CN110780313A - Unmanned aerial vehicle visible light stereo measurement acquisition modeling method - Google Patents
Unmanned aerial vehicle visible light stereo measurement acquisition modeling method Download PDFInfo
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- CN110780313A CN110780313A CN201910999196.2A CN201910999196A CN110780313A CN 110780313 A CN110780313 A CN 110780313A CN 201910999196 A CN201910999196 A CN 201910999196A CN 110780313 A CN110780313 A CN 110780313A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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Abstract
The invention discloses an unmanned aerial vehicle visible light stereo measurement acquisition modeling method, which comprises the following operation steps: carrying an oblique camera by using an unmanned aerial vehicle, and then measuring and acquiring visible light stereoscopic images by using the oblique camera; carrying out optimization processing and data processing on the collected visible light three-dimensional image; and calculating the processed data to generate a point cloud with ultrahigh density based on the image, constructing a TIN model by using the point cloud, and generating a high-resolution visible light stereo measurement three-dimensional model based on the image texture. According to the modeling method, the stereoscopic image of the power transmission line corridor is obtained by using the unmanned aerial vehicle visible light stereoscopic measurement technology, and the high-resolution visible light stereoscopic measurement three-dimensional model based on the image texture is quickly constructed and generated by combining the visible light stereoscopic image and the high-precision point cloud, so that the quick modeling processing can be realized, and the inspection work efficiency is greatly improved.
Description
Technical Field
The invention relates to the technical field of power inspection, in particular to a visible light stereo measurement, acquisition and modeling method for an unmanned aerial vehicle.
Background
Along with the development of laser radar technology, the operation of unmanned aerial vehicle laser radar system gradually becomes a new means of electric power line patrol.
Through research and development, the company designs and develops various types of airborne laser radar systems; the airborne laser radar system is a long-distance laser radar scanning system (or called airborne laser radar equipment) based on an unmanned aerial vehicle platform, integrates long-distance laser scanning, a GNSS (global navigation satellite system) and IMU (inertial measurement unit) positioning and attitude determination system, a storage control unit, a digital camera technology and a sensor technology, and can collect laser radar point cloud data and image data. The airborne laser radar system can acquire high-precision point cloud data and abundant image information in real time, dynamically and massively, and rapidly acquire electric power corridor data through matched airborne laser radar ground station software. The airborne laser radar system is widely applied to the acquisition of three-dimensional space information in the fields of surveying and mapping, electric power, forestry, agriculture, homeland planning, geological disasters, mine safety and the like.
However, the unmanned aerial vehicle device in the prior art generally only carries an airborne laser radar system and a camera for forward downward shooting (that is, an orthographic image mode is adopted to perform downward shooting from a vertical angle), so that the detection mode of the unmanned aerial vehicle device in the prior art still has the following technical defects: firstly, the method comprises the following steps: the technical application of acquisition and measurement by using stereoscopic images is still lacking for the field of radar detection. Secondly, the method comprises the following steps: the traditional three-dimensional modeling usually uses modeling software such as 3dsMax, AutoCAD and the like, and the artificial modeling is carried out on the basis of information such as image data, CAD plane diagrams or shot pictures to estimate the outline, height and the like of a building. The model manufactured by the method has low data precision, the deviation of the texture and the actual effect is large, and a large amount of manual work is needed in the production process. Thirdly, the method comprises the following steps: the traditional method for modeling the middle and small cities can be completed in a manual modeling mode for one or two years, the efficiency is very low, and the three-dimensional model data acquisition time and the economic cost are both large.
In summary, how to overcome the above technical defects in the conventional technology is a technical problem that needs to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle visible light stereo measurement acquisition modeling method to solve the problems.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the invention provides an unmanned aerial vehicle visible light stereo measurement acquisition modeling method, which comprises the following operation steps:
carrying an oblique camera by using an unmanned aerial vehicle, and then measuring and acquiring visible light stereoscopic images by using the oblique camera;
carrying out optimization processing and data processing on the collected visible light three-dimensional image;
and calculating the processed data to generate a point cloud with ultrahigh density based on the image, constructing a TIN model by using the point cloud, and generating a high-resolution visible light stereo measurement three-dimensional model based on the image texture.
Preferably, as one possible embodiment; the method for carrying the oblique camera by using the unmanned aerial vehicle specifically comprises the following operation steps;
and selecting a five-eye oblique camera as an oblique camera, and then carrying and installing the five-eye oblique camera on the unmanned aerial vehicle.
Preferably, as one possible embodiment; the visible light stereo image measurement and acquisition operation comprises the following operation steps:
for mission area surveying, planning a flight path;
the unmanned aerial vehicle executes takeoff preparation;
collecting data of the visible light stereoscopic image by using an oblique camera;
and storing the collected visible light stereoscopic image data.
Preferably, as one possible embodiment; the method for optimizing and processing the collected visible light stereo image comprises the following operation steps:
presetting a qualified standard parameter of the visible light stereoscopic image;
performing quality inspection on the obtained visible light stereoscopic image, and judging that the current visible light stereoscopic image which does not accord with the preset visible light stereoscopic image qualified standard parameter is unqualified; judging that the current visible light stereoscopic image which meets the preset visible light stereoscopic image qualified standard parameters is qualified;
determining a target detection area of the unqualified current visible light stereoscopic image, and then performing fly-in operation on the target detection area by using an unmanned aerial vehicle until the visible light stereoscopic image which meets the preset visible light stereoscopic image qualified standard parameters in the target detection area is obtained.
Preferably, as one possible embodiment; the data processing method for the collected visible light stereoscopic images comprises the following operation steps:
carrying out dodging and color homogenizing treatment on the qualified visible light stereoscopic image;
and performing geometric correction, homonymy image point matching and area network joint adjustment operation on the visible light stereoscopic image data, and finally endowing the adjusted data to each visible light stereoscopic image, so that each visible light stereoscopic image has position and posture data in a virtual three-dimensional space.
Preferably, as one possible embodiment; in the step of assigning the flattened data to each visible light stereoscopic image, the flattened data includes coordinate information and direction angle information.
Preferably, as one possible embodiment; the method for constructing the TIN model by using the point cloud and generating the high-resolution visible light stereo measurement three-dimensional model based on the image texture comprises the following operation steps:
constructing a TIN model by using the point cloud, and then automatically performing texture mapping on the TIN model;
and generating a high-resolution visible light stereo measurement three-dimensional model based on the image texture according to the texture mapping result.
Compared with the prior art, the embodiment of the invention has the advantages that:
the invention provides a modeling method for the visible light stereo measurement acquisition of an unmanned aerial vehicle, which comprises the following steps of: the unmanned aerial vehicle visible light stereo measurement acquisition modeling method comprises the following operation steps: carrying an oblique camera by using an unmanned aerial vehicle, and then measuring and acquiring visible light stereoscopic images by using the oblique camera; carrying out optimization processing and data processing on the collected visible light three-dimensional image; and calculating the processed data to generate a point cloud with ultrahigh density based on the image, constructing a TIN model by using the point cloud, and generating a high-resolution visible light stereo measurement three-dimensional model based on the image texture.
Obviously, the unmanned aerial vehicle visible light stereo measurement acquisition modeling method can realize image acquisition from a plurality of different angles by using the oblique camera, can acquire real stereo image data conforming to human vision, provides convenience for subsequent stereo modeling, overcomes the manual modeling work, and ensures the modeling efficiency. Meanwhile, the acquired visible light stereo image is subjected to optimization processing and data processing, so that the authenticity and high precision of data are guaranteed; calculating the processed data to generate a point cloud with ultrahigh density based on an image, constructing a TIN model by using the point cloud, and generating a high-resolution visible light three-dimensional measurement model based on image texture; the stereoscopic image of the power transmission line corridor is obtained by utilizing the unmanned aerial vehicle visible light stereoscopic measurement technology, and a high-resolution visible light stereoscopic measurement three-dimensional model based on image textures is quickly constructed and generated by combining the visible light stereoscopic image and the high-precision point cloud, so that quick modeling processing can be realized, and the inspection work efficiency is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flow chart of a modeling method for visible light stereo measurement acquisition of an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that certain terms of orientation or positional relationship are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that "connected" is to be understood broadly, for example, it may be fixed, detachable, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.
Example one
Referring to fig. 1, an embodiment of the present invention provides an unmanned aerial vehicle visible light stereo measurement acquisition modeling method, including the following operation steps:
s100, carrying an oblique camera by using an unmanned aerial vehicle, and then measuring and collecting visible light stereoscopic images by using the oblique camera;
s200, carrying out optimization processing and data processing on the collected visible light stereo image;
and S300, operating the processed data to generate ultra-high-density point cloud based on the image, constructing a TIN model by using the point cloud, and generating a high-resolution visible light stereo measurement three-dimensional model based on the image texture.
The analysis of the main technical contents shows that: the unmanned aerial vehicle visible light stereo measurement acquisition modeling method comprises the following operation steps: carrying an oblique camera by using an unmanned aerial vehicle, and then measuring and acquiring visible light stereoscopic images by using the oblique camera; carrying out optimization processing and data processing on the collected visible light three-dimensional image; and calculating the processed data to generate a point cloud with ultrahigh density based on the image, constructing a TIN model by using the point cloud, and generating a high-resolution visible light stereo measurement three-dimensional model based on the image texture.
Obviously, the unmanned aerial vehicle visible light stereo measurement acquisition modeling method can realize image acquisition from a plurality of different angles by using the oblique camera, can acquire real stereo image data conforming to human vision, provides convenience for subsequent stereo modeling, overcomes the manual modeling work, and ensures the modeling efficiency. Meanwhile, the acquired visible light stereo image is subjected to optimization processing and data processing, so that the authenticity and high precision of data are guaranteed; calculating the processed data to generate a point cloud with ultrahigh density based on an image, constructing a TIN model by using the point cloud, and generating a high-resolution visible light three-dimensional measurement model based on image texture; the three-dimensional image of the power transmission line corridor is obtained by utilizing the unmanned aerial vehicle visible light three-dimensional measurement technology, the high-resolution visible light three-dimensional measurement three-dimensional model based on the image texture is quickly constructed and generated by combining the visible light three-dimensional image and the high-precision point cloud, the defects of the power transmission line corridor channel are rapidly inspected, and the inspection work efficiency is greatly improved.
Preferably, as one possible embodiment; the method for carrying the oblique camera by using the unmanned aerial vehicle specifically comprises the following operation steps; and selecting a five-eye oblique camera as an oblique camera, and then carrying and installing the five-eye oblique camera on the unmanned aerial vehicle.
Specifically, the tilt camera preferably uses a five-lens tilt camera. The five-eye oblique camera is carried on an unmanned aerial vehicle flight platform, images can be acquired from a vertical angle, four oblique angles and the like at five different angles in total by using the oblique camera, real three-dimensional image data conforming to human vision can be acquired, and convenience is provided for subsequent three-dimensional modeling.
Preferably, as one possible embodiment; in step S100, the visible light stereoscopic image measurement and acquisition operation includes the following steps:
step S110, surveying the mission area and planning the flight path;
step S120, the unmanned aerial vehicle executes takeoff preparation;
step S130, collecting data of the visible light stereoscopic image by using an oblique camera;
and step S140, storing the acquired visible light stereoscopic image data.
It should be noted that, in a specific embodiment, operations such as flight path planning need to be performed before the unmanned aerial vehicle takes off, and in the inspection process, the tilt camera may be used to acquire data of the visible light stereoscopic image, and then the acquired data of the visible light stereoscopic image is stored, so as to facilitate subsequent analysis and processing of the acquired image data.
Preferably, as one possible embodiment; in step S200, the optimization processing of the acquired visible light stereoscopic image includes the following steps:
step S210, presetting a qualified standard parameter of the visible light three-dimensional image;
step S220, performing quality inspection on the obtained visible light stereoscopic image, and judging that the current visible light stereoscopic image which does not accord with the preset visible light stereoscopic image qualified standard parameter is unqualified; judging that the current visible light stereoscopic image which meets the preset visible light stereoscopic image qualified standard parameters is qualified;
and step S230, determining a target detection area of the unqualified current visible light stereoscopic image, and then performing fly-in operation on the target detection area by using an unmanned aerial vehicle until the visible light stereoscopic image which meets the preset visible light stereoscopic image qualified standard parameters in the target detection area is obtained.
After the data acquisition is completed, firstly, performing quality inspection on the acquired image, and performing fly-off compensation on an unqualified area until the quality of the acquired image meets the requirement; then, the treatment operations such as light and color evening are carried out.
Preferably, as one possible embodiment; in step S200, the data processing of the acquired visible light stereoscopic image includes the following steps:
step S240, carrying out light and color homogenizing treatment on the qualified visible light stereoscopic image;
and S250, performing geometric correction, homonymous image point matching and area network joint adjustment operation on the visible light stereoscopic image data, and finally giving the adjusted data to each visible light stereoscopic image so that each visible light stereoscopic image has position and posture data in a virtual three-dimensional space.
It should be noted that, when the dodging and color-homogenizing treatment is performed, there are differences in time and space during the flight process, and color shifts exist between images, which requires the dodging and color-homogenizing treatment; and performing geometric correction, homonymy image point matching and area network joint adjustment again, and finally giving the adjusted data (three coordinate information and three direction angle information) to each stereo image, so that the stereo images have position and attitude data in a virtual three-dimensional space, and the stereo images can be measured in real time, wherein each pixel on each slide corresponds to a real geographic coordinate position.
The following description is required for the multi-view joint adjustment: the multi-view images not only contain vertical photography data but also include oblique photography data, and some traditional aerial triangulation systems cannot well process oblique photography data, so that the multi-view image joint adjustment needs to fully consider the geometric deformation and the shielding relation among the images. And combining the multi-view image external orientation elements provided by the POS system, and performing automatic homonymy point matching and free net beam method adjustment on each level of image by adopting a pyramid matching strategy from coarse to fine to obtain a better homonymy point matching result. And simultaneously establishing an error equation of the adjustment of the multi-video self-checking area network of the connection points, the connection lines, the control point coordinates and the GPS/IMU auxiliary data, and ensuring the precision of the adjustment result through joint calculation.
The following description is required for multi-view dense matching: image matching is one of the basic problems of photogrammetry, and multi-view images have the characteristics of large coverage area, high resolution and the like. Therefore, how to fully consider the redundant information in the matching process, the coordinates of the same-name points on the multi-view images are quickly and accurately acquired, and further the acquisition of the three-dimensional information of the ground features is the key of multi-view image matching. In this embodiment, by combining the exterior orientation elements of the multi-view images provided by the POS system, the automatic homonymy point matching and the adjustment by the free net beam method are performed on each level of images by using a pyramid matching strategy from coarse to fine, so as to obtain a better homonymy point matching result.
Preferably, as one possible embodiment; in step S250, the step of assigning the flattened data to each visible light stereoscopic image includes coordinate information and direction angle information.
In the above operation steps, the leveled data (three coordinate information and three direction angle information) is assigned to each oblique image, so that they have position and posture data in the virtual three-dimensional space, and thus the oblique image can be measured in real time, and each pixel on each oblique sheet corresponds to a real geographic coordinate position. The coordinate information and the direction angle information are obtained through an oblique photography system; the oblique photography system is divided into three major parts, wherein the first part is a flying platform; the second part is personnel; the third part is an instrument part, a sensor (a multi-head camera and a GPS positioning device acquire three line elements x, y and z at the moment of exposure) and an attitude positioning system (record the attitude of the camera at the moment of exposure and three angle elements phi, omega and kappa).
Preferably, as one possible embodiment; in step S300, the constructing a TIN model by using the point cloud, and generating a high-resolution visible light stereo measurement three-dimensional model based on image texture by using the TIN model, specifically includes the following steps:
constructing a TIN model by using the point cloud, and then automatically performing texture mapping on the TIN model;
and generating a high-resolution visible light stereo measurement three-dimensional model based on the image texture according to the texture mapping result.
What is stated about the production of the three-dimensional model is; the stereoscopic image obtained by visible light stereoscopic measurement is processed by image processing, a visible light stereoscopic measurement model can be produced by special mapping software, and the model has two types of achievement data: one is a monomer objectified model and one is non-monomer model data.
The model achievement data of the single body utilizes the abundant visual details of the stereoscopic image, combines the existing three-dimensional wire frame model (or white model produced by other modes), and produces the three-dimensional model through texture mapping, the model data produced by the process flow is an object model, the single building can be deleted, modified and replaced, the texture can be modified, especially the frequently-changed information of the building bottom dealer, the model can embody the advantages thereof, the domestic representative companies such as interplanetary navigation, eastern navigation, and the like can produce the model of the type, and form the unique process flow of the model.
The method is characterized in that non-monomer model achievement data, hereinafter referred to as a three-dimensional model for short, the model adopts a full-automatic production mode, the production period of the model is short, the cost is low, after a three-dimensional image is obtained, the three-dimensional model is produced through steps of light evening, color evening and the like through professional automatic modeling software, the process flow generally can be subjected to processing flows of geometric correction, combined adjustment and the like of multi-view images, ultra-high density point cloud based on the image can be generated through calculation, the TIN model is constructed through the point cloud, and the high-resolution visible light three-dimensional measurement three-dimensional model based on image textures is generated through the processing flows, so that the method also has the surveying.
In conclusion, the unmanned aerial vehicle visible light stereo measurement acquisition modeling method provided by the invention obtains the power transmission line corridor stereo image by using the unmanned aerial vehicle visible light stereo measurement technology, and combines the visible light stereo image and the high-precision point cloud to quickly construct and generate the high-resolution visible light stereo measurement three-dimensional model based on the image texture, so that the quick modeling processing can be realized, and the inspection work efficiency is greatly improved.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. An unmanned aerial vehicle visible light stereo measurement acquisition modeling method comprises the following operation steps:
carrying an oblique camera by using an unmanned aerial vehicle, and then measuring and acquiring visible light stereoscopic images by using the oblique camera;
carrying out optimization processing and data processing on the collected visible light three-dimensional image;
and calculating the processed data to generate a point cloud with ultrahigh density based on the image, constructing a TIN model by using the point cloud, and generating a high-resolution visible light stereo measurement three-dimensional model based on the image texture.
2. The unmanned aerial vehicle visible light stereometric measurement acquisition modeling method as claimed in claim 1, wherein the carrying of the tilt camera by the unmanned aerial vehicle specifically includes the following operation steps;
and selecting a five-eye oblique camera as an oblique camera, and then carrying and installing the five-eye oblique camera on the unmanned aerial vehicle.
3. The unmanned aerial vehicle visible light stereo measurement acquisition modeling method of claim 2, wherein the visible light stereo image measurement acquisition operation comprises the following operation steps:
for mission area surveying, planning a flight path;
the unmanned aerial vehicle executes takeoff preparation;
collecting data of the visible light stereoscopic image by using an oblique camera;
and storing the collected visible light stereoscopic image data.
4. The unmanned aerial vehicle visible light stereo measurement acquisition modeling method of claim 1, wherein the optimization processing of the acquired visible light stereo image comprises the following operation steps:
presetting a qualified standard parameter of the visible light stereoscopic image;
performing quality inspection on the obtained visible light stereoscopic image, and judging that the current visible light stereoscopic image which does not accord with the preset visible light stereoscopic image qualified standard parameter is unqualified; judging that the current visible light stereoscopic image which meets the preset visible light stereoscopic image qualified standard parameters is qualified;
determining a target detection area of the unqualified current visible light stereoscopic image, and then performing fly-in operation on the target detection area by using an unmanned aerial vehicle until the visible light stereoscopic image which meets the preset visible light stereoscopic image qualified standard parameters in the target detection area is obtained.
5. The unmanned aerial vehicle visible light stereometric measurement acquisition modeling method of claim 4, wherein data processing is performed on the acquired visible light stereographic image, comprising the following operation steps:
carrying out dodging and color homogenizing treatment on the qualified visible light stereoscopic image;
and performing geometric correction, homonymy image point matching and area network joint adjustment operation on the visible light stereoscopic image data, and finally endowing the adjusted data to each visible light stereoscopic image, so that each visible light stereoscopic image has position and posture data in a virtual three-dimensional space.
6. The unmanned aerial vehicle visible light stereometric acquisition modeling method of claim 5, wherein in said assigning the flattened data to each visible light stereographic image step, wherein the flattened data comprises coordinate information and azimuth angle information.
7. The unmanned aerial vehicle visible light stereometric acquisition modeling method of claim 6, wherein the TIN model is constructed by using the point cloud, and the high-resolution visible light stereometric three-dimensional model based on the image texture is generated by using the TIN model, which specifically comprises the following operation steps:
constructing a TIN model by using the point cloud, and then automatically performing texture mapping on the TIN model;
and generating a high-resolution visible light stereo measurement three-dimensional model based on the image texture according to the texture mapping result.
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