CN109579793B - Terrain mapping method, apparatus, flight platform, computer device and storage medium - Google Patents
Terrain mapping method, apparatus, flight platform, computer device and storage medium Download PDFInfo
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- 238000013507 mapping Methods 0.000 title claims abstract description 49
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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
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- 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
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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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- 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
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- 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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Abstract
The application relates to a terrain mapping method, apparatus, flight platform, computer device and storage medium. The method comprises the following steps: the method comprises the steps of receiving image data of a region to be detected and point cloud data of the region to be detected, which are sent by a flight platform, establishing a corresponding relation between the image data and the point cloud data, obtaining a preset number of control points from the point cloud data, determining control point data of the control points according to the attributes of the point data in the point cloud data corresponding to the control points, fusing the control point data and the image data according to the corresponding relation, and obtaining a terrain map of the region to be detected according to the fused image data. By adopting the method, the efficiency of topographic mapping can be improved.
Description
Technical Field
The present application relates to the field of topographic mapping technologies, and in particular, to a topographic mapping method, an apparatus, a flight platform, a computer device, and a storage medium.
Background
The unmanned aerial vehicle aerial photography system is a new means of surveying and mapping of national large-scale capital construction projects, and the working efficiency has obvious advantages compared with the traditional surveying and mapping. When carrying out the aerial photography survey and drawing, shoot at the region of awaiting measuring through control personnel control unmanned aerial vehicle, acquire the image data of shooing, through the position of control point in the analysis image data to calculate the data of unknown point, thereby accomplish the survey and drawing to the region of awaiting measuring, before nevertheless the aerial photography, need artificially carry out the control point on ground and arrange, need a lot of manpower, material resources to do the support, influence the efficiency of operation work.
Disclosure of Invention
In view of the above, it is necessary to provide a terrain mapping method, apparatus, flight platform, computer device and storage medium capable of solving the problem of low mapping efficiency.
A method of terrain mapping, the method comprising:
receiving image data of a region to be detected and point cloud data of the region to be detected, which are sent by a flight platform, and establishing a corresponding relation between the image data and the point cloud data;
acquiring a preset number of control points from the point cloud data, and determining the control point data of the control points according to the attributes of the control points corresponding to the point cloud data;
and fusing the control point data and the image data according to the corresponding relation, and obtaining a terrain map of the area to be measured according to the fused image data.
In one embodiment, the control point comprises: elevation control points and horizontal control points; further comprising: acquiring elevation fluctuation points in the point cloud data, and acquiring a preset number of elevation control points from the elevation fluctuation points; obtaining the refractive index of each point data in the point cloud data, and determining the horizontal point with high refractive index in the point data; and acquiring a preset number of horizontal control points from the horizontal points.
In one embodiment, the method further comprises the following steps: and acquiring a three-dimensional coordinate attribute corresponding to the control point in the point cloud data, and marking the control point according to the three-dimensional coordinate attribute to obtain the control point data of the control point.
In one embodiment, the method further comprises the following steps: determining the marking position of the control point corresponding to the image data according to the corresponding relation; and fusing the mark positions according to the control point data to obtain fused image data.
In one embodiment, the method further comprises the following steps: extracting feature points in the fused image data; obtaining feature point data of the feature points by using a control triangulation method according to the elevation control point data of the elevation control points, the horizontal control point data of the horizontal control points and the feature points; and rendering to obtain the terrain map according to the feature point data.
In one embodiment, the method further comprises the following steps: acquiring attitude information sent by the flight platform; respectively correcting the image data and the point cloud data according to the attitude information and preset camera parameters to obtain corrected image data and corrected point cloud data; and establishing a corresponding relation between the corrected image data and the corrected point cloud data.
A terrain mapping device, the device comprising:
the receiving module is used for receiving image data of a to-be-detected area and point cloud data of the to-be-detected area sent by a flight platform and establishing a corresponding relation between the image data and the point cloud data;
the control point selection module is used for acquiring a preset number of control points from the point cloud data and determining the control point data of the control points according to the attributes of the point data in the point cloud data corresponding to the control points;
and the mapping module is used for fusing the control point data and the image data according to the corresponding relation and obtaining a terrain map of the area to be measured according to the fused image data.
A flying platform comprising:
a flying device body;
the image data shooting module is used for acquiring image data of the area to be detected;
the point cloud acquisition module is used for acquiring point cloud data of the area to be detected;
the communication module is used for transmitting the image data and the point cloud data to a server;
the communication module is respectively connected with the image data shooting module and the point cloud obtaining module;
the image data shooting module, the point cloud obtaining module and the communication module are all installed on the flying device body.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
receiving image data of a region to be detected and point cloud data of the region to be detected, which are sent by a flight platform, and establishing a corresponding relation between the image data and the point cloud data;
acquiring a preset number of control points from the image data, and determining control point data of the control points according to the corresponding relation;
and obtaining a terrain map of the area to be measured according to the control point data and the image data.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
receiving image data of a region to be detected and point cloud data of the region to be detected, which are sent by a flight platform, and establishing a corresponding relation between the image data and the point cloud data;
acquiring a preset number of control points from the image data, and determining control point data of the control points according to the corresponding relation;
and obtaining a terrain map of the area to be measured according to the control point data and the image data.
The topographic mapping method, the topographic mapping device, the flight platform, the computer equipment and the storage medium can shoot and send the image data and the point cloud data of the area to be measured through the flight platform at the same time, then establish the corresponding relation between the image data and the point cloud data, when selecting the control point, the control point data of the control point can be obtained only by confirming the required control point through the point cloud data, thereby the control point does not need to be manually arranged, the manpower and the human cost are reduced, in addition, when the terrain is mapped, the control point data and the image data are fused by the corresponding relation, and the image data with the control point data can be obtained, thereby the terrain mapping calculation can be carried out, because the flight platform returns image data and some cloud data simultaneously, consequently, can be quick carry out the topography survey to the region that awaits measuring to provide topography survey's efficiency.
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FIG. 1 is a diagram of an environment in which a topographic mapping method may be used in one embodiment;
FIG. 2 is a schematic flow chart diagram of a method for topographic mapping in one embodiment;
FIG. 3 is a flowchart illustrating a step of obtaining control points according to an embodiment;
FIG. 4 is a schematic flow chart diagram of a method for topographic mapping in another embodiment;
FIG. 5 is a block diagram of a topographical mapping device in one embodiment;
FIG. 6 is a schematic block diagram of a flight platform in one embodiment;
FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The topographic mapping method provided by the application can be applied to the application environment shown in fig. 1. Wherein the flying platform 102 wirelessly communicates with the server 104. The flight platform 102 may be, but is not limited to, various dedicated mapping drones, civil drones, shooting drones, and the like, and the server 104 may be implemented by an independent server or a server cluster composed of a plurality of servers.
The flight platform 102 wirelessly communicates with the server 104 via a particular communication protocol. During shooting, the control personnel control the flying platform 102 to fly over the area to be measured, and shoot the image data and the point cloud data of the area to be measured. Through a communication protocol, the flight platform 102 sends the image data and the point cloud data to the server 104, and in the server 104, the image data and the point cloud data are corresponded, so that when a control point is selected from the point cloud data, the control point data of the control point can be correspondingly obtained, and according to a corresponding relation, the terrain mapping of the area to be measured is performed on a result obtained by fusing the control point data and the image data.
In one embodiment, as shown in fig. 2, a terrain mapping method is provided, which is illustrated by applying the method to the server in fig. 1, and comprises the following steps:
step 202, receiving image data of the area to be detected and point cloud data of the area to be detected sent by the flight platform, and establishing a corresponding relation between the image data and the point cloud data.
Wherein, the regional target object that indicates to carry out the topography survey and drawing of awaiting measuring, when the topography survey and drawing of region that awaits measuring, flight platform need fly above the region that awaits measuring to this can acquire clear image data and some cloud data to the region that awaits measuring, in addition, in order to obtain comparatively clear image data and some cloud data, can select suitable height to shoot according to flight platform's shooting resolution ratio.
The image data can be image data or video data, when the image data is image data, a plurality of pieces of image data can be sent at the same time, so that the mapping precision is improved, and when the image data is video data, a mode of transmitting the video data in real time can be adopted, so that the server can select a proper video segment for topographic mapping. The point cloud data may be a collection through a series of points, each point in the point cloud data including a variety of attributes.
Specifically, after receiving the image data and the point cloud data sent by the flight platform, the server may establish a corresponding relationship between the image data and the point cloud data according to a shooting relationship between the data. The corresponding relation substantially reflects that the image data and the point cloud data are reflected in the same position in the region to be detected and correspond to each other.
Step 204, obtaining a preset number of control points from the point cloud data, and determining the control point data of the control points according to the attributes of the point data in the point cloud data corresponding to the control points.
The preset number can be selected according to requirements, for example, the preset number can be selected according to the size of the area of the region to be measured, and the larger the area is, the more the number of the control points is. The control point is one of the mark points, and the control point data is the control point with the data mark. And marking the control points according to the attributes of the point data in the point cloud data, thereby obtaining the control point data.
And step 206, fusing the control point data and the image data according to the corresponding relation, and obtaining the terrain map of the area to be measured according to the fused image data.
The fusion refers to adding new data to the image data, and the data can be extracted from the fused image data.
According to the corresponding relation, the position of the control point data fused in the image data can be determined, so that the control point fused data can be added to the position corresponding to the image data.
In the terrain surveying and mapping method, the image data and the point cloud data of the area to be measured are shot and sent through the flying platform at the same time, then the corresponding relation between the image data and the point cloud data is established, when the control point is selected, only the required control point needs to be confirmed through the point cloud data, the control point data of the control point can be obtained, thereby the control point does not need to be manually arranged, manpower and cost are reduced, in addition, when terrain surveying and mapping are carried out, the control point data and the image data are fused through the corresponding relation, the image data with the control point data can be obtained, terrain surveying and mapping calculation can be carried out, as the flying platform returns the image data and the point cloud data at the same time, therefore, the terrain surveying can be carried out on the area to be measured quickly, and the efficiency of the terrain.
In one embodiment, as shown in fig. 3, a schematic flowchart of the step of obtaining the control point is provided, and the specific steps are as follows:
step 302, determine the type of control point.
Types of control points include: elevation control points and horizontal control points.
And 304, acquiring elevation fluctuation points in the point cloud data, and acquiring a preset number of elevation control points from the elevation fluctuation points.
The elevation fluctuation points refer to points with prominent spatial positions in point cloud data and can be obtained by calculating the attributes of the point data.
Step 306, obtaining the refractive index of each point data in the point cloud data, determining the horizontal point with low refractive index in the point data, and obtaining a preset number of horizontal control points from the horizontal point.
The refractive index refers to the refractive index obtained by emitting laser to the ground when the flying platform generates point cloud data and then calculating according to the intensity of received reflected light.
In this embodiment, through the attribute of point cloud data in the point cloud data, can select the control point from the point cloud data to compare with artifical layout control point, efficiency is higher, and can select the control point of different combinations, is convenient for improve the precision of survey and drawing.
For step 302, in one embodiment, the type of the specific control point can be determined according to the requirement and the mapping manner. For example, when performing aerial triangulation, the types of the control points may be set as an elevation control point and a horizontal control point, so that the attribute of the encryption point can be obtained according to the elevation control point and the horizontal control point. When other mapping modes are selected, other control point combinations can be selected, and the types of other control points further comprise: astronomical points, gravity points, etc.
For step 304, in one embodiment, the elevation relief points may be calculated in a three-dimensional coordinate system according to three-dimensional coordinate information included in each data point in the point cloud data. The elevation relief points may be determined from locally converging points in the point cloud data. In addition, in order to obtain more elevation control points, points around the local convergence point may be selected as elevation fluctuation points, thereby obtaining a plurality of elevation fluctuation points.
For step 306, in an embodiment, the flying platform obtains the point cloud data through the radar device, and when the point cloud data is obtained, the radar device emits a laser signal to the area to be measured, and the reflection information of the laser signal after contacting the ground is received by the radar device, so that the three-dimensional coordinate and the refractive index of the point data can be calculated according to the reflection information. Thus, each dot data in the dot cloud data contains three-dimensional coordinate information and refractive index information. The refractive index of each point data can be acquired, the point data with the small refractive index can be determined through comparison, the point data with the small refractive index is determined as the horizontal point, a threshold value can be set, when the refractive index is smaller than the threshold value, the point data with the small refractive index is determined as the small refractive index, a plurality of horizontal points are obtained, and the horizontal control point can be determined in the horizontal point.
According to the embodiment, the control points can be flexibly selected, and the appropriate control point layout can be adaptively selected, so that the accuracy of topographic mapping is improved.
In some embodiments, a plurality of elevation control points and horizontal control points are combined to obtain a control point network, and topographic mapping is performed through the control point network.
In an embodiment, the point cloud data is analyzed, the point cloud data further includes a three-dimensional coordinate system, and the point data in the point cloud data includes three-dimensional coordinate data, so when the control point data is obtained, the following concrete steps are performed: and acquiring the three-dimensional coordinate attribute corresponding to the control point in the point cloud data, and then marking the control point according to the three-dimensional coordinate attribute to obtain the control point data of the control point.
Specifically, the three-dimensional coordinate attribute may be a value in a three-dimensional coordinate system, and the three-dimensional coordinate system may be an XYZ coordinate system, so that when the corresponding relationship between the image data and the point cloud data is established, the relationship between the image data and the point cloud data may be established by sharing an XY plane in the XYZ coordinate system and according to a coordinate matching manner of the XY plane. In this embodiment, the position of the control point in the corresponding image data can be quickly obtained in a coordinate analysis manner, so that topographic mapping can be performed more quickly.
In an embodiment, the fusion method of the image data may be: and determining the mark position of the control point corresponding to the image data according to the corresponding relation. And fusing the mark positions according to the control point data to obtain fused image data.
Specifically, the control point data may be mapped to an XY plane of the image data based on coordinates of the control point data in an XYZ coordinate system, and then the control point data may be used to perform labeling at the mapped position, thereby obtaining the fused image data. It should be noted that the control point data marked in the image data also includes three-dimensional coordinate attributes.
In an embodiment, obtaining the terrain map of the region to be measured according to the fused image data may be: and calculating the coordinates of each point in the image data in the three-dimensional coordinate system, and then rendering the points in the three-dimensional coordinate system into a terrain map in a rendering mode.
In one embodiment, as shown in fig. 4, a schematic flow chart of a terrain mapping method is provided, which includes the following steps:
in step 402, feature points in the fused image data are extracted.
And step 404, obtaining feature point data of the feature points by using a preset aerial triangulation algorithm according to the elevation control point data of the elevation control points, the horizontal control point data of the horizontal control points and the feature points.
And 406, rendering to obtain the terrain map according to the feature point data.
In this embodiment, the feature points are extracted from the image data, so that the calculation process is reduced, and the terrain map can be obtained in a rendering manner without calculating data of each point in the image data.
In step 402, in an embodiment, the feature points are points in the image data, so that the feature points can be selected according to a certain rule. Specifically, feature points may be selected in a distributed manner, that is, it is ensured that each feature point has more than one feature point whose distance is smaller than a preset value, so as to ensure the accuracy of generating the terrain map.
For step 404, in an embodiment, the coordinates of the feature points in the three-dimensional coordinate system, i.e. the coordinates in XYZ coordinates, can be calculated by using the aerial tape method in the preset aerial triangulation algorithm to perform measurement, that is, using the feature points as encrypted points and using the elevation control point data and the horizontal control point data as known points. The coordinates are feature point data.
For step 406, in an embodiment, a three-dimensional map of a three-dimensional object is rendered by the three-dimensional coordinates according to the three-dimensional coordinates of each feature point in the three-dimensional coordinate system, and different colors that may be used for different layers are marked.
In another embodiment, the attitude information sent by the flying platform can be further obtained, the attitude information can be obtained through the flying parameters of the flying platform, then when the corresponding relationship between the image data and the point cloud data is established, the image data and the point cloud data can be corrected according to the attitude information and the preset camera parameters to obtain corrected image data and corrected point cloud data, and then the corresponding relationship between the corrected image data and the corrected point cloud data is established.
In this embodiment, the image data and the point cloud data may be corrected to ensure the accuracy of mapping.
In another embodiment, after the control point data is selected according to the point cloud data, the image data and the control point data are adjusted through the attitude information and the camera parameters, so that accurate surveying and mapping data is obtained.
It should be understood that although the various steps in the flow charts of fig. 2-4 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-4 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 5, there is provided a terrain mapping apparatus comprising: a receiving module 502, a control point selection module 504, and a mapping module 506, wherein:
a receiving module 502, configured to receive image data of a to-be-detected area and point cloud data of the to-be-detected area sent by a flight platform, and establish a corresponding relationship between the image data and the point cloud data;
a control point selection module 504, configured to obtain a preset number of control points from the point cloud data, and determine control point data of the control points according to attributes of the control points corresponding to the point cloud data;
and the mapping module 506 is configured to fuse the control point data and the image data according to the corresponding relationship, and obtain a terrain map of the area to be measured according to the fused image data.
In one embodiment, the control point comprises: elevation control points and horizontal control points; the control point selection module 504 is further configured to obtain elevation fluctuation points in the point cloud data, and obtain a preset number of elevation control points from the elevation fluctuation points; obtaining the refractive index of each point data in the point cloud data, and determining the horizontal point with high refractive index in the point data; and acquiring a preset number of horizontal control points from the horizontal points.
In one embodiment, the control point selection module 504 is further configured to obtain a three-dimensional coordinate attribute corresponding to the control point in the point cloud data, and mark the control point according to the three-dimensional coordinate attribute to obtain control point data of the control point.
In one embodiment, the mapping module 506 is further configured to determine a mark position of the control point corresponding to the image data according to the corresponding relationship; and fusing the mark positions according to the control point data to obtain fused image data.
In one embodiment, the mapping module 506 is further configured to extract feature points in the fused image data; obtaining feature point data of the feature points by utilizing a preset aerial triangulation algorithm according to the elevation control point data of the elevation control points, the horizontal control point data of the horizontal control points and the feature points; and rendering to obtain the terrain map according to the feature point data.
In one embodiment, the adjusting module is configured to correct the image data and the point cloud data respectively according to the attitude information and preset camera parameters to obtain corrected image data and corrected point cloud data; and establishing a corresponding relation between the corrected image data and the corrected point cloud data.
For the specific definition of the topographic device, reference may be made to the above definition of the topographic method, which is not described in detail here. The various modules in the terrain mapping apparatus described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
Based on the above embodiment of the topographic mapping method, a flight platform is further provided, as shown in fig. 6, the flight platform includes a flight device body 602, an image data shooting module 604 for obtaining image data of an area to be measured, a point cloud obtaining module 606 for obtaining point cloud data of the area to be measured, a communication module 608 for transmitting the image data and the point cloud data to a server, the communication module 608 is connected 606 with the image data shooting module 604 and the point cloud obtaining module, and the image data shooting module 604, the point cloud obtaining module 606 and the communication module 608 are all installed on the flight device body 602.
In an embodiment, the communication module 608 may be a GPRS communication module, and the flight platform is in communication with a ground server through the GPRS communication module when in operation, and controls the flight operation of the flight platform through the ground server.
In another embodiment, when the flying platform is empty above the area to be measured, the image data and the point cloud data of the area to be measured are captured by the image data capturing module 604 and the point cloud obtaining module 606, and are sent to the ground server by the GPRS module.
In an embodiment, the point cloud obtaining module 606 may be a radar device, and when the radar device works, the radar device transmits a laser signal to a point to be measured on the ground, and receives a reflected signal corresponding to the laser signal, so as to calculate a spatial position of the point to be measured, and point cloud data can be obtained through a plurality of points to be measured.
In an embodiment, when the flying platform is in operation, the image data capturing module 604 and the point cloud obtaining module 606 capture the area to be measured at the same angle, so as to obtain corresponding data, thereby improving the surveying and mapping precision.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 7. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing image data and point cloud data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of topographic mapping.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
receiving image data of a region to be detected and point cloud data of the region to be detected, which are sent by a flight platform, and establishing a corresponding relation between the image data and the point cloud data;
acquiring a preset number of control points from the point cloud data, and determining the control point data of the control points according to the attributes of the control points corresponding to the point cloud data;
and fusing the control point data and the image data according to the corresponding relation, and obtaining a terrain map of the area to be measured according to the fused image data.
In one embodiment, the control points include: elevation control points and horizontal control points; the processor, when executing the computer program, further performs the steps of: acquiring elevation fluctuation points in the point cloud data, and acquiring a preset number of elevation control points from the elevation fluctuation points; obtaining the refractive index of each point data in the point cloud data, and determining the horizontal point with high refractive index in the point data; and acquiring a preset number of horizontal control points from the horizontal points.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and acquiring a three-dimensional coordinate attribute corresponding to the control point in the point cloud data, and marking the control point according to the three-dimensional coordinate attribute to obtain the control point data of the control point.
In one embodiment, the processor, when executing the computer program, further performs the steps of: determining the marking position of the control point corresponding to the image data according to the corresponding relation; and fusing the mark positions according to the control point data to obtain fused image data.
In one embodiment, the processor, when executing the computer program, further performs the steps of: extracting feature points in the fused image data; obtaining feature point data of the feature points by utilizing a preset aerial triangulation algorithm according to the elevation control point data of the elevation control points, the horizontal control point data of the horizontal control points and the feature points; and rendering to obtain the terrain map according to the feature point data.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring attitude information sent by the flight platform; the establishing of the corresponding relation between the image data and the point cloud data comprises the following steps: respectively correcting the image data and the point cloud data according to the attitude information and preset camera parameters to obtain corrected image data and corrected point cloud data; and establishing a corresponding relation between the corrected image data and the corrected point cloud data.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
receiving image data of a region to be detected and point cloud data of the region to be detected, which are sent by a flight platform, and establishing a corresponding relation between the image data and the point cloud data;
acquiring a preset number of control points from the point cloud data, and determining the control point data of the control points according to the attributes of the control points corresponding to the point cloud data;
and fusing the control point data and the image data according to the corresponding relation, and obtaining a terrain map of the area to be measured according to the fused image data.
In one embodiment, the control points include: elevation control points and horizontal control points; the computer program when executed by the processor further realizes the steps of: acquiring elevation fluctuation points in the point cloud data, and acquiring a preset number of elevation control points from the elevation fluctuation points; obtaining the refractive index of each point data in the point cloud data, and determining the horizontal point with high refractive index in the point data; and acquiring a preset number of horizontal control points from the horizontal points.
In one embodiment, the computer program when executed by the processor further performs the steps of: and acquiring a three-dimensional coordinate attribute corresponding to the control point in the point cloud data, and marking the control point according to the three-dimensional coordinate attribute to obtain the control point data of the control point.
In one embodiment, the computer program when executed by the processor further performs the steps of: determining the marking position of the control point corresponding to the image data according to the corresponding relation; and fusing the mark positions according to the control point data to obtain fused image data.
In one embodiment, the computer program when executed by the processor further performs the steps of: extracting feature points in the fused image data; obtaining feature point data of the feature points by utilizing a preset aerial triangulation algorithm according to the elevation control point data of the elevation control points, the horizontal control point data of the horizontal control points and the feature points; and rendering to obtain the terrain map according to the feature point data.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring attitude information sent by the flight platform; the establishing of the corresponding relation between the image data and the point cloud data comprises the following steps: respectively correcting the image data and the point cloud data according to the attitude information and preset camera parameters to obtain corrected image data and corrected point cloud data; and establishing a corresponding relation between the corrected image data and the corrected point cloud data.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of terrain mapping, the method comprising:
receiving image data of a region to be detected and point cloud data of the region to be detected, which are sent by a flight platform, and establishing a corresponding relation between the image data and the point cloud data;
acquiring a preset number of control points from the point cloud data, and determining the control point data of the control points according to the attributes of the control points corresponding to the point cloud data;
and fusing the control point data and the image data according to the corresponding relation, and obtaining a terrain map of the area to be measured according to the fused image data.
2. The method of claim 1, wherein the control point comprises: elevation control points and horizontal control points;
acquiring a preset number of control points from the point cloud data, including:
acquiring elevation fluctuation points in the point cloud data, and acquiring a preset number of elevation control points from the elevation fluctuation points;
obtaining the refractive index of each point data in the point cloud data, and determining the horizontal point with high refractive index in the point data;
and acquiring a preset number of horizontal control points from the horizontal points.
3. The method of claim 1, wherein determining control point data for the control point based on attributes of the control point to the point data in the point cloud data comprises:
and acquiring a three-dimensional coordinate attribute corresponding to the control point in the point cloud data, and marking the control point according to the three-dimensional coordinate attribute to obtain the control point data of the control point.
4. The method of claim 2, wherein fusing the control point data with the image data according to the correspondence comprises:
determining the marking position of the control point corresponding to the image data according to the corresponding relation;
and fusing the mark positions according to the control point data to obtain fused image data.
5. The method of claim 4, wherein obtaining a topographical map of the area under test from the fused image data comprises:
extracting feature points in the fused image data;
obtaining feature point data of the feature points by utilizing a preset aerial triangulation algorithm according to the elevation control point data of the elevation control points, the horizontal control point data of the horizontal control points and the feature points;
and rendering to obtain the terrain map according to the feature point data.
6. The method of any of claims 1 to 5, further comprising:
acquiring attitude information sent by the flight platform;
the establishing of the corresponding relation between the image data and the point cloud data comprises the following steps:
respectively correcting the image data and the point cloud data according to the attitude information and preset camera parameters to obtain corrected image data and corrected point cloud data;
and establishing a corresponding relation between the corrected image data and the corrected point cloud data.
7. A terrain mapping apparatus, the apparatus comprising:
the receiving module is used for receiving image data of a to-be-detected area and point cloud data of the to-be-detected area sent by a flight platform and establishing a corresponding relation between the image data and the point cloud data;
the control point selection module is used for acquiring a preset number of control points from the point cloud data and determining the control point data of the control points according to the attributes of the point data in the point cloud data corresponding to the control points;
and the mapping module is used for fusing the control point data and the image data according to the corresponding relation and obtaining a terrain map of the area to be measured according to the fused image data.
8. The apparatus of claim 7, wherein the control point comprises: elevation control points and horizontal control points;
the control point selection module is further configured to obtain a preset number of control points from the point cloud data, and includes: acquiring elevation fluctuation points in the point cloud data, and acquiring a preset number of elevation control points from the elevation fluctuation points; obtaining the refractive index of each point data in the point cloud data, and determining the horizontal point with high refractive index in the point data; and acquiring a preset number of horizontal control points from the horizontal points.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 6 are implemented when the computer program is executed by the processor.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
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