control point, and being adapted to property selects suitable control point cloth
Office, to provide the accuracy of mapping.
In some embodiments, multiple vertical control points and level control points are combined, available net of control points, are led to
It crosses net of control points and carries out mapping, on the other hand, when carrying out mapping by a net of control points, if mapped results reach
Less than preset requirement, multiple vertical control points and level control points can be selected again, are formed new net of control points and are surveyed and drawn,
Until mapped results reach requirement.
In one embodiment, point cloud data is parsed, further includes having in three-dimensional system of coordinate and point cloud data in point cloud data
Point data include three-dimensional coordinate data, therefore, obtain control point data when, specifically may is that obtain point cloud data in
The corresponding three-dimensional coordinate attribute with control point, is then marked control point according to three-dimensional coordinate attribute, obtains control point
Control point data.
Specifically, three-dimensional coordinate attribute can be the value in three-dimensional system of coordinate, three-dimensional system of coordinate can choose XYZ coordinate
System therefore, can be flat by sharing the XY in the XYZ coordinate system when establishing the corresponding relationship of image data and point cloud data
The relationship of image data and point cloud data is established according to the mode of X/Y plane coordinate matching in face.In the present embodiment, it can pass through
The mode of coordinate analysis, quick obtaining to control point corresponds to the position in image data, to more be rapidly performed by landform
Mapping.
In one embodiment, the amalgamation mode for carrying out image data may is that according to corresponding relationship, determine that dominating pair of vertices is answered
In the mark position of image data.According to control point data, mark position is merged, fused image data is obtained.
Specifically, the X/Y plane of image data can be mapped to according to coordinate of the control point data in XYZ coordinate system,
To be marked in mapping position using the control point data, to obtain fused image data.It is worth noting that
Mark the control point data in image data also includes three-dimensional coordinate attribute simultaneously.
In one embodiment, calculating may is that according to the mapping figure that fused image data obtains region to be measured
Coordinate of each point in three-dimensional system of coordinate in image data, then by the way of rendering, by the point wash with watercolours in three-dimensional system of coordinate
Dye is mapping figure.
In one embodiment, as shown in figure 4, providing a kind of schematic flow chart of mapping method, specific steps are such as
Under:
Step 402, the characteristic point in fused image data is extracted.
Step 404, according to the vertical control point data of vertical control point, the level control points data of level control points and
Characteristic point obtains the characteristic point data of characteristic point using pre-set aerial triangulation algorithm.
Step 406, according to characteristic point data, rendering obtains mapping figure.
In the present embodiment, by extracting characteristic point from image data, so that calculation process is reduced, without calculating image number
The data of each point in, it can by way of rendering, obtain mapping figure.
For step 402, in one embodiment, characteristic point is the point in image data, therefore when selecting characteristic point, can
To be selected by certain rule.Specifically, can guarantee that each characteristic point is deposited using distributed selection characteristic point
It is less than the characteristic point of preset value in more than one distance, guarantees the precision for generating mapping figure with this.
For step 404, in one embodiment, carried out using the air strips method in pre-set aerial triangulation algorithm
Measurement, i.e., can calculate using characteristic point as pass point, vertical control point data and level control points data as known point
Coordinate of the characteristic point in three-dimensional system of coordinate, i.e. coordinate in XYZ coordinate.The coordinate is characteristic point data.
For step 406, in one embodiment, according to three-dimensional coordinate of each characteristic point in three-dimensional system of coordinate, then
Three-dimensional mapping figure is rendered by three-dimensional coordinate, the unused color that different layers can use is marked.
In another embodiment, the posture information of flying platform transmission can also be obtained, posture information can pass through flight
The flight parameter of platform obtains, can be according to posture information then when establishing the corresponding relationship of image data and point cloud data
With pre-set camera parameter, image data and point cloud data are modified, obtain amendment image data and adjusting point cloud
Then data establish amendment image data and correct the corresponding relationship of point cloud data.
In the present embodiment, image data and point cloud data can be modified, to guarantee the accuracy of mapping.
In another embodiment, after control point data can also being selected according to point cloud data, pass through posture information and phase
Machine parameter is adjusted image data and control point data, to obtain accurate surveying and mapping data.
It should be understood that although each step in the flow chart of Fig. 2-4 is successively shown according to the instruction of arrow,
These steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly stating otherwise herein, these steps
Execution there is no stringent sequences to limit, these steps can execute in other order.Moreover, at least one in Fig. 2-4
Part steps may include that perhaps these sub-steps of multiple stages or stage are not necessarily in synchronization to multiple sub-steps
Completion is executed, but can be executed at different times, the execution sequence in these sub-steps or stage is also not necessarily successively
It carries out, but can be at least part of the sub-step or stage of other steps or other steps in turn or alternately
It executes.
In one embodiment, as shown in figure 5, providing a kind of mapping device, comprising: receiving module 502, control
Point selection module 504 and mapping module 506, in which:
Receiving module 502, for receiving the image data in the region to be measured of flying platform transmission and the point cloud in region to be measured
Data establish the corresponding relationship of the image data Yu the point cloud data；
Point selection module 504 is controlled, for obtaining the control point of preset quantity from the point cloud data, according to the control
The attribute of the corresponding point cloud data middle data of system point, determines the control point data at the control point；
Mapping module 506, for according to the corresponding relationship, the control point data to be melted with the image data
It closes, the mapping figure in region to be measured is obtained according to fused image data.
Control point includes: vertical control point and level control points in one of the embodiments,；Control point selection module
504 are also used to obtain the elevation fluctuating point in the point cloud data, obtain described in preset quantity from elevation fluctuating point
Vertical control point；And the refractive index of each point data in the point cloud data is obtained, determine that refractive index is high in the point data
Level point；The level control points of preset quantity are obtained from the level point.
Control point selection module 504, which is also used to obtain, in one of the embodiments, corresponds to institute in the point cloud data
The three-dimensional coordinate attribute for stating control point is marked the control point according to the three-dimensional coordinate attribute, obtains the control
The control point data of point.
Mapping module 506 in one of the embodiments, are also used to determine the control point according to the corresponding relationship
Mark position corresponding to the image data；According to the control point data, the mark position is merged, is melted
Image data after conjunction.
Mapping module 506 in one of the embodiments, are also used to extract the feature in the fused image data
Point；According to the vertical control point data of the vertical control point, level control points data of the level control points and described
Characteristic point obtains the characteristic point data of the characteristic point using pre-set aerial triangulation algorithm；According to the feature
Point data, rendering obtain the mapping figure.
Module is adjusted in one of the embodiments, is used for according to the posture information and pre-set camera parameter,
The image data and the point cloud data are modified respectively, obtain amendment image data and correct point cloud data；It establishes
The corresponding relationship of the amendment image data and the amendment point cloud data.
Specific about mapping device limits the restriction that may refer to above for mapping method, herein not
It repeats again.Modules in above-mentioned mapping device can be realized fully or partially through software, hardware and combinations thereof.On
Stating each module can be embedded in the form of hardware or independently of in the processor in computer equipment, can also store in a software form
In memory in computer equipment, the corresponding operation of the above modules is executed in order to which processor calls.
Based on the embodiment of above-mentioned mapping method, a kind of flying platform is also provided, as shown in fig. 6, flying platform packet
Flight instruments ontology 602 is included, image data shoots mould 604, and for obtaining the image data in region to be measured, point cloud obtains module
606, for obtaining the point cloud data in region to be measured, communication module 608, for image data and point cloud data to be transmitted to service
Device, communication module 608 obtain module with image data shooting module 604 and point cloud respectively and connect 606, image data shooting module
604, point cloud obtains module 606 and communication module 608 is mounted on flight instruments ontology 602.
In one embodiment, communication module 608 can be GPRS communication module, and flying platform at work, passes through GPRS
Communication module and ground-based server carry out communication connection, and the flight operation of flying platform is controlled by ground-based server.
In another embodiment, when flying platform is in region overhead to be measured, pass through image data shooting module 604 and point
Cloud obtains module 606 and shoots the image data and point cloud data in region to be measured, and is sent to ground-based server by GPRS module.
In one embodiment, point cloud obtain module 606 can be radar installations, the radar installations at work, to the ground
Tested point emits laser signal, and receives the corresponding reflection signal of laser signal, and the space bit of the tested point is calculated with this
It sets, by multiple tested points, available point cloud data.
In one embodiment, flying platform at work, image data shooting module 604 and point cloud obtain module 606 with
Same angle shot region to be measured, obtains corresponding data with this, improves the precision of mapping.
In one embodiment, a kind of computer equipment is provided, which can be server, internal junction
Composition can be as shown in Figure 7.The computer equipment include by system bus connect processor, memory, network interface and
Database.Wherein, the processor of the computer equipment is for providing calculating and control ability.The memory packet of the computer equipment
Include non-volatile memory medium, built-in storage.The non-volatile memory medium is stored with operating system, computer program and data
Library.The built-in storage provides environment for the operation of operating system and computer program in non-volatile memory medium.The calculating
The database of machine equipment is for storing image data and point cloud data.The network interface of the computer equipment is used for and external end
End passes through network connection communication.To realize a kind of mapping method when the computer program is executed by processor.
It will be understood by those skilled in the art that structure shown in Fig. 7, only part relevant to application scheme is tied
The block diagram of structure does not constitute the restriction for the computer equipment being applied thereon to application scheme, specific computer equipment
It may include perhaps combining certain components or with different component layouts than more or fewer components as shown in the figure.
In one embodiment, a kind of computer equipment is provided, including memory, processor and storage are on a memory
And the computer program that can be run on a processor, processor perform the steps of when executing computer program
The image data in the region to be measured that flying platform is sent and the point cloud data in region to be measured are received, the image is established
The corresponding relationship of data and the point cloud data；
The control point that preset quantity is obtained from the point cloud data, is answered in the point cloud data according to the dominating pair of vertices
The attribute of point data determines the control point data at the control point；
According to the corresponding relationship, the control point data is merged with the image data, according to fused
Image data obtains the mapping figure in region to be measured.
In one embodiment, control point includes: vertical control point and level control points；Processor executes computer program
When also perform the steps of the elevation fluctuating point obtained in the point cloud data, rise and fall from the elevation and obtain present count in point
The vertical control point of amount；And the refractive index of each point data in the point cloud data is obtained, it determines in the point data
The high level point of refractive index；The level control points of preset quantity are obtained from the level point.
In one embodiment, it is also performed the steps of when processor executes computer program and obtains the point cloud data
In correspond to the control point three-dimensional coordinate attribute, the control point is marked according to the three-dimensional coordinate attribute, is obtained
To the control point data at the control point.
In one embodiment, it also performs the steps of when processor executes computer program according to the corresponding relationship,
Determine that the control point corresponds to the mark position of the image data；According to the control point data, to the mark position
It is merged, obtains fused image data.
In one embodiment, it is described fused that extraction is also performed the steps of when processor executes computer program
Characteristic point in image data；According to the vertical control point data of the vertical control point, the horizontal control of the level control points
Point data processed and the characteristic point obtain the characteristic point of the characteristic point using pre-set aerial triangulation algorithm
Data；According to the characteristic point data, rendering obtains the mapping figure.
In one embodiment, it is also performed the steps of when processor executes computer program and obtains the flying platform
The posture information of transmission；The corresponding relationship for establishing the image data Yu the point cloud data, comprising: according to the posture
Information and pre-set camera parameter, are respectively modified the image data and the point cloud data, obtain amendment shadow
As data and amendment point cloud data；Establish the corresponding relationship of the amendment image data and the amendment point cloud data.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
Machine program performs the steps of when being executed by processor
The image data in the region to be measured that flying platform is sent and the point cloud data in region to be measured are received, the image is established
The corresponding relationship of data and the point cloud data；
The control point that preset quantity is obtained from the point cloud data, is answered in the point cloud data according to the dominating pair of vertices
The attribute of point data determines the control point data at the control point；
According to the corresponding relationship, the control point data is merged with the image data, according to fused
Image data obtains the mapping figure in region to be measured.
In one embodiment, control point includes: vertical control point and level control points；Computer program is held by processor
The elevation fluctuating point obtained in the point cloud data is also performed the steps of when row, is obtained from elevation fluctuating point default
The vertical control point of quantity；And the refractive index of each point data in the point cloud data is obtained, determine the point data
The high level point of middle refractive index；The level control points of preset quantity are obtained from the level point.
In one embodiment, it is also performed the steps of when computer program is executed by processor and obtains described cloud number
The three-dimensional coordinate attribute for corresponding to the control point in, is marked the control point according to the three-dimensional coordinate attribute,
Obtain the control point data at the control point.
In one embodiment, it is also performed the steps of when computer program is executed by processor according to the corresponding pass
System determines that the control point corresponds to the mark position of the image data；According to the control point data, to the marker bit
It sets and is merged, obtain fused image data.
In one embodiment, it is also performed the steps of when computer program is executed by processor after extracting the fusion
Image data in characteristic point；According to the vertical control point data of the vertical control point, the level of the level control points
It controls point data and the characteristic point and obtains the feature of the characteristic point using pre-set aerial triangulation algorithm
Point data；According to the characteristic point data, rendering obtains the mapping figure.
In one embodiment, it is flat that the acquisition flight is also performed the steps of when computer program is executed by processor
The posture information that platform is sent；The corresponding relationship for establishing the image data Yu the point cloud data, comprising: according to the appearance
State information and pre-set camera parameter, are respectively modified the image data and the point cloud data, are corrected
Image data and amendment point cloud data；Establish the corresponding relationship of the amendment image data and the amendment point cloud data.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
In read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein,
To any reference of memory, storage, database or other media used in each embodiment provided herein,
Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms,
Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing
Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (10)
1. a kind of mapping method, which comprises
The image data in the region to be measured that flying platform is sent and the point cloud data in region to be measured are received, the image data is established
With the corresponding relationship of the point cloud data；
The control point that preset quantity is obtained from the point cloud data, answers in the point cloud data according to the dominating pair of vertices and counts
According to attribute, determine the control point data at the control point；
According to the corresponding relationship, the control point data is merged with the image data, according to fused image
Data obtain the mapping figure in region to be measured.
2. the method according to claim 1, wherein the control point includes: vertical control point and horizontal control
Point；
The control point of preset quantity is obtained from the point cloud data, comprising:
The elevation fluctuating point in the point cloud data is obtained, the height that preset quantity is obtained from elevation fluctuating point is program-controlled
Point processed；
And the refractive index of each point data in the point cloud data is obtained, determine the level that refractive index is high in the point data
Point；
The level control points of preset quantity are obtained from the level point.
3. counting the method according to claim 1, wherein being answered in the point cloud data according to the dominating pair of vertices
According to attribute, determine the control point data at the control point, comprising:
The three-dimensional coordinate attribute for corresponding to the control point in the point cloud data is obtained, according to the three-dimensional coordinate attribute to institute
It states control point to be marked, obtains the control point data at the control point.
4. according to the method described in claim 2, it is characterized in that, according to the corresponding relationship, by the control point data with
The image data is merged, comprising:
According to the corresponding relationship, determine that the control point corresponds to the mark position of the image data；
According to the control point data, the mark position is merged, obtains fused image data.
5. according to the method described in claim 4, it is characterized in that, obtaining the ground in region to be measured according to fused image data
Shape schema mapping, comprising:
Extract the characteristic point in the fused image data；
According to the vertical control point data of the vertical control point, level control points data of the level control points and described
Characteristic point obtains the characteristic point data of the characteristic point using pre-set aerial triangulation algorithm；
According to the characteristic point data, rendering obtains the mapping figure.
6. method according to any one of claims 1 to 5, which is characterized in that further include:
Obtain the posture information that the flying platform is sent；
The corresponding relationship for establishing the image data Yu the point cloud data, comprising:
According to the posture information and pre-set camera parameter, the image data and the point cloud data are carried out respectively
Amendment obtains amendment image data and corrects point cloud data；
Establish the corresponding relationship of the amendment image data and the amendment point cloud data.
7. a kind of mapping device, which is characterized in that described device includes:
Receiving module is built for receiving the image data in the region to be measured of flying platform transmission and the point cloud data in region to be measured
Found the corresponding relationship of the image data Yu the point cloud data；
Point selection module is controlled, for obtaining the control point of preset quantity from the point cloud data, according to the dominating pair of vertices
The attribute for answering the point cloud data middle data determines the control point data at the control point；
Mapping module, for according to the corresponding relationship, the control point data to be merged with the image data, according to
Fused image data obtains the mapping figure in region to be measured.
8. a kind of flying platform characterized by comprising
Flight instruments ontology；
Image data shooting module, for obtaining the image data in region to be measured；
Point cloud obtains module, for obtaining the point cloud data in the region to be measured；
Communication module, for the image data and the point cloud data to be transmitted to server；
The communication module obtains module with the image data shooting module and described cloud respectively and connect；
The image data shooting module, described cloud obtains module and the communication module is mounted on the flight instruments
Ontology.
9. a kind of computer equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, which is characterized in that the processor realizes any one of claims 1 to 6 institute when executing the computer program
The step of stating method.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of method described in any one of claims 1 to 6 is realized when being executed by processor.
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