CN110298299A - A kind of unmanned plane side slope vegetation classification method based on contour course line - Google Patents
A kind of unmanned plane side slope vegetation classification method based on contour course line Download PDFInfo
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Abstract
The unmanned plane side slope vegetation classification method based on contour course line that the invention discloses a kind of, include the following steps: that (1) makes unmanned plane with serpentine fashion along several contour airline operations and hovers over and acquire image on the sampled point on contour course line, several contour course lines are equal with a distance from side slope ground and are set side by side along side slope inclined direction uniform intervals, and uniform intervals are provided with several sampled points on the course line；(2) Image compounding high density point cloud data is obtained into orthography by high density point cloud data with Pix4DMapper；(3) sample management device is constructed, the floristics manually told specially is added to generation project management classification in ArcGIS first；Then according to project management classification, object type to be sorted is irised out in near-earth orthography, obtains sample database；(4) the ecd file that sample training manager is generated based on project management classification and sample database is acted in orthography in conjunction with classification method, obtains the classification results of slope plant image；The method increase niceties of grading.
Description
Technical field
The unmanned plane side slope vegetation classification method based on contour course line that the present invention relates to a kind of, the classification of unmanned plane side slope vegetation
Method is to be flown based on unmanned plane side slope and obtained sharp image.
Background technique
Slope ecological engineering includes that planning and designing, engineering construction, project supervision, the acceptance of work, engineering management and engineering are ground
Six key links such as study carefully, wherein the development of the four processes such as project supervision, the acceptance of work, engineering management and engineering research all needs
Plant space distribution, the either stability assessment in the process in project supervision and quality or the acceptance of work are focused, then
Maintenance, after-culture, intermediate cutting and growing way management into engineering management, spatial framework in the group also or in engineering research, biology are more
Sample succession, ecological evaluation etc., based on the plant space distributed data for requiring dynamic high frequency.And plant space distribution prison
A most important data dimension is then plant classification in survey.
Slope plant is classified at present, is the time and effort consuming based on ground investigation method, higher cost.Existing unmanned plane
Plant species sort research is substantially topography is flat, the area that does not obviously rise and fall carries out, and object of classification is relatively simple.Side
Slope either from landform or the angle of structure of community, is all very different with existing research object.China's geological environment
It is abundant, but frequent natural calamity, it often meets with earthquake disaster or comes down naturally, in addition the activities such as mankind's mining or construction
Also natural plants can be destroyed, many exposed side slopes are caused, side slope reparation becomes normality high frequency requirements.The effect of side slope reparation,
It needs to assess by side slope research and appraisal.But side slope influence unmanned plane during flying mode with a varied topography and the quality of data and information
It excavates, slope plant level is abundant, and high level matches with low level, so that plant classification also has acquiring a certain degree of difficulty, there is presently no unmanned planes to exist
The research report of plant species is investigated under side slop's conditions, no ready-made research method can be used for reference, so present invention research will be one
Kind innovation is attempted.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of unmanned plane side slope vegetation classification method based on contour course line,
High quality image can be obtained, so as to improve slope plant nicety of grading.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of unmanned plane side slope vegetation classification method based on contour course line, includes the following steps:
(1) make unmanned plane with serpentine fashion along several contour airline operations and hover over and acquire shadow on the sampled point on contour course line
Picture, several contour course lines are equal with a distance from side slope ground and are set side by side along side slope inclined direction uniform intervals, the boat
Uniform intervals are provided with several sampled points on line；
(2) image is imported into Pix4DMapper to and synthesized high density point cloud data, is just being penetrated by high density point cloud data
Image；
(3) sample training manager is constructed, specially the floristics manually told is added in ArcGIS first and generates
Project management classification；Then according to project management classification, object type to be sorted is irised out in near-earth orthography, obtains sample
This library；It is imported into synthesis high density point cloud data in Pix4DMapper by unmanned plane low-latitude flying and by the image of acquisition, from
High density point cloud data obtains near-earth orthography；
(4) the ecd file that sample training manager is generated based on project management classification and sample database is made in conjunction with classification method
In final image for step (2), the classification results of slope plant image are obtained.
Further, DSM is also obtained by high density point cloud data in the step (2), DSM and orthography is imported into
ArcGIS manually chooses ground point according to orthography in ArcGIS, the elevation of ground point is extracted from DSM, with anti-distance
Power Interpolation method generates DTM；
nDSM=DSM-DTM
Wherein nDSM is plant height image；DSM is digital surface model；DTM is digital terrain model；
Further, the contour course line acquisition methods, include the following steps:
A makes unmanned plane with serpentine fashion along several fixed high respectively interval airline operations and hovers on fixed high respectively interval course line
Image is acquired on sampled point, several fixed high interval course lines of dividing equally are located at the same plane above side slope Nei and along side slope inclined direction
Uniform intervals are set side by side, and uniform intervals are provided with several sampled points on the course line, from the course line of corresponding slope foot to corresponding slope
Sampled point on the course line course line on top gradually increases；
Image is imported into Pix4DMapper and is synthesized low-density point cloud data by b, obtains DSM from low-density point cloud data,
DSM is imported in ArcGIS and obtains side slope slope angle and side slope slope aspect；
C is in ArcGIS first by side slope slope angle, side slope slope aspect, camera lens parameter, the requirement to resolution ratio and to course
The requirement of Duplication obtains contour course line spacing and its from side slope ground level, is then extracted using isopleth extracting tool
High course line extracts sampled point using along line drawing point tool.
Further, height of the contour course line from side slope ground is 50m.
Further, a certain number of accuracy evaluation points are generated at random in slope plant image, are compared with manual sort,
The accuracy for obtaining the classification of accuracy evaluation point, ultimately generates accuracy test result set.
Further, with accuracy test result set generate confusion matrix, according to counting, user's precision, producer's precision and
FScore analyzes nicety of grading, and the applicability of classification method is assessed according to Kappa score.
Further, the classification method is random forests algorithm.
The beneficial effects of the present invention are:
A kind of unmanned plane side slope vegetation classification method based on contour course line of the invention, unmanned plane can have along contour airline operation
Effect promotes the orthography clarity and texture of slope foot, and then improves plant classification precision, make nicety of grading reached 90% with
On.
Other advantages, target and feature of the invention will be illustrated in the following description to a certain extent, and
And to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, Huo Zheke
To be instructed from the practice of the present invention.Target and other advantages of the invention can be wanted by following specification and right
Book is sought to be achieved and obtained.
Detailed description of the invention
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
The detailed description of one step, in which:
Fig. 1 is flow diagram of the present invention.
Fig. 2 is contour route map.
Fig. 3 is the image that unmanned plane is acquired along contour airline operation.
Fig. 4 is the orthophotoquad obtained.
Fig. 5 is classification results schematic diagram.
Fig. 6 is that unmanned plane is added nDSM along contour airline operation or is added without the plant classification comparative result figure of nDSM.
Fig. 7 is unmanned plane along contour course line or along the fixed high plant classification divided equally interval airline operation and nDSM is added of tradition
Comparative result figure.
Fig. 8 is sectional view of the unmanned plane along contour flight sampling.
Specific embodiment
Hereinafter reference will be made to the drawings, and a preferred embodiment of the present invention will be described in detail.It should be appreciated that preferred embodiment
Only for illustrating the present invention, rather than limiting the scope of protection of the present invention.
Method of the invention is implemented in the Artificial Side-slope in Wenchuan area and natural mountainous region respectively, a height of 75m of Slope, length of grade
It is 1/2 for 150m, slope ratio.
As shown in Figs. 1-5, a kind of unmanned plane side slope vegetation classification method based on contour course line, includes the following steps:
(1) make unmanned plane with serpentine fashion along several contour airline operations and hover over and acquire shadow on the sampled point on contour course line
Picture, several contour course lines are equal with a distance from side slope ground and are set side by side along side slope inclined direction uniform intervals, the boat
Uniform intervals are provided with several sampled points on line, i.e., the plummet height on each sampled point and ground is a steady state value, this value
Setting needs depending on the demands such as the resolution ratio of actual samples, unmanned plane cruising ability, and the present invention is set as 50m, collects
Image resolution it is high, texture is strong, practical to prove to also improve the precision of vegetation classification in subsequent classification；Nothing in the present invention
Man-machine is quadrotor carbon fiber rack, and three axis camera pan-tilts fly firefly 8S motion cameras, and automatic pilot hardware system uses
Pix-hawk 2.4.8, software systems AutoPilot.
(2) image is imported into Pix4DMapper to and synthesized high density point cloud data, is obtained by high density point cloud data
Orthography；Orthography be it is a kind of corrected by vertical angle of view, using the modified image of adjacent pixel, to correct for plant
The height displacement of image can more accurately show the plant on ground.
(3) sample training manager is constructed, specially the floristics manually told is added in ArcGIS first
Generate project management classification；Then according to project management classification, object type to be sorted is irised out in near-earth orthography, is obtained
To sample database；Here near-earth orthography is 8, and finally the side slope on Wenchuan sample ground has selected 147 training samples, natural
143 training samples are selected to sample；The acquisition modes of near-earth orthography are as follows: by unmanned plane low-latitude flying and by acquisition
Image imported into synthesis high density point cloud data in Pix4DMapper, obtains near-earth orthography from high density point cloud data, this
Locating the distance of unmanned plane sampled point from the ground is 30m；Classification method in the present invention is random forests algorithm, i.e., using random gloomy
Woods algorithm carries out feature selecting and bio-diversity estimation.
(4) the ecd file by sample training manager based on project management classification and sample database generation is in conjunction with classification side
Method acts in the final image of step (2), obtains the classification results of slope plant image.
DSM is also obtained by high density point cloud data in the step (2), DSM and orthography are imported into ArcGIS,
Ground point is manually chosen according to orthography in ArcGIS, the elevation of ground point is extracted from DSM, with anti-distance weighting interpolation method
Generate DTM；
nDSM=DSM-DTM
Wherein nDSM is plant height image；DSM is digital surface model；DTM is digital terrain model, and nDSM, which is added, makes side slope
The classification results of plant species are finer, as shown in fig. 6, unmanned plane is added along contour airline operation in interception side slope regional area
NDSM or the plant classification comparative result figure for being added without nDSM.
Preferably, the contour course line acquisition methods, include the following steps:
A makes unmanned plane with serpentine fashion along several fixed high respectively interval airline operations and hovers on fixed high respectively interval course line
Image is acquired on sampled point, several fixed high interval course lines of dividing equally are located at the same plane above side slope Nei and along side slope inclined direction
Uniform intervals are set side by side, and uniform intervals are provided with several sampled points on the course line, from the course line of corresponding slope foot to corresponding slope
Sampled point on the course line course line on top gradually increases；
Image is imported into Pix4DMapper and is synthesized low-density point cloud data by b, obtains DSM from low-density point cloud data,
DSM is imported in ArcGIS and obtains side slope slope angle and side slope slope aspect, DSM is digital surface model；
C as shown in Fig. 2, in ArcGIS first by side slope slope angle, side slope slope aspect, camera lens parameter, resolution ratio is wanted
It asks and the requirement to endlap rate obtains contour course line spacing and its from side slope ground level, then uses equivalent line drawing work
Tool extracts contour course line, extracts sampled point using along line drawing point tool.
The height of the contour course line from the ground be 50m, the value be according to sampling image resolution requirement and nobody
Depending on machine cruising ability.
As described in Figure 8, contour interval calculation method are as follows:
In figure the vertical distance of unmanned plane sampled point P2 to ground Q2 be H`, unmanned plane endlap rate be EF/TF=ρ=
60%, side slope slope angle is β, and the distance of unmanned plane sampled point P1 to P2 can be indicated with ground point O1O2, ∠ EP2O2=α/
2,
∠ EO2P2=∠ QO2O1=1- β, therefore available according to triangle sine: EO2=H`. sin (α/2)/sin
(β−α/2) .Similarly, available O2F=H`. sin (α/2)/sin (α/2 π β).It is to sum up available:
This method further includes generating a certain number of accuracy evaluation points at random in slope plant image, is done pair with manual sort
Than obtaining the accuracy of accuracy evaluation point classification, ultimately generating accuracy test result set.
Confusion matrix is generated with accuracy test result set, is analyzed according to counting, user's precision, producer's precision and FScore
Nicety of grading assesses the applicability of classification method according to Kappa score.
Preferably, the classification method is random forests algorithm.
It is low to will appear the i.e. fixed high top of the slope image course coverage rate for dividing equally interval sampling of two problems with customary route sampling
Divide equally the slope foot image resolution for being spaced flight sampling in slope foot and Ding Gao lower than top of the slope, and contour course line of the invention can avoid
Above-mentioned two problems, so that the picture quality of acquisition is higher as shown in Figure 3.Fig. 7 is that interception side slope partial region makes unmanned plane edge
Contour course line divides equally interval airline operation along the fixed height of tradition and the plant classification comparative result figure of nDSM is added.
Accuracy test discovery, the nicety of grading of 27 kinds of plants have promotion, especially cogongrass, awns, Quercus aquifoliodes, poplar
It is obvious to promote amplitude for tree, buttercup, Anemone Vitifolia, cypress, sweet osmanthus, walnut, bamboo grass, eucalyptus, small sedge.
For unmanned aerial vehicle remote sensing classification method under complicated Wenchuan side slope environment, unmanned aerial vehicle remote sensing classification can play huge work
With, and under the dimension of kind, nicety of grading can reach 90% or more.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of the technical program, should all be covered in the present invention
Scope of the claims in.
Claims (7)
1. a kind of unmanned plane side slope vegetation classification method based on contour course line, characterized by the following steps:
(1) make unmanned plane with serpentine fashion along several contour airline operations and hover over and acquire shadow on the sampled point on contour course line
Picture, several contour course lines are equal with a distance from side slope ground and are set side by side along side slope inclined direction uniform intervals, the boat
Uniform intervals are provided with several sampled points on line；
(2) image is imported into Pix4DMapper to and synthesized high density point cloud data, is just being penetrated by high density point cloud data
Image；
Sample training manager is constructed, the floristics manually told specially is added in ArcGIS the scheme that generates first
Management category；Then according to project management classification, object type to be sorted is irised out in near-earth orthography, obtains sample
Library；The acquisition modes of near-earth orthography are as follows: imported by unmanned plane low-latitude flying and by its collected image
High density point cloud data is synthesized in Pix4DMapper, obtains near-earth orthography from high density point cloud data；
The ecd file that sample training manager is generated based on project management classification and sample database is acted in conjunction with classification method
In the final image of step (2), the classification results of slope plant image are obtained.
2. a kind of unmanned plane side slope vegetation classification method based on contour course line according to claim 1, it is characterised in that:
DSM is also obtained by high density point cloud data in the step (2), DSM and orthography are imported into ArcGIS, in ArcGIS
Ground point is manually chosen according to orthography, the elevation of ground point is extracted from DSM, generates DTM with anti-distance weighting interpolation method；
nDSM=DSM-DTM
Wherein nDSM is plant height image；DSM is digital surface model；DTM is digital terrain model.
3. a kind of unmanned plane side slope vegetation classification method based on contour course line according to claim 1 or 2, feature exist
In: the contour course line acquisition methods include the following steps:
A makes unmanned plane with serpentine fashion along several fixed high respectively interval airline operations and hovers on fixed high respectively interval course line
Image is acquired on sampled point, several fixed high interval course lines of dividing equally are located at the same plane above side slope Nei and along side slope inclined direction
Uniform intervals are set side by side, and uniform intervals are provided with several sampled points on the course line, from the course line of corresponding slope foot to corresponding slope
Sampled point on the course line course line on top gradually increases；
Image is imported into Pix4DMapper and is synthesized low-density point cloud data by b, obtains DSM from low-density point cloud data,
DSM is imported in ArcGIS and obtains side slope slope angle and side slope slope aspect；
C is in ArcGIS first by side slope slope angle, side slope slope aspect, camera lens parameter, the requirement to resolution ratio and to course
The requirement of Duplication obtains contour course line spacing and its from side slope ground level, is then extracted using isopleth extracting tool
High course line extracts sampled point using along line drawing point tool.
4. a kind of unmanned plane side slope vegetation classification method based on contour course line according to claim 3, it is characterised in that:
Height of the contour course line from side slope ground is 50m.
5. a kind of unmanned plane side slope vegetation classification method based on contour course line according to claim 1 or 2, feature exist
In: it generates a certain number of accuracy evaluation points at random in slope plant image, is compared with manual sort, obtain accuracy evaluation
The accuracy of point classification, ultimately generates accuracy test result set.
6. a kind of unmanned plane side slope vegetation classification method based on contour course line according to claim 1 or 2 or 3, special
Sign is: generating confusion matrix with accuracy test result set, is analyzed according to counting, user's precision, producer's precision and FScore
Nicety of grading assesses the applicability of classification method according to Kappa score.
7. a kind of unmanned plane side slope vegetation classification method based on contour course line according to claim 6, it is characterised in that:
The classification method is random forests algorithm.
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