CN110458945B - Automatic modeling method and system by combining aerial oblique photography with video data - Google Patents
Automatic modeling method and system by combining aerial oblique photography with video data Download PDFInfo
- Publication number
- CN110458945B CN110458945B CN201910734086.3A CN201910734086A CN110458945B CN 110458945 B CN110458945 B CN 110458945B CN 201910734086 A CN201910734086 A CN 201910734086A CN 110458945 B CN110458945 B CN 110458945B
- Authority
- CN
- China
- Prior art keywords
- shooting
- photographic
- folder
- aircraft
- shot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000005259 measurement Methods 0.000 claims abstract description 16
- 230000008569 process Effects 0.000 claims description 21
- 238000012545 processing Methods 0.000 claims description 12
- 238000013507 mapping Methods 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 3
- 230000004927 fusion Effects 0.000 abstract description 4
- 230000008439 repair process Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 5
- 230000006978 adaptation Effects 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000007499 fusion processing Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000003086 colorant Substances 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/25—Fusion techniques
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
-
- G06T5/80—
Abstract
The invention provides an automatic modeling method and system by combining aerial oblique photography with video data, wherein the system comprises the following steps: the system comprises an oblique photographing device, a photographed image data file generation module, a video photographing device, GPS equipment and an analysis center; the analysis center comprises a shot image data file generation module, a shot image positioning module, a matching module, an empty three-dimensional measurement module and a three-dimensional inclination model generation module. Has the advantages that: the oblique photography image and the synchronously acquired video data are associated and effectively fused, and the video data are always clear, so that the problem of blurring of a section close to the ground does not exist, the bottom distortion problem of the three-dimensional model can be effectively improved through the video data, and the degree of reality of the three-dimensional model is improved; in addition, the invention also reduces the workload of manual repair through the fusion of the video data and the oblique photography image, thereby improving the working efficiency of the three-dimensional model.
Description
Technical Field
The invention belongs to the technical field of photogrammetry, and particularly relates to an automatic modeling method and system by combining aerial oblique photography with video data.
Background
Low-altitude aircraft have developed rapidly since the 21 st century. The aerial photography technology formed by the method is mature day by day, and meanwhile, with the application of the three-dimensional technology, the building model extraction has an important role. Existing techniques for extracting building models include oblique photography, lidar, and manual methods based on modeling software, but the above methods mainly suffer from the following disadvantages:
in the oblique photography technology, because different sensors and the ground have specific angles during photography, the ground with far resolution at the position close to the ground of a photographed image is low in resolution, and therefore the model obtained is blurred and distorted near the ground. The Lidar technology cannot accurately acquire the side texture characteristics of the ground object due to the characteristics of the Lidar technology, an independent sensor is needed for providing colors, the data acquisition amount is large, and the efficiency is low. The manual method modeling based on modeling software is labor-consuming work, low in working efficiency, high in labor cost and low in model truth.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an automatic modeling method and system by combining aerial oblique photography with video data, which can effectively solve the problems.
The technical scheme adopted by the invention is as follows:
the invention provides an automatic modeling method combining aerial oblique photography with video data, which comprises the following steps:
s1, simultaneously carrying an oblique photography device, a video photography device and GPS equipment by an aircraft; the shooting direction of the oblique shooting device and the shooting direction of the video shooting device form an included angle, so that the shooting direction of the video shooting device is different from the shooting direction of the oblique shooting device;
s2, after the target area is determined, the aircraft flies to the end point of the target area from the starting point of the target area according to the flight path, and the oblique photographing device, the video photographing device and the GPS equipment are synchronously started in the flying process of the aircraft;
the oblique photographing device has a corresponding relative posture relative to the aircraft, and the oblique photographing device photographs one image at set intervals, so that a series of photographing images corresponding to a current photographing batch are formed; wherein each of the photographic images has photographic image recording information, the photographic image recording information including: a photographic image ID, photographic image shooting position information, a tilt camera ID, a tilt camera relative posture and shooting batch information; the image record information of each photographic image forms a photographic image record summary information table in a table form;
a series of photographic images corresponding to the current shooting batch and shot by the oblique photographing device are stored according to the oblique photographing device ID and the shooting batch sub-folder, namely: all the photographic images shot by the same oblique photographic device are stored in a folder with the folder name of the oblique photographic device ID; the folder comprises a plurality of sub-folders, each sub-folder stores all the photographic images corresponding to each shooting batch, and the folder names of the sub-folders are the shooting batches, so that classified and classified storage photographic image data files are formed;
the video shooting device has a corresponding relative attitude relative to the aircraft, and continuously performs video shooting on the target area to obtain a video shooting file corresponding to the current shooting batch; wherein the video shot file has a shot time attribute;
the GPS equipment continuously records and obtains track data of the aircraft in the flying process; the flight path data comprise shooting time, a corresponding flight position of the aircraft and a flight attitude of the aircraft;
s3, the photographic image record summary information table, the classified storage photographic image data file, the video shooting file and the track data are all obtained by an analysis center;
s4, the analysis center analyzes and processes the video shooting file, extracts shot images with corresponding time from the video shooting file according to the shooting time interval of the oblique shooting device, and stores the shot images according to the ID of the video shooting device and the shooting batch sub-folder, namely: all shot images shot by the same video shooting device are stored in a folder with the name of the video shooting device ID, and the folder is related to the posture of the video shooting device; the folder comprises a plurality of sub-folders, each sub-folder stores all the shot images corresponding to each shooting batch, and the folder names of the sub-folders are the shooting batches, so that the shot image data files stored in a classified and classified manner are formed;
s5, for the same shooting batch, obtaining a series of shooting images from the shooting image data file; each shot image corresponds to shooting time and a relative posture of the video shooting device; then, according to the shooting time, the flight path data is searched to obtain the aircraft position and aircraft flight attitude information corresponding to each shot image;
for the same shooting batch, obtaining a series of photographic images from the classified and graded storage photographic image data files; searching the photographic image record summary information table according to the photographic image ID of each photographic image to obtain the corresponding relative posture of the oblique photographic device; searching the flight path data to obtain the aircraft position and aircraft flight attitude information corresponding to each photographic image;
s6, acquiring shot images and photographic images of the aircraft at the same position and at different angles; the shot image is associated with the relative attitude of the video shooting device, the position of the aircraft and the flight attitude information of the aircraft; the photographic image is associated with the relative attitude of the oblique photographic device, the position of the aircraft and the flight attitude information of the aircraft;
s7, performing aerial triangulation on the shot images and the photographic images obtained at the same position at different angles, extracting feature points, matching connection points, performing relative orientation, controlling point measurement and difference, and generating an aerial triangulation result of the photographic area;
and S8, generating dense point cloud data, constructing a triangulation network and mapping textures according to the aerial triangulation result of the photographic area, and finally obtaining a three-dimensional inclination model.
Preferably, in S2, the oblique photographing device captures an original image, preprocesses the original image to obtain a processed image, and stores the processed image;
wherein, the original image is preprocessed, which comprises: unifying the format of the original image into a TIF format, and performing color consistency, image edge processing, image contrast processing, texture processing and ratio processing.
Preferably, the flight position of the aircraft comprises information of the altitude, longitude and latitude of the aircraft.
The present invention also provides an automatic modeling system for integrating video data by aerial oblique photography, comprising:
the oblique photographing device is used for photographing an image at set intervals in the process that the aircraft flies from the starting point of the target area to the end point of the target area according to the flight path, so that a series of photographing images corresponding to the current photographing batch are formed; wherein each of the photographic images has photographic image record information, the photographic image record information including: a photographic image ID, photographic image shooting position information, a tilt camera ID, a tilt camera relative posture and shooting batch information; the image record information of each photographic image forms a photographic image record summary information table in a table form;
the photographic image data file generation module is used for storing a series of photographic images corresponding to the current shooting batch according to the inclined photographic device ID and the shooting batch sub-folders, namely: all the photographic images shot by the same oblique photographic device are stored in a folder with the folder name of the oblique photographic device ID; the folder comprises a plurality of sub-folders, each sub-folder stores all the photographic images corresponding to each shooting batch, and the folder names of the sub-folders are the shooting batches, so that classified and classified storage photographic image data files are formed;
the video shooting device is used for continuously shooting the video of the target area in the process that the aircraft flies to the end point of the target area from the starting point of the target area according to the flight path to obtain a video shooting file corresponding to the current shooting batch; wherein the video shot file has a shot time attribute;
the GPS equipment is used for continuously recording and obtaining track data of the aircraft in the flying process; the flight path data comprise shooting time, a corresponding flight position of the aircraft and a flight attitude of the aircraft;
the analysis center is used for obtaining the photographic image record summary information table, the classified and graded storage photographic image data file, the video shooting file and the track data;
the analysis center includes:
a shot image data file generation module, configured to extract shot images at corresponding times from the video shot files according to the shooting time interval of the oblique photography device, and store the shot images in a split folder according to the video shooting device ID and the shooting batch, that is: all shot images shot by the same video shooting device are stored in a folder with the name of the video shooting device ID, and the folder is related to the posture of the video shooting device; the folder comprises a plurality of sub-folders, each sub-folder stores all the shot images corresponding to each shooting batch, and the folder names of the sub-folders are the shooting batches, so that the shot image data files stored in a classified and classified manner are formed;
the shot image positioning module is used for acquiring a series of shot images from the shot image data files for the same shooting batch; each shot image corresponds to shooting time and a relative posture of the video shooting device; then, searching the flight path data according to the shooting time to obtain the aircraft position and aircraft flight attitude information corresponding to each shot image;
the photographic image positioning module is used for acquiring a series of photographic images from the classified and graded storage photographic image data files for the same shooting batch; searching the photographic image record summary information table according to the photographic image ID of each photographic image to obtain the corresponding relative posture of the oblique photographic device; searching the flight path data to obtain the aircraft position and aircraft flight attitude information corresponding to each photographic image;
the matching module is used for obtaining shot images and photographic images of the aircraft at the same position and at different angles; the shot image is associated with the relative attitude of the video shooting device, the position of the aircraft and the flight attitude information of the aircraft; the photographic image is associated with the relative attitude of the oblique photographic device, the position of the aircraft and the flight attitude information of the aircraft;
the aerial three measurement module is used for carrying out aerial three measurement on the shot images and the photographic images which are obtained at the same position at different angles, extracting characteristic points, matching connection points, and generating an aerial triangulation result of a photographic area after relative orientation, control point measurement and difference;
and the three-dimensional tilt model generation module is used for generating dense point cloud data, triangulation network construction and texture mapping according to the aerial triangulation result of the photographic area, and finally obtaining the three-dimensional tilt model.
The automatic modeling method and the system which combine the aerial oblique photography with the video data have the following advantages that:
according to the automatic modeling method and system combining aerial oblique photography with video data, correlation and effective fusion are carried out on oblique photography images and synchronously acquired video data, and the problem of bottom distortion of a three-dimensional model can be effectively improved through the video data because the video data are always clear and the problem of blurring of a section close to the ground does not exist, so that the degree of reality of the three-dimensional model is improved; in addition, the invention also reduces the workload of manual repair through the fusion of the video data and the oblique photography image, thereby improving the working efficiency of the three-dimensional model.
Drawings
Fig. 1 is a schematic flow chart of an automatic modeling method for integrating video data by aerial oblique photography according to the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in 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 invention and are not intended to limit the invention.
The invention provides an automatic modeling method by combining aerial oblique photography with video data, which mainly comprises the following steps: acquiring an inclined original image and video data, extracting a video data image from the video data, preprocessing the extracted video image and the inclined original image, then performing aerial triangulation to obtain aerial triangulation results, and generating a model reconstruction project; and finally, carrying out model reconstruction to obtain a three-dimensional model. The method improves the problems of model bottom distortion and the like during oblique photography modeling, and enables the three-dimensional model reconstruction to be faster and more efficient.
Referring to fig. 1, the present invention provides an automatic modeling method for integrating video data by aerial oblique photography, which specifically comprises the following steps:
s1, simultaneously carrying an oblique photographing device, a video photographing device and GPS equipment by an aircraft; the shooting direction of the oblique shooting device and the shooting direction of the video shooting device form an included angle, so that the shooting direction of the video shooting device is different from the shooting direction of the oblique shooting device; the relative attitude between the oblique photographing device and the video photographing device is fixed during the flight of the aircrafts in the same batch.
S2, after the target area is determined, the aircraft flies to the end point of the target area from the starting point of the target area according to the flight path, and the oblique photographing device, the video photographing device and the GPS equipment are synchronously started in the flying process of the aircraft;
the oblique photography device has a corresponding relative attitude relative to the aircraft, including pitch angle attitude information; the oblique photographing device shoots an image at set intervals, so that a series of photographing images corresponding to the current shooting batch are formed; wherein each of the photographic images has photographic image record information, the photographic image record information including: a photographic image ID, photographic image shooting position information, a tilt camera ID, a tilt camera relative posture and shooting batch information; the shooting position information of the photographic image is as follows: the spatial position coordinates X, Y, Z at the time of exposure of each photographic image are: altitude, longitude and latitude; the image record information of each of the photographic images forms a photographic image record summary information table in a tabular form, for example, a file in an EXCEL tabular form.
In this step, the oblique photographing device shoots an original image, and the original image is preprocessed to obtain a processed image and then stored;
wherein, the original image is preprocessed, which comprises: unifying the format of the original image into a TIF format, and performing color consistency, image edge processing, image contrast processing, texture processing and ratio processing.
A series of photographic images corresponding to the current shooting batch and shot by the oblique photographing device are stored according to the oblique photographing device ID and the shooting batch sub-folder, namely: all the photographic images shot by the same oblique photographic device are stored in a folder with the folder name of the oblique photographic device ID; the folder comprises a plurality of sub-folders, each sub-folder stores all photographic images corresponding to each photographing batch, and the folder names of the sub-folders are the photographing batches, so that classified and classified storage photographic image data files are formed;
the video shooting device has a corresponding relative attitude relative to the aircraft, and continuously performs video shooting on the target area to obtain a video shooting file corresponding to the current shooting batch; wherein the video shot file has a shot time attribute; certainly, the information of the shooting angle, the shooting height, the shooting focal length and the like of the video shooting device in the flying process of the aircraft can be recorded in real time, so that the subsequent fusion processing is facilitated;
when video data is obtained, the video shooting distance is set according to the requirement, the key point is to extract the video data image, confirm the video image extraction time interval according to the moving speed when the video is shot, and store the image in groups.
The GPS equipment continuously records and obtains track data of the aircraft in the flying process; the flight path data comprise shooting time, a corresponding flight position of the aircraft and a flight attitude of the aircraft; wherein the flight position of the aircraft comprises altitude, longitude and latitude information of the aircraft.
S3, the photographic image record summary information table, the classified storage photographic image data file, the video shooting file and the track data are all obtained by an analysis center;
s4, the analysis center analyzes and processes the video shooting file, extracts shot images with corresponding time from the video shooting file according to the shooting time interval of the oblique shooting device, and stores the shot images according to the ID of the video shooting device and the shooting batch sub-folder, namely: all shot images shot by the same video shooting device are stored in a folder with the name of the video shooting device ID, and the folder is related to the posture of the video shooting device; the folder comprises a plurality of sub-folders, each sub-folder stores all the shot images corresponding to each shooting batch, and the folder names of the sub-folders are the shooting batches, so that the shot image data files stored in a classified and classified manner are formed;
s5, for the same shooting batch, obtaining a series of shooting images from the shooting image data file; each shot image corresponds to shooting time and a relative posture of the video shooting device; then, searching the flight path data according to the shooting time to obtain the aircraft position and aircraft flight attitude information corresponding to each shot image;
for the same shooting batch, obtaining a series of photographic images from the classified and graded storage photographic image data files; searching the photographic image record summary information table according to the photographic image ID of each photographic image to obtain the corresponding relative posture of the oblique photographic device; searching the flight path data to obtain the aircraft position and aircraft flight attitude information corresponding to each photographic image;
s6, acquiring shot images and photographic images of the aircraft at the same position and at different angles; the shot image is associated with the relative attitude of the video shooting device, the position of the aircraft and the flight attitude information of the aircraft; the photographic image is associated with the relative attitude of the oblique photographic device, the position of the aircraft and the flight attitude information of the aircraft;
s7, performing aerial triangulation on the shot images and the photographic images obtained at the same position at different angles, extracting feature points, matching connection points, performing relative orientation, controlling point measurement and difference, and generating an aerial triangulation result of the photographic area;
when the connection points are matched, the weight of the matched connection points is set at the same time, the set weight of the video data is extracted and generally set to be 1/2-1/5 of that of the oblique photography image, relative orientation is carried out, and a relative orientation result is output after the orientation result conforms to the national standard.
When the control point measurement is carried out, the error of the connection point is better than 1 pixel, the control point measurement is carried out, then the adjustment is carried out, and the control point residual error is controlled in one pixel and then the empty three achievements are output (note that the index can be adjusted according to the project requirement).
After the control points are measured, point cloud matching is carried out, and the quality and the interval of the matched point clouds are set according to requirements; and then modeling is carried out on the matching point cloud.
And S8, generating dense point cloud data, constructing a triangulation network and mapping textures according to the aerial triangulation result of the photographic area, and finally obtaining a three-dimensional inclination model.
In the invention, the obtained video data is combined with the oblique photography data to carry out the air-to-three measurement, and the main functions are as follows: the video data is used to obtain the sides of the building model, and in particular to improve the texture distortion problem of the near-ground model.
The present invention also provides an automatic modeling system for integrating video data by aerial oblique photography, comprising:
the oblique photographing device is used for photographing an image at set intervals in the process that the aircraft flies from the starting point of the target area to the end point of the target area according to the flight path, and therefore a series of photographing images corresponding to the current photographing batch are formed; wherein each of the photographic images has photographic image record information, the photographic image record information including: a photographic image ID, photographic image shooting position information, a tilt camera ID, a tilt camera relative posture and shooting batch information; the image record information of each photographic image forms a photographic image record summary information table in a table form;
the photographic image data file generation module is used for storing a series of photographic images corresponding to the current shooting batch according to the inclined photographic device ID and the shooting batch sub-folders, namely: all the photographic images shot by the same oblique photographic device are stored in a folder with the folder name of the oblique photographic device ID; the folder comprises a plurality of sub-folders, each sub-folder stores all the photographic images corresponding to each shooting batch, and the folder names of the sub-folders are the shooting batches, so that classified and classified storage photographic image data files are formed;
the video shooting device is used for continuously shooting the video of the target area in the process that the aircraft flies to the end point of the target area from the starting point of the target area according to the flight path to obtain a video shooting file corresponding to the current shooting batch; wherein the video shot file has a shot time attribute;
the GPS equipment is used for continuously recording and obtaining track data of the aircraft in the flying process; the flight path data comprise shooting time, a corresponding flight position of the aircraft and a flight attitude of the aircraft;
the analysis center is used for obtaining the photographic image record summary information table, the classified and graded storage photographic image data file, the video shooting file and the track data;
the analysis center includes:
a shot image data file generation module, configured to extract shot images at corresponding times from the video shot files according to the shooting time interval of the oblique photography device, and store the shot images in a split folder according to the video shooting device ID and the shooting batch, that is: all shot images shot by the same video shooting device are stored in a folder with the name of the video shooting device ID, and the folder is related to the posture of the video shooting device; the folder comprises a plurality of sub-folders, each sub-folder stores all the shot images corresponding to each shooting batch, and the folder names of the sub-folders are the shooting batches, so that the shot image data files stored in a classified and classified manner are formed;
the shot image positioning module is used for acquiring a series of shot images from the shot image data file for the same shooting batch; each shot image corresponds to shooting time and a relative posture of the video shooting device; then, searching the flight path data according to the shooting time to obtain the aircraft position and aircraft flight attitude information corresponding to each shot image;
the photographic image positioning module is used for acquiring a series of photographic images from the classified and graded storage photographic image data files for the same shooting batch; searching the photographic image record summary information table according to the photographic image ID of each photographic image to obtain the corresponding relative posture of the oblique photographic device; searching the flight path data to obtain the aircraft position and aircraft flight attitude information corresponding to each photographic image;
the matching module is used for obtaining shot images and photographic images of the aircraft at the same position and at different angles; the shot image is associated with the relative attitude of the video shooting device, the position of the aircraft and the flight attitude information of the aircraft; the photographic image is associated with the relative attitude of the oblique photographic device, the position of the aircraft and the flight attitude information of the aircraft;
the aerial three measurement module is used for carrying out aerial three measurement on the shot images and the photographic images which are obtained at the same position at different angles, extracting characteristic points, matching connection points, and generating an aerial triangulation result of a photographic area after relative orientation, control point measurement and difference;
and the three-dimensional tilt model generation module is used for generating dense point cloud data, triangulation network construction and texture mapping according to the aerial triangulation result of the photographic area, and finally obtaining the three-dimensional tilt model.
The automatic modeling method and the system which combine the aerial oblique photography with the video data have the following advantages that:
the invention provides an automatic modeling method and system combining aerial oblique photography with video data, which are used for associating and effectively fusing oblique photography images with synchronously acquired video data, and because a large number of parameters of the oblique photography images and the video data are obtained, the fusion process is simple, the corresponding association of the oblique photography images and the video data images can be quickly realized, and because the video data are always clear, the problem of blurring of a section close to the ground does not exist, the bottom distortion problem of a three-dimensional model can be effectively improved through the video data, and the true degree of the three-dimensional model is improved; in addition, the invention also reduces the workload of manual repair through the fusion of the video data and the oblique photography image, thereby improving the working efficiency of the three-dimensional model.
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 may be implemented by hardware associated with computer program instructions, and the above programs may be stored in a computer readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, many modifications and adaptations can be made without departing from the principle of the present invention, and such modifications and adaptations should also be considered to be within the scope of the present invention.
Claims (4)
1. An automatic modeling method by combining aerial oblique photography with video data, characterized by comprising the following steps:
s1, simultaneously carrying an oblique photographing device, a video photographing device and GPS equipment by an aircraft; the shooting direction of the oblique shooting device and the shooting direction of the video shooting device form an included angle, so that the shooting direction of the video shooting device is different from the shooting direction of the oblique shooting device;
s2, after the target area is determined, the aircraft flies to the end point of the target area from the starting point of the target area according to the flight path, and the oblique photographing device, the video photographing device and the GPS equipment are synchronously started in the flying process of the aircraft;
the oblique photographing device has a corresponding relative posture relative to the aircraft, and the oblique photographing device photographs one image at set intervals, so that a series of photographing images corresponding to a current photographing batch are formed; wherein each of the photographic images has photographic image record information, the photographic image record information including: a photographic image ID, photographic image shooting position information, a tilt camera ID, a tilt camera relative posture and shooting batch information; the image record information of each photographic image forms a photographic image record summary information table in a table form;
a series of photographic images corresponding to the current shooting batch and shot by the oblique photographing device are stored according to the oblique photographing device ID and the shooting batch sub-folder, namely: all the photographic images shot by the same oblique photographic device are stored in a folder with the folder name of the oblique photographic device ID; the folder with the folder name of the oblique photographing device ID comprises a plurality of sub-folders, the sub-folder of the folder with the folder name of the oblique photographing device ID stores all the photographic images corresponding to each photographing batch, and the folder name of the sub-folder of the folder with the folder name of the oblique photographing device ID is the photographing batch, so that classified and classified storage photographic image data files are formed;
the video shooting device has a corresponding relative attitude relative to the aircraft, and continuously performs video shooting on the target area to obtain a video shooting file corresponding to the current shooting batch; wherein the video shot file has a shot time attribute;
the GPS equipment continuously records and obtains track data of the aircraft in the flying process; the flight path data comprise shooting time, a corresponding flight position of the aircraft and a flight attitude of the aircraft;
s3, the photographic image record summary information table, the classified storage photographic image data file, the video shooting file and the track data are all obtained by an analysis center;
s4, the analysis center analyzes the video shooting file, extracts the shot images with corresponding time from the video shooting file according to the shooting time interval of the oblique shooting device, and stores the shot images according to the ID of the video shooting device and the shooting batch sub-folder, namely: all shot images shot by the same video shooting device are stored in a folder with the name of the video shooting device ID, and the folder with the name of the video shooting device ID is related to the posture of the video shooting device; the folder with the folder name of the video shooting device ID comprises a plurality of sub-folders, the sub-folder of the folder with the folder name of the video shooting device ID stores all the shot images corresponding to each shooting batch, and the folder name of the sub-folder of the folder with the folder name of the video shooting device ID is the shooting batch, so that the shot image data files stored in a classified and classified mode are formed;
s5, for the same shooting batch, obtaining a series of shooting images from the shooting image data file; each shot image corresponds to shooting time and a relative posture of the video shooting device; then, searching the flight path data according to the shooting time to obtain the aircraft position and aircraft flight attitude information corresponding to each shot image;
for the same shooting batch, obtaining a series of photographic images from the classified and graded storage photographic image data files; searching the photographic image record summary information table according to the photographic image ID of each photographic image to obtain the corresponding relative posture of the oblique photographic device; searching the flight path data to obtain the aircraft position and aircraft flight attitude information corresponding to each photographic image;
s6, acquiring shot images and photographic images of the aircraft at the same position and at different angles; the shot image is associated with the relative attitude of the video shooting device, the position of the aircraft and the flight attitude information of the aircraft; the photographic image is associated with the relative attitude of the oblique photographic device, the position of the aircraft and the flight attitude information of the aircraft;
s7, performing aerial triangulation on the shot images and the photographic images obtained at the same position at different angles, extracting feature points, matching connection points, performing relative orientation, controlling point measurement and difference, and generating an aerial triangulation result of the photographic area;
and S8, generating dense point cloud data, constructing a triangulation network and mapping textures according to the aerial triangulation result of the photographic area, and finally obtaining a three-dimensional inclination model.
2. The method according to claim 1, wherein in step S2, the oblique photography device captures an original image, pre-processes the original image to obtain a processed image, and stores the processed image;
wherein, the original image is preprocessed, which comprises: unifying the format of the original image into a TIF format, and performing color consistency, image edge processing, image contrast processing, texture processing and ratio processing.
3. The method of claim 1, wherein the flight position of the aircraft comprises altitude, longitude and latitude information of the aircraft.
4. An automated modeling system for integrating video data via aerial tilt photography, comprising:
the oblique photographing device is used for photographing an image at set intervals in the process that the aircraft flies from the starting point of the target area to the end point of the target area according to the flight path, so that a series of photographing images corresponding to the current photographing batch are formed; wherein each of the photographic images has photographic image record information, the photographic image record information including: a photographic image ID, photographic image shooting position information, a tilt camera ID, a tilt camera relative posture and shooting batch information; the image record information of each photographic image forms a photographic image record summary information table in a table form;
the photographic image data file generation module is used for storing a series of photographic images corresponding to the current shooting batch according to the inclined photographic device ID and the shooting batch sub-folders, namely: all the photographic images shot by the same oblique photographic device are stored in a folder with the folder name of the oblique photographic device ID; the folder with the folder name of the oblique photographing device ID comprises a plurality of sub-folders, the sub-folder of the folder with the folder name of the oblique photographing device ID stores all the photographic images corresponding to each photographing batch, and the folder name of the sub-folder of the folder with the folder name of the oblique photographing device ID is the photographing batch, so that classified and classified storage photographic image data files are formed;
the video shooting device is used for continuously shooting the video of the target area in the process that the aircraft flies to the end point of the target area from the starting point of the target area according to the flight path to obtain a video shooting file corresponding to the current shooting batch; wherein the video shot file has a shot time attribute;
the GPS equipment is used for continuously recording and obtaining track data of the aircraft in the flying process; the flight path data comprise shooting time, a corresponding flight position of the aircraft and a flight attitude of the aircraft;
the analysis center is used for obtaining the photographic image record summary information table, the classified and graded storage photographic image data file, the video shooting file and the track data;
the analysis center includes:
a shot image data file generation module, configured to extract shot images at corresponding times from the video shot files according to the shooting time interval of the oblique photography device, and store the shot images in a split folder according to the video shooting device ID and the shooting batch, that is: all shot images shot by the same video shooting device are stored in a folder with the name of the video shooting device ID, and the folder with the name of the video shooting device ID is related to the posture of the video shooting device; the folder with the folder name of the video shooting device ID comprises a plurality of sub-folders, the sub-folder of the folder with the folder name of the video shooting device ID stores all the shot images corresponding to each shooting batch, and the folder name of the sub-folder of the folder with the folder name of the video shooting device ID is the shooting batch, so that the shot image data files stored in a classified and classified mode are formed;
the shot image positioning module is used for acquiring a series of shot images from the shot image data file for the same shooting batch; each shot image corresponds to shooting time and a relative posture of the video shooting device; then, searching the flight path data according to the shooting time to obtain the aircraft position and aircraft flight attitude information corresponding to each shot image;
the photographic image positioning module is used for acquiring a series of photographic images from the classified and graded storage photographic image data files for the same shooting batch; searching the photographic image record summary information table according to the photographic image ID of each photographic image to obtain the corresponding relative posture of the oblique photographic device; searching the flight path data to obtain the aircraft position and aircraft flight attitude information corresponding to each photographic image;
the matching module is used for obtaining shot images and photographic images of the aircraft at the same position and at different angles; the shot image is associated with the relative attitude of the video shooting device, the position of the aircraft and the flight attitude information of the aircraft; the photographic image is associated with the relative attitude of the oblique photographic device, the position of the aircraft and the flight attitude information of the aircraft;
the aerial three-measurement module is used for carrying out aerial three-measurement on the shot images and the photographic images which are obtained at the same position and different angles, extracting characteristic points, matching connection points, and generating an aerial triangulation result of a photographic area after relative orientation, control point measurement and difference;
and the three-dimensional tilt model generation module is used for generating dense point cloud data, triangulation network construction and texture mapping according to the aerial triangulation result of the photographic area, and finally obtaining the three-dimensional tilt model.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910734086.3A CN110458945B (en) | 2019-08-09 | 2019-08-09 | Automatic modeling method and system by combining aerial oblique photography with video data |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910734086.3A CN110458945B (en) | 2019-08-09 | 2019-08-09 | Automatic modeling method and system by combining aerial oblique photography with video data |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110458945A CN110458945A (en) | 2019-11-15 |
| CN110458945B true CN110458945B (en) | 2022-11-11 |
Family
ID=68485663
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910734086.3A Active CN110458945B (en) | 2019-08-09 | 2019-08-09 | Automatic modeling method and system by combining aerial oblique photography with video data |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110458945B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111222586B (en) * | 2020-04-20 | 2020-09-18 | 广州都市圈网络科技有限公司 | Inclined image matching method and device based on three-dimensional inclined model visual angle |
| CN111536871B (en) * | 2020-05-07 | 2022-05-31 | 武汉大势智慧科技有限公司 | Accurate calculation method for volume variation of multi-temporal photogrammetric data |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106454209A (en) * | 2015-08-06 | 2017-02-22 | 航天图景（北京）科技有限公司 | Unmanned aerial vehicle emergency quick action data link system and unmanned aerial vehicle emergency quick action monitoring method based on spatial-temporal information fusion technology |
| CN107301237A (en) * | 2017-06-28 | 2017-10-27 | 高感（北京）科技有限公司 | The method for organizing and system of a kind of many camera lens oblique photograph data files |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3432674A (en) * | 1964-09-04 | 1969-03-11 | Itek Corp | Photographic image registration |
| US5259037A (en) * | 1991-02-07 | 1993-11-02 | Hughes Training, Inc. | Automated video imagery database generation using photogrammetry |
| JP4178469B2 (en) * | 2003-11-27 | 2008-11-12 | 国際航業株式会社 | How to configure aerial photo image data set |
| CN104320616A (en) * | 2014-10-21 | 2015-01-28 | 广东惠利普路桥信息工程有限公司 | Video monitoring system based on three-dimensional scene modeling |
| CN105719341A (en) * | 2016-01-18 | 2016-06-29 | 中科宇图科技股份有限公司 | Method for extracting building height from space remote-sensing image based on RPC model |
| CN106709983A (en) * | 2016-11-18 | 2017-05-24 | 航天图景（北京）科技有限公司 | Three-dimensional model acquisition and application system and method |
| CN106767720A (en) * | 2016-12-30 | 2017-05-31 | 广州地理研究所 | Single-lens oblique photograph measuring method, device and system based on unmanned plane |
| CN107396046A (en) * | 2017-07-20 | 2017-11-24 | 武汉大势智慧科技有限公司 | A kind of stereoscopic monitoring system and method based on the true threedimensional model of oblique photograph |
| CN107862744B (en) * | 2017-09-28 | 2021-05-18 | 深圳万图科技有限公司 | Three-dimensional modeling method for aerial image and related product |
| CN108931235A (en) * | 2018-08-22 | 2018-12-04 | 上海华测导航技术股份有限公司 | Application method of the unmanned plane oblique photograph measuring technique in planing final construction datum |
| CN114625157A (en) * | 2020-12-10 | 2022-06-14 | 中测科技(广州)有限公司 | Automatic modeling method and system for combining aerial oblique photography with acquired data |
-
2019
- 2019-08-09 CN CN201910734086.3A patent/CN110458945B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106454209A (en) * | 2015-08-06 | 2017-02-22 | 航天图景（北京）科技有限公司 | Unmanned aerial vehicle emergency quick action data link system and unmanned aerial vehicle emergency quick action monitoring method based on spatial-temporal information fusion technology |
| CN107301237A (en) * | 2017-06-28 | 2017-10-27 | 高感（北京）科技有限公司 | The method for organizing and system of a kind of many camera lens oblique photograph data files |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110458945A (en) | 2019-11-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Torres-Sánchez et al. | Assessing UAV-collected image overlap influence on computation time and digital surface model accuracy in olive orchards | |
| KR100912715B1 (en) | Method and apparatus of digital photogrammetry by integrated modeling for different types of sensors | |
| CN110319772B (en) | Visual large-span distance measurement method based on unmanned aerial vehicle | |
| CN106767706A (en) | A kind of unmanned plane reconnoitres the Aerial Images acquisition method and system of the scene of a traffic accident | |
| CN110799921A (en) | Shooting method and device and unmanned aerial vehicle | |
| Rumpler et al. | Evaluations on multi-scale camera networks for precise and geo-accurate reconstructions from aerial and terrestrial images with user guidance | |
| Nocerino et al. | Multi-temporal analysis of landscapes and urban areas | |
| CN112465969A (en) | Real-time three-dimensional modeling method and system based on unmanned aerial vehicle aerial image data | |
| CN109900274B (en) | Image matching method and system | |
| CN112288848A (en) | Method for calculating engineering quantity through three-dimensional modeling of unmanned aerial vehicle aerial photography | |
| CN110458945B (en) | Automatic modeling method and system by combining aerial oblique photography with video data | |
| CN110428501A (en) | Full-view image generation method, device, electronic equipment and readable storage medium storing program for executing | |
| Bevilacqua et al. | Digital technology and mechatronic systems for the architectural 3D metric survey | |
| CN111815765A (en) | Heterogeneous data fusion-based image three-dimensional reconstruction method | |
| Barrile et al. | 3D modeling with photogrammetry by UAVs and model quality verification | |
| WO2020199153A1 (en) | Orthophoto map generation method based on panoramic map | |
| Barrile et al. | Comparison between techniques for generating 3D models of cultural heritage | |
| Teppati Losè et al. | Preliminary evaluation of a commercial 360 multi-camera RIG for photogrammetric purposes | |
| KR100924008B1 (en) | Digital drawing based Aerial Photograph Enhancement Method | |
| Barrile et al. | 3D models of Cultural Heritage | |
| CN114387532A (en) | Boundary identification method and device, terminal, electronic equipment and unmanned equipment | |
| CN116704138B (en) | Method and device for establishing oblique photography three-dimensional model | |
| CN116883627B (en) | Unmanned aerial vehicle video augmented reality processing method and system | |
| CN115909183B (en) | Monitoring system and monitoring method for external environment of fuel gas delivery | |
| Champion et al. | 3D modeling of the Michigan Tech Husky statue using a close-range photogrammetric approach |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Automatic modeling method and system using aerial tilt photography combined with video data Effective date of registration: 20230627 Granted publication date: 20221111 Pledgee: Zhongguancun Beijing technology financing Company limited by guarantee Pledgor: CHINA SCIENCE MAPUNIVERSE TCHNDOGY Co.,Ltd. Registration number: Y2023990000326 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |