CN110705096B - A course measurement modeling system adapted to golf simulation software and its application method - Google Patents
A course measurement modeling system adapted to golf simulation software and its application method Download PDFInfo
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Abstract
本发明公开了一种适配高尔夫模拟软件球场测量建模系统及其使用方法,包括电源模块、处理单元、地形建模单元和建筑物提取单元,所述处理单元的输出端与地形建模单元的输入端连接,所述处理单元的输出端与地形建模单元的输入端连接,所述地形建模单元的输出端与建筑物提取单元的输入端连接,所述处理单元、地形建模单元和建筑物提取单元均与电源模块电性连接,本发明涉及高尔夫模拟练习软件技术领域。该适配高尔夫模拟软件球场测量建模系统及其使用方法,能够很好的处理障碍,用于地面提取的ISPRS基准数据集实现的方法评估显示,与现有技术相比,提高了准确度并降低了误差,适应场景跟多,更有利于高尔夫运动的推广。
The invention discloses a course measurement and modeling system adapted to golf simulation software and its use method, comprising a power supply module, a processing unit, a terrain modeling unit and a building extraction unit, the output end of the processing unit is connected with the terrain modeling unit The input end of described processing unit is connected with the input end of terrain modeling unit, the output end of described terrain modeling unit is connected with the input end of building extraction unit, described processing unit, terrain modeling unit Both the building extraction unit and the building extraction unit are electrically connected to the power supply module. The invention relates to the technical field of golf simulation practice software. The golf course measurement modeling system adapted to golf simulation software and its application method can handle obstacles very well. The evaluation of the method implemented on the ISPRS benchmark data set for ground extraction shows that compared with the existing technology, the accuracy is improved and the The error is reduced, and there are more scenes to adapt to, which is more conducive to the promotion of golf.
Description
技术领域technical field
本发明涉及高尔夫模拟练习软件技术领域,具体为一种适配高尔夫模拟软件球场测量建模系统及其使用方法。The invention relates to the technical field of golf simulation practice software, in particular to a golf course measurement modeling system adapted to golf simulation software and a method for using the same.
背景技术Background technique
高尔夫,俗称小白球,是一种室外体育运动,个人或团体球员以不同的高尔夫球杆将一颗小球打进果岭的洞内,大部分的比赛有18洞,杆数最少的为优胜者,所谓打高尔夫球最基本原则就是将一颗球自球台连续打击至其进洞为止,简而言之,即是由第一杆开始,接着第二、第三杆,重复地击球,将球打进洞,除此之外便别无他法,若是拿着球移动,或是利用投掷、滚地等方法,都是违反规则的。Golf, commonly known as small white ball, is an outdoor sport. Individual or team players use different golf clubs to hit a small ball into the hole on the green. Most games have 18 holes, and the one with the fewest strokes is the winner. Or, the most basic principle of so-called golfing is to hit a ball continuously from the table until it enters the hole. In short, it starts from the first shot, then hits the ball repeatedly with the second and third shots There is no other way to hit the ball into the hole. If you move the ball with the ball, or use methods such as throwing or rolling, it is against the rules.
现有的高尔夫球模拟练习软件中场地模型分为两种,一种是软件开发时所用的固定的场地模型,还有一种是用一些著名的高尔夫球场模型且这些场景多为付费使用,如CreativeGolf3D。There are two types of field models in the existing golf simulation practice software, one is the fixed field model used in software development, and the other is the use of some famous golf course models and these scenes are mostly paid for use, such as CreativeGolf3D .
这些软件用户的使用代入感较差,无法做到沉浸式体验,并且用户也只能从模拟器反馈的数据中得知击球数据,无法和实地场景的落点和弧度等进行比较,从而导致用户对自己击球水平不能有一个直观的感受。These software users have a poor sense of substitution and cannot achieve an immersive experience, and users can only know the hitting data from the data fed back by the simulator, which cannot be compared with the landing point and arc of the actual scene, which leads to The user cannot have an intuitive feeling to oneself batting level.
发明内容Contents of the invention
(一)解决的技术问题(1) Solved technical problems
针对现有技术的不足,本发明提供了一种适配高尔夫模拟软件球场测量建模系统及其使用方法,能够很好的处理障碍,用于地面提取的ISPRS基准数据集实现的方法评估显示,与现有技术相比,提高了准确度并降低了误差,适应场景跟多,更有利于高尔夫运动的推广。Aiming at the deficiencies of the prior art, the present invention provides a course measurement modeling system adapted to golf simulation software and its use method, which can handle obstacles very well, and the method evaluation for the implementation of the ISPRS reference data set for ground extraction shows that, Compared with the prior art, the accuracy is improved, the error is reduced, more scenes are adapted, and it is more conducive to the popularization of golf.
(二)技术方案(2) Technical solution
为实现以上目的,本发明通过以下技术方案予以实现:一种适配高尔夫模拟软件球场测量建模系统及其使用方法,包括电源模块、处理单元、地形建模单元和建筑物提取单元,所述处理单元的输出端与地形建模单元的输入端连接,所述处理单元的输出端与地形建模单元的输入端连接,所述地形建模单元的输出端与建筑物提取单元的输入端连接,所述处理单元、地形建模单元和建筑物提取单元均与电源模块电性连接。In order to achieve the above object, the present invention is achieved through the following technical solutions: a golf course measurement modeling system adapted to golf simulation software and its use method, including a power supply module, a processing unit, a terrain modeling unit and a building extraction unit, the The output end of the processing unit is connected to the input end of the terrain modeling unit, the output end of the processing unit is connected to the input end of the terrain modeling unit, and the output end of the terrain modeling unit is connected to the input end of the building extraction unit , the processing unit, the terrain modeling unit and the building extraction unit are all electrically connected to the power module.
优选的,所述地形建模单元包括数字地形模型生成模块、网格分解和特征映像模块、DTM生成模块、阈值生成模块和点过滤模块。Preferably, the terrain modeling unit includes a digital terrain model generation module, a grid decomposition and feature mapping module, a DTM generation module, a threshold value generation module and a point filtering module.
优选的,所述数字地形模型生成模块的输出端与网格分解和特征映像模块的输入端连接,并且网格分解和特征映像模块的输出端与DTM生成模块的输入端连接,所述DTM生成模块的输出端与点过滤模块的输出端连接,所述阈值生成模块的输出端与点过滤模块的输入端连接。Preferably, the output of the digital terrain model generation module is connected to the input of the grid decomposition and feature mapping module, and the output of the grid decomposition and feature mapping module is connected to the input of the DTM generation module, and the DTM generates The output end of the module is connected with the output end of the point filtering module, and the output end of the threshold generation module is connected with the input end of the point filtering module.
优选的,所述建筑物提取单元包括三类属性检测模块、整体建模模块、模型导出模块和模型调整模块。Preferably, the building extraction unit includes a three-type attribute detection module, an overall modeling module, a model exporting module and a model adjustment module.
优选的,所述三类属性检测模块的输出端与整体建模模块的输入端连接,所述整体建模模块的输出端与模型导出模块的输入端连接,并且模型导出模块的输出端与模型调整模块的输入端连接。Preferably, the output of the three types of attribute detection modules is connected to the input of the overall modeling module, the output of the overall modeling module is connected to the input of the model export module, and the output of the model export module is connected to the model Adjust the input connections of the module.
一种适配高尔夫模拟软件球场测量建模系统的使用方法,具体步骤包括:A method for using a golf course measurement modeling system adapted to golf simulation software, the specific steps comprising:
步骤一:地形测量数据提取:使用一种基于差分的激光雷达提取地面、建筑物形态轮廓和局部拟合表面的数据;Step 1: Topographic measurement data extraction: use a difference-based lidar to extract the data of the ground, building contours and local fitting surfaces;
步骤二:生成数字地形模型:通过数字地形模型生成模块在激光雷达(LiDAR)点云上构建规则网格,通过在输入LiDAR点云L={Li}上构造一个网格g:E→R来建立点间的连通性,该网格g:E→R占据了空间E,其中p∈E为格点,g的构建分为以下三个步骤:Step 2: Generate a digital terrain model: build a regular grid on the LiDAR point cloud through the digital terrain model generation module, and construct a grid g on the input LiDAR point cloud L={L i }: E→R To establish the connectivity between points, the grid g: E→R occupies the space E, where p∈E is the grid point, and the construction of g is divided into the following three steps:
1.Rg定义g的分辨率,根据LiDAR数据密度Rg=1:0/DL;1. Rg defines the resolution of g, according to LiDAR data density Rg=1:0/DL;
2.g[p]是g在p点处的值;2.g[p] is the value of g at point p;
3.p*表示在对应网格单元中不包含点时得到的未定义网格点g[p*]通过反距离加权来估计,精确的空间插值通过式中,Pn为/>在邻域/>中包含不小于三个最近点的点,dp为Pn与Pn间的欧氏距离,r=2为定义插值光滑性的幂参数;3.p* indicates that the undefined grid point g[p*] obtained when the corresponding grid unit does not contain points is estimated by inverse distance weighting, and accurate spatial interpolation is obtained by In the formula, Pn is /> in the neighborhood /> Include not less than three nearest points, dp is the Euclidean distance between Pn and Pn, r=2 is the power parameter defining the interpolation smoothness;
步骤三:网格分解和特征映射:通过网格分解和特征映像模块用映射g中包含的特征值进行多吃点网格分解,并且通过DTM生成模块实现有效DTM生成;Step 3: Mesh decomposition and feature mapping: use the eigenvalues contained in the map g through the mesh decomposition and feature mapping module to perform multi-point grid decomposition, and realize effective DTM generation through the DTM generation module;
步骤四:点过滤:通过阈值生成模块设定点过滤模块的阈值,通过点过滤模块对阈值进行判定识别和删除小于阈值的特征;Step 4: point filtering: set the threshold of the point filtering module through the threshold generation module, and judge the threshold through the point filtering module to identify and delete features smaller than the threshold;
步骤五:建筑物的提取:将DTM生成过程中得到的一组非地面点SnG分割为建筑点和非建筑点,将具有平面的大型地面物体认为是建筑物,通过三类属性检测模块考虑三类属性来检测建筑物,描述特征宽度和高度的几何属性、描述各点表面曲率的表面属性、描述非地面区域的区域属性及其向地面区域的转换,使用局部拟合曲面(LoFS)识别形成低曲面率曲面的点,对LiDAR数据进行表面拟合,将形成相同表面的点距离足够近的视为属于相同属性的点,处理大型数据集时,通过将一组曲面拟合到给定的邻域进行估量,通过用和/>表示拟合窗口和连接窗口转换为p,并且定义F和L的范围,通过最小化平方差来拟合,在p时/>和/>的关系为/> Step 5: Extraction of buildings: Segment a set of non-ground points SnG obtained in the DTM generation process into building points and non-building points, consider large ground objects with planes as buildings, and consider three types of objects through the three-category attribute detection module Class attributes to detect buildings, geometric attributes describing feature width and height, surface attributes describing the surface curvature of each point, area attributes describing non-ground areas and their conversion to ground areas, using locally fitted surfaces (LoFS) to identify formations Points on low surface rate surfaces, surface fitting to LiDAR data, the points that form the same surface are close enough to be regarded as points belonging to the same attribute, when dealing with large data sets, by fitting a set of surfaces to a given The neighborhood is estimated by using and /> Indicates that the fitting window and connection window are converted to p, and define the range of F and L, and fit by minimizing the square difference, when p /> and /> is related to />
步骤六:模型的导出与调整:通过第一步所使用的测量方法所得到的数据,通过整体建模模块进行建模,通过模型导出模块将模型导入到高尔夫模拟软件中,通过模型调整模块对模型在高尔夫模拟软件中的位置进行调整,确保用户击完球后现实落点和软件中的落点一致。Step 6: Export and adjustment of the model: The data obtained by the measurement method used in the first step is used for modeling through the overall modeling module, and the model is imported into the golf simulation software through the model export module, and the model is adjusted through the model adjustment module. The position of the model in the golf simulation software is adjusted to ensure that the actual landing point after the user hits the ball is consistent with the landing point in the software.
优选的,所述步骤二中的g[p*]=UNDEF,所述步骤四中的阈值函数通过由g’映射的特征的大小来设置。Preferably, g[p*]=UNDEF in the second step, the threshold function in the fourth step is set by the size of the feature mapped by g'.
优选的,所述步骤二中的最近点为的点,所述步骤二中E由L的边界决定。Preferably, the closest point in the second step is point, E in the second step is determined by the boundary of L.
(三)有益效果(3) Beneficial effects
本发明提供了一种适配高尔夫模拟软件球场测量建模系统及其使用方法。与现有技术相比,具备以下有益效果:The invention provides a course measurement modeling system adapted to golf simulation software and a using method thereof. Compared with the prior art, it has the following beneficial effects:
(1)、该适配高尔夫模拟软件球场测量建模系统及其使用方法能够很好的处理障碍,用于地面提取的ISPRS基准数据集实现的方法评估显示,与现有技术相比,提高了准确度并降低了误差,适应场景跟多,更有利于高尔夫运动的推广。(1), the adaptive golf simulation software course measurement modeling system and its use method can handle obstacles well, and the method evaluation of the ISPRS benchmark data set for ground extraction shows that compared with the existing technology, it improves Accuracy and reduce the error, adapt to the scene more, more conducive to the promotion of golf.
(2)、该适配高尔夫模拟软件球场测量建模系统及其使用方法通过阈值设定单元对点滤波的值进行设定,使得整体模型生成的更加平滑,可以满足于较大特征和较小特征等多种情况的建模使用。(2), the golf simulation software course measurement modeling system and its use method set the value of the point filter through the threshold value setting unit, so that the overall model is generated more smoothly, which can meet the needs of larger features and smaller features. The use of modeling in various situations such as features.
(3)、该适配高尔夫模拟软件球场测量建模系统及其使用方法通过模型导出模块导出后,通过模型调整模块对模型在高尔夫模拟软件中的位置进行调整,可以使得整体建模系统更加贴合实际情况,带给用户更好的使用体验。(3) After the golf course measurement modeling system and its usage method adapted to the golf simulation software are exported through the model export module, the position of the model in the golf simulation software can be adjusted through the model adjustment module, which can make the overall modeling system more suitable. In line with the actual situation, to bring users a better experience.
附图说明Description of drawings
图1为本发明系统的原理框图;Fig. 1 is the functional block diagram of the system of the present invention;
图2为本发明地形建模单元的原理框图;Fig. 2 is the functional block diagram of terrain modeling unit of the present invention;
图3为本发明建筑物提取单元的原理框图。Fig. 3 is a functional block diagram of the building extraction unit of the present invention.
图中,1电源模块、2处理单元、3地形建模单元、4建筑物提取单元、31数字地形模型生成模块、32网格分解和特征映像模块、33DTM生成模块、34阈值生成模块、35点过滤模块、41三类属性检测模块、42整体建模模块、43模型导出模块、44模型调整模块。In the figure, 1 power supply module, 2 processing unit, 3 terrain modeling unit, 4 building extraction unit, 31 digital terrain model generation module, 32 grid decomposition and feature mapping module, 33DTM generation module, 34 threshold value generation module, 35 points Filtering module, 41 three-category attribute detection module, 42 overall modeling module, 43 model export module, 44 model adjustment module.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
请参阅图1-3,本发明实施例提供一种技术方案:一种适配高尔夫模拟软件球场测量建模系统及其使用方法,包括电源模块1、处理单元2、地形建模单元3和建筑物提取单元4,处理单元2的输出端与地形建模单元3的输入端连接,处理单元2的输出端与地形建模单元3的输入端连接,地形建模单元3的输出端与建筑物提取单元4的输入端连接,处理单元2、地形建模单元3和建筑物提取单元4均与电源模块1电性连接,地形建模单元3包括数字地形模型生成模块31、网格分解和特征映像模块32、DTM生成模块33、阈值生成模块34和点过滤模块35,数字地形模型生成模块31的输出端与网格分解和特征映像模块32的输入端连接,并且网格分解和特征映像模块32的输出端与DTM生成模块33的输入端连接,DTM生成模块33的输出端与点过滤模块35的输出端连接,阈值生成模块34的输出端与点过滤模块35的输入端连接,建筑物提取单元4包括三类属性检测模块41、整体建模模块42、模型导出模块43和模型调整模块44,三类属性检测模块41的输出端与整体建模模块42的输入端连接,整体建模模块42的输出端与模型导出模块43的输入端连接,并且模型导出模块43的输出端与模型调整模块44的输入端连接。Please refer to Fig. 1-3, the embodiment of the present invention provides a kind of technical scheme: a kind of golf simulation software golf course measurement modeling system and its use method, including power supply module 1, processing unit 2, terrain modeling unit 3 and building Object extraction unit 4, the output end of processing unit 2 is connected with the input end of terrain modeling unit 3, the output end of processing unit 2 is connected with the input end of terrain modeling unit 3, the output end of terrain modeling unit 3 is connected with building The input end of the extraction unit 4 is connected, the processing unit 2, the terrain modeling unit 3 and the building extraction unit 4 are all electrically connected to the power supply module 1, and the terrain modeling unit 3 includes a digital terrain
处理单元2与地形建模单元3和建筑物提取单元均为单向连接,通过地形建模单元3进行初步建模,后通过建筑物提取单元4整体模体构成导出,通过地形建模单元3和建筑物提取单元4的配合能够很好的处理障碍,用于地面提取的ISPRS基准数据集实现的方法评估显示,与现有技术相比,提高了准确度并降低了误差,适应场景跟多,更有利于高尔夫运动的推广The processing unit 2 is one-way connected with the terrain modeling unit 3 and the building extraction unit. The preliminary modeling is performed through the terrain modeling unit 3, and then the overall phantom is exported through the building extraction unit 4. The terrain modeling unit 3 The cooperation with the building extraction unit 4 can handle obstacles very well. The evaluation of the method implemented on the ISPRS benchmark data set for ground extraction shows that compared with the existing technology, the accuracy is improved and the error is reduced, and the adaptation scene is more , more conducive to the promotion of golf
一种适配高尔夫模拟软件球场测量建模系统的使用方法,具体步骤包括:A method for using a golf course measurement modeling system adapted to golf simulation software, the specific steps comprising:
步骤一:地形测量数据提取:使用一种基于差分的激光雷达提取地面、建筑物形态轮廓和局部拟合表面的数据;Step 1: Topographic measurement data extraction: use a difference-based lidar to extract the data of the ground, building contours and local fitting surfaces;
步骤二:生成数字地形模型:通过数字地形模型生成模块31在激光雷达(LiDAR)点云上构建规则网格,通过在输入LiDAR点云L={Li}上构造一个网格g:E→R来建立点间的连通性,该网格g:E→R占据了空间E,其中p∈E为格点,g的构建分为以下三个步骤:Step 2: Generate a digital terrain model: build a regular grid on the laser radar (LiDAR) point cloud through the digital terrain
1.Rg定义g的分辨率,根据LiDAR数据密度Rg=1:0/DL;1. Rg defines the resolution of g, according to LiDAR data density Rg=1:0/DL;
2.g[p]是g在p点处的值,由对应网格单元包含的最低点算出;2.g[p] is the value of g at point p, calculated from the lowest point contained in the corresponding grid unit;
3.p*表示在对应网格单元中不包含点时得到的未定义网格点g[p*]通过反距离加权来估计,精确的空间插值通过式中,Pn为/>在邻域/>中包含不小于三个最近点的点,dp为Pn与Pn间的欧氏距离,r=2为定义插值光滑性的幂参数;3.p* indicates that the undefined grid point g[p*] obtained when the corresponding grid unit does not contain points is estimated by inverse distance weighting, and accurate spatial interpolation is obtained by In the formula, Pn is /> in the neighborhood /> Include not less than three nearest points, dp is the Euclidean distance between Pn and Pn, r=2 is the power parameter defining the interpolation smoothness;
步骤三:网格分解和特征映射:通过网格分解和特征映像模块32用映射g中包含的特征值进行多吃点网格分解,并且通过DTM生成模块33实现有效DTM生成;Step 3: Mesh decomposition and feature mapping: use the eigenvalues contained in the map g through the mesh decomposition and feature mapping module 32 to perform multi-point mesh decomposition, and realize effective DTM generation through the DTM generation module 33;
步骤四:点过滤:通过阈值生成模块34设定点过滤模块35的阈值,通过点过滤模块35对阈值进行判定识别和删除小于阈值的特征;Step 4: point filtering: set the threshold of the point filtering module 35 by the
步骤五:建筑物的提取:将DTM生成过程中得到的一组非地面点SnG分割为建筑点和非建筑点,将具有平面的大型地面物体认为是建筑物,通过三类属性检测模块41考虑三类属性来检测建筑物,描述特征宽度和高度的几何属性、描述各点表面曲率的表面属性、描述非地面区域的区域属性及其向地面区域的转换,使用局部拟合曲面(LoFS)识别形成低曲面率曲面的点,对LiDAR数据进行表面拟合,将形成相同表面的点距离足够近的视为属于相同属性的点,处理大型数据集时,通过将一组曲面拟合到给定的邻域进行估量,通过用和/>表示拟合窗口和连接窗口转换为p,并且定义F和L的范围,通过最小化平方差来拟合,在p时/>和/>的关系为/> Step 5: Extraction of buildings: Segment a group of non-ground points SnG obtained in the DTM generation process into building points and non-building points, consider large-scale ground objects with planes as buildings, and consider them through the three-category attribute detection module 41 Three types of attributes to detect buildings, geometric attributes describing feature width and height, surface attributes describing surface curvature of each point, area attributes describing non-ground areas and their conversion to ground areas, using local fitting surface (LoFS) identification Points forming a surface with a low surface rate, surface fitting to LiDAR data, the points forming the same surface are close enough to be regarded as points belonging to the same attribute, when dealing with large data sets, by fitting a set of surfaces to a given The neighborhood of is estimated by using and /> Indicates that the fitting window and connection window are converted to p, and define the range of F and L, and fit by minimizing the square difference, when p /> and /> is related to />
步骤六:模型的导出与调整:通过第一步所使用的测量方法所得到的数据,通过整体建模模块42进行建模,通过模型导出模块43将模型导入到高尔夫模拟软件中,通过模型调整模块44对模型在高尔夫模拟软件中的位置进行调整,确保用户击完球后现实落点和软件中的落点一致。Step 6: Export and adjustment of the model: The data obtained by the measurement method used in the first step is modeled through the overall modeling module 42, and the model is imported into the golf simulation software through the model export module 43, and adjusted through the model. Module 44 adjusts the position of the model in the golf simulation software to ensure that the actual landing point after the user hits the ball is consistent with the landing point in the software.
需要说明的是,在本文中,诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来,而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且,术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含,从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素,而且还包括没有明确列出的其他要素,或者是还包括为这种过程、方法、物品或者设备所固有的要素。It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. There is no such actual relationship or order between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device.
尽管已经示出和描述了本发明的实施例,对于本领域的普通技术人员而言,可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型,本发明的范围由所附权利要求及其等同物限定。Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.
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