CN111192321A - Three-dimensional positioning method and device for target object - Google Patents
Three-dimensional positioning method and device for target object Download PDFInfo
- Publication number
- CN111192321A CN111192321A CN201911404383.8A CN201911404383A CN111192321A CN 111192321 A CN111192321 A CN 111192321A CN 201911404383 A CN201911404383 A CN 201911404383A CN 111192321 A CN111192321 A CN 111192321A
- Authority
- CN
- China
- Prior art keywords
- camera
- dimensional
- target object
- position point
- coordinate system
- 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.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- 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
- G06T17/10—Constructive solid geometry [CSG] using solid primitives, e.g. cylinders, cubes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
Abstract
The invention provides a three-dimensional positioning method and a device for a target object, wherein the method comprises the steps of carrying out BIM modeling on a building site to obtain a BIM three-dimensional model of the building site, carrying out target object identification in an image or a video shot by a camera, and obtaining a two-dimensional coordinate of the target object in the image or the video to be used as a first position point; calculating according to the mapping of the first position point to obtain a two-dimensional coordinate of the projection of the target object on the near projection plane of the camera in the camera coordinate system as a second position point; calculating to obtain a three-dimensional coordinate in a camera coordinate system with the camera as an origin as a third position point according to the second position point; and performing product transformation processing on the third position point and the world coordinate matrix to obtain a position point of the target object in a three-dimensional world coordinate system of the BIM three-dimensional model as a fourth position point, and further displaying the three-dimensional positioning of the target object in the BIM three-dimensional model according to the fourth position point. The positioning effect of the invention is not influenced by the behavior of the target object and the existence of the positioning base station, and the invention is more robust and reliable.
Description
Technical Field
The invention relates to the technical field of digital management of construction engineering construction, in particular to a three-dimensional positioning method and a three-dimensional positioning device for a target object.
Background
The method is a technology widely adopted in the current construction site management, and coordinate information of a target object in a BIM (building information modeling) three-dimensional model is obtained through GIS (geographic information system), Beidou GNSS (global navigation satellite system), Bluetooth, wifi (wireless fidelity) ranging and other positioning technologies or video intelligent analysis technologies, and is displayed in a three-dimensional visualization mode.
In the existing positioning technology for constructors, a person wears a positioning tag, an electronic tag, a positioning device with a positioning chip, a mobile terminal or other small electronic positioning equipment, and the position of the constructor is positioned through data exchange with a positioning base station.
In the prior art, no matter outdoor or indoor positioning, each constructor needs to be equipped with a portable electronic tag or equipment, and indoor positioning needs to be equipped with numerous positioning base stations, so that the positioning cost is increased, and on the other hand, the positioning base station deployment needs a large workload, and on a construction site, new base station deployment needs to be continuously carried out along with the advancement of construction, so that the implementation is complex, and the problem of difficult implementation exists. In addition, the effective premise of positioning is that constructors must wear positioning labels or equipment, and if workers do not wear related equipment intentionally or unintentionally, positioning is completely ineffective, so that reliability is difficult to guarantee.
Disclosure of Invention
Aiming at the technical problems of high positioning cost of constructors, difficult implementation, difficult reliability guarantee and the like in the prior art, the invention provides a three-dimensional positioning method of a target object, which is characterized in that two-dimensional position information of the target object in an image or video is obtained, then the two-dimensional position information of the target object is converted into a position point of the target object in a camera coordinate system projected by a camera near projection plane through the position and the view angle of a monitoring video corresponding to a camera in a BIM three-dimensional model, the position of the target object in the camera coordinate system is obtained according to the position point and the distance between the target object and the camera, and the position of the target object in a three-dimensional world coordinate system is obtained by combining the position of the target object in the camera coordinate system and a world coordinate matrix, so that the positioning of the target object in the BIM three-dimensional model is realized. The invention also provides a three-dimensional positioning device for the target object.
The technical scheme of the invention is as follows:
a three-dimensional positioning method of an object, which is used for positioning the object on a construction site, and is characterized by comprising the following steps:
deploying a monitoring camera on a building site or utilizing the existing monitoring camera on the building site and carrying out BIM modeling on the building site to obtain a BIM three-dimensional model of the building site, acquiring the position information and the view angle direction of the camera in a three-dimensional world coordinate system of the BIM three-dimensional model, and calculating a world coordinate matrix of the camera according to the position information and the view angle direction;
identifying a target object in an image or a video shot by a camera, and acquiring a two-dimensional coordinate of the target object in the image or the video to serve as a first position point;
calculating according to the first position point mapping to obtain a two-dimensional coordinate of the projection of the target object on the near projection plane of the camera in a camera coordinate system to serve as a second position point;
calculating to obtain a three-dimensional coordinate in a camera coordinate system with a camera as an origin as a third position point according to the second position point;
and performing product transformation processing on the third position point and the world coordinate matrix to obtain a position point of the target object in a three-dimensional world coordinate system of the BIM three-dimensional model as a fourth position point, and displaying the three-dimensional positioning of the target object in the BIM three-dimensional model according to the fourth position point.
Further, identifying a target object in an image or a video shot by a camera, and acquiring a two-dimensional coordinate of a head center point of the target object in the image or the video to serve as a first position point; and performing mapping calculation according to the first position point and by combining with horizontal and vertical pixel values of the camera to obtain a two-dimensional coordinate of the projection of the head center point of the target object on a near projection plane of the camera in a camera coordinate system to serve as a second position point.
Further, the calculating, according to the second position point, a three-dimensional coordinate in a camera coordinate system with a camera as an origin to serve as a third position point includes:
taking a straight line from the camera position to the second position point by taking a camera as an origin and calculating the straight line direction, wherein the straight line direction comprises an X-axis coordinate of the straight line calculated according to the second position point and a tangent value of a half visual angle of the camera, a Y-axis coordinate of the straight line calculated according to the second position point and a horizontal and vertical pixel value and a Z-axis coordinate determined by the camera in a default direction of a Z-axis negative direction in a camera coordinate system; calculating the distance between the head of the target object and the camera according to the width-height ratio of the head area of the target object in the image or the video image; and zooming the straight line according to the calculated distance between the head of the target object and the camera according to the principle of the imaging of the camera on the large and small distances to determine the third position point.
Further, the calculating the world coordinate matrix of the camera according to the position information and the view direction includes: determining Euler angles required to be respectively rotated around three coordinate axes by the camera according to the visual angle direction of the camera in a three-dimensional world coordinate system, and calculating to obtain a first two-three column of a world coordinate matrix of the camera according to the Euler angles; and obtaining a fourth column of a world coordinate matrix of the camera according to the position information of the camera in the three-dimensional world coordinate system.
A three-dimensional positioning device for an object on a construction site, comprising:
the information acquisition module is used for acquiring position information and view direction of a camera deployed on a building site in a three-dimensional world coordinate system of a building site BIM three-dimensional model obtained by BIM modeling of the building site; identifying a target object in an image or a video shot by a camera, and acquiring a two-dimensional coordinate of the target object in the image or the video to serve as a first position point;
the computing module is used for computing a world coordinate matrix of the camera according to the position information and the view angle direction; calculating according to the first position point mapping to obtain a two-dimensional coordinate of the projection of the target object on the near projection plane of the camera in a camera coordinate system to serve as a second position point; calculating to obtain a three-dimensional coordinate in a camera coordinate system with a camera as an origin as a third position point according to the second position point; performing product transformation processing on the third position point and the world coordinate matrix to obtain a position point of the target object in a three-dimensional world coordinate system of the BIM three-dimensional model as a fourth position point;
and the positioning display module is used for displaying the three-dimensional positioning of the target object in the BIM three-dimensional model according to the fourth position point.
Further, the information acquisition module acquires two-dimensional coordinates of the target object in the image or the video by using an image or video intelligent analysis technology to serve as the first position point.
Further, the information acquisition module identifies a target object in an image or a video shot by the camera, and acquires a two-dimensional coordinate of a head center point of the target object in the image or the video as a first position point by using an image or video intelligent analysis technology.
Further, the calculation module performs mapping calculation according to the first position point and by combining with horizontal and vertical pixel values of the camera to obtain a two-dimensional coordinate of the projection of the center point of the head of the target object on a near projection plane of the camera in a camera coordinate system to serve as a second position point.
Further, the calculating module calculates, according to the second position point, a three-dimensional coordinate in a camera coordinate system with the camera as an origin to serve as a third position point specifically includes:
making a straight line from the camera position to the second position point with the camera as an origin and calculating the straight line direction, wherein the straight line direction comprises an X-axis coordinate of the straight line calculated according to the second position point and a tangent value of a half visual angle of the camera, a Y-axis coordinate of the straight line calculated according to the second position point and a horizontal-vertical pixel ratio and a Z-axis coordinate of the camera in a camera coordinate system, wherein the Z-axis coordinate is determined by the camera in a default direction of a Z-axis negative direction; calculating the distance between the head of the target object and the camera according to the width-height ratio of the head area of the target object in the image or the video image; and zooming the straight line according to the calculated distance between the head of the target object and the camera according to the principle of the imaging of the camera on the large and small distances to determine the third position point.
Further, the calculating module is configured to calculate a world coordinate matrix of the camera according to the position information and the view direction, and includes: determining Euler angles required to be respectively rotated around three coordinate axes by the camera according to the visual angle direction of the camera in a three-dimensional world coordinate system, and calculating to obtain a first two-three column of a world coordinate matrix of the camera according to the Euler angles; and obtaining a fourth column of a world coordinate matrix of the camera according to the position information of the camera in the three-dimensional world coordinate system.
The invention has the following technical effects:
the invention provides a three-dimensional positioning method of a target object, which is based on intelligent analysis of a monitoring video or an image, obtains two-dimensional position information of the target object in the image or the video, converts the two-dimensional position information of the target object into a position point of a camera near projection plane projection of the target object in a camera coordinate system through the position and the view angle of a camera corresponding to the monitoring video in a BIM three-dimensional model, obtains the position of the target object in the camera coordinate system according to the position point and the distance between the target object and the camera position, and obtains the position of the target object in a three-dimensional world coordinate system by combining the position of the target object in the camera coordinate system and a world coordinate matrix, thereby realizing the positioning of the target object in the BIM three-dimensional model. The method realizes the positioning of the target object such as constructors based on the intelligent analysis of the monitoring video, and as a plurality of video monitoring devices, namely cameras, are usually equipped on a construction site, the positioning of the target object is based on the existing devices, so that the cost and the deployment workload are obviously reduced. Of course, the cameras may be redeployed when there are insufficient cameras at the construction site. The two-dimensional position information of the target object in the image or video in the image plane coordinate system is converted into the three-dimensional position information in the camera coordinate system and finally converted into the three-dimensional position information in the three-dimensional world coordinate system, so that the position of the target object in the BIM three-dimensional model can be accurately positioned without wearing a positioning tag, an electronic tag, a positioning device with a positioning chip, a mobile terminal or other small electronic positioning equipment on the target object, the problems that in the prior art, the positioning cost is high, the implementation is difficult and the reliability is difficult to guarantee and the like because constructors need to wear special equipment are completely solved, and no a plurality of positioning base stations are needed to be arranged indoors or outdoors, so that the positioning cost is saved, and the easy and accurate positioning is easier to realize. The positioning effect of the invention is not influenced by the behavior of a target object, namely a constructor, and the invention is more robust and reliable.
The invention also provides a three-dimensional positioning device of the target object, which corresponds to the three-dimensional positioning method of the target object and can also be understood as a device for realizing the three-dimensional positioning method of the target object, the information acquisition module, the calculation module and the positioning display module work cooperatively to acquire the position information and the view angle direction of the camera with the target object in the world coordinate system in the view cone range, acquire the two-dimensional position information of the target object in the image plane coordinate system of the image or video shot by the camera, convert the two-dimensional position information into the three-dimensional position information in the camera coordinate system, convert the three-dimensional position information in the camera coordinate system into the three-dimensional position information in the three-dimensional world coordinate system through the world coordinate matrix, realize the positioning of the target object position in the BIM three-dimensional model, and do not need the positioning label worn by the target object, The electronic tag, the positioning device with the positioning chip, the mobile terminal or other small electronic positioning equipment can realize accurate positioning, and a plurality of positioning base stations do not need to be arranged indoors or outdoors, so that the positioning cost is saved, the easy and accurate positioning is easier to realize, and the three-dimensional positioning precision is improved.
Drawings
FIG. 1 is a flow chart of a three-dimensional positioning method of an object according to the present invention.
Fig. 2 is a flowchart of a three-dimensional positioning method of an object according to a preferred embodiment of the present invention.
Fig. 3 is a block diagram of the three-dimensional positioning device for the target object according to the present invention.
FIG. 4 is a diagram showing the relationship between the camera and the near projection plane of the three-dimensional positioning device for the target object according to the present invention.
FIG. 5 is a diagram showing the position of the camera of the three-dimensional positioning device of the object and the relationship between the camera and the near projection plane and the far projection plane, respectively.
Fig. 6 is an overall flowchart of the three-dimensional positioning method of the target object of the present invention.
Fig. 7 is a position of an object in a BIM three-dimensional model drawn according to the three-dimensional object positioning method of the present invention.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings.
The invention provides a three-dimensional positioning method of an object, which is used for positioning the object on a construction site, and as shown in figure 1, the method comprises the following steps: deploying a monitoring camera on a building site or utilizing the existing monitoring camera on the building site and carrying out BIM modeling on the building site to obtain a BIM three-dimensional model of the building site, acquiring the position information and the view angle direction of the camera in a three-dimensional world coordinate system of the BIM three-dimensional model, and calculating a world coordinate matrix of the camera according to the position information and the view angle direction; identifying a target object in an image or a video shot by a camera, and acquiring a two-dimensional coordinate of the target object in the image or the video to serve as a first position point; calculating according to the mapping of the first position point to obtain a two-dimensional coordinate of the projection of the target object on the near projection plane of the camera in the camera coordinate system as a second position point; calculating to obtain a three-dimensional coordinate in a camera coordinate system with the camera as an origin as a third position point according to the second position point; and performing product transformation processing on the third position point and the world coordinate matrix to obtain a position point of the target object in a three-dimensional world coordinate system of the BIM three-dimensional model as a fourth position point, and further displaying the three-dimensional positioning of the target object in the BIM three-dimensional model according to the fourth position point.
In particular, the invention relates to the conversion between three coordinate systems, namely an image plane coordinate system, a camera coordinate system and a three-dimensional world coordinate system (world coordinate system for short), wherein the image plane coordinate system and the camera coordinate system are imaging projection relations, it is understood that the image plane coordinate system is a coordinate system located on the near projection plane of the camera, obtaining two-dimensional coordinates of the target object in the image or video through an image plane coordinate system, converting a world coordinate system and a camera coordinate system into another coordinate system through a rigid body conversion mode, converting the camera coordinate system into coordinates in the world coordinate system through a world coordinate matrix, thus, the coordinates of the target object in the world coordinate system can be determined, as shown in fig. 5, the range which can be shot by the camera is between the near projection surface and the far projection surface of the camera position Z, and all the target objects (constructors) moving in the range can be positioned by the camera.
Based on the embodiment of the invention, the three-dimensional positioning method of the target object provided by the invention obtains the two-dimensional position information of the target object in the image or the video based on the intelligent analysis of the monitoring video or the image, then converts the two-dimensional position information of the target object into the position point of the projection of the camera near projection surface of the target object in the camera coordinate system through the position and the view angle of the camera in the BIM three-dimensional model corresponding to the monitoring video, obtains the position of the target object in the camera coordinate system according to the position point and the distance between the target object and the camera position, and obtains the position of the target object in the three-dimensional world coordinate system by combining the position of the target object in the camera coordinate system and the world coordinate matrix, thereby realizing the positioning of the target object in the BIM three-dimensional model. The method realizes the positioning of the target object such as constructors based on the intelligent analysis of the monitoring video, and as a plurality of video monitoring devices, namely cameras, are usually equipped on a construction site, the positioning of the target object is based on the existing devices, so that the cost and the deployment workload are obviously reduced. Of course, the cameras may be redeployed when there are insufficient cameras at the construction site. The method comprises the steps that two-dimensional position information of a target object in an image plane coordinate system in an image or video is converted into three-dimensional position information in a camera coordinate system and finally converted into three-dimensional position information in a three-dimensional world coordinate system, so that the position of the target object in a BIM three-dimensional model is positioned, and accurate positioning can be realized without wearing a positioning label, an electronic label, a positioning device with a positioning chip, a mobile terminal or other small electronic positioning equipment on the target object, namely, a monitoring camera is adopted for positioning constructors instead of a special positioning device or equipment; the three-dimensional coordinates of the personnel in the BIM are obtained through the mapping of the camera corresponding to the two-dimensional view and the camera monitoring video in the BIM, the problems that in the prior art, the positioning cost is high, the implementation is difficult, the reliability is difficult to guarantee and the like due to the fact that the construction personnel need to wear special equipment are completely solved, and no matter indoors or outdoors, a plurality of positioning base stations are not needed to be equipped, so that the positioning cost is saved, and the easy and accurate positioning is easier to realize. The positioning effect of the invention is not influenced by the behavior of a target object, namely a constructor, and the invention is more robust and reliable.
As a preferred embodiment of the three-dimensional positioning method of the target object of the present invention, as shown in a preferred flowchart of fig. 2, the method specifically includes the following steps:
the first step is as follows: deploying a monitoring camera on a construction site or utilizing the existing monitoring camera on the construction site, carrying out BIM modeling on the construction site to obtain a BIM three-dimensional model of the construction site, obtaining detailed information of the BIM three-dimensional model of the construction site, obtaining position information and view angle directions of the camera in a three-dimensional world coordinate system of the BIM three-dimensional model, wherein the position information of the camera in the three-dimensional world coordinate system is a position point Z (xz, yz, zz) and a view angle direction R (xr, yr and zr), and calculating a world coordinate matrix M of the camera according to the position point Z and the view angle direction R.
Specifically, the world coordinate matrix of the camera is composed of four columns, the first three columns represent three directions, the fourth column represents position information of the camera in the world coordinate system, and the last row of the world coordinate matrix is marked as [ 0001 ], wherein 0 in the last row represents a direction, and 1 in the last row represents a position point, namely a position point of the camera in the world coordinate system, and the world coordinate matrix of the camera is obtained by determining Euler angles required by the camera to rotate around three coordinate axes respectively according to the view angle directions of the camera in the three-dimensional world coordinate system, and calculating a first two-column of the world coordinate matrix of the camera except the last row according to the Euler angles, obtaining a fourth column of the world coordinate matrix of the camera except the last row according to the position information of the camera in the three-dimensional world coordinate system, namely obtaining Euler angles (α, gamma) required by the camera to rotate around an xyz axis respectively according to the view angle directions of the camera in the world coordinate system, and calculating the Euler angles (α, gamma) according to a formula of the preset three columns of the world coordinate matrix except the first two-column of the camera, namely, the preset two-column of the world coordinate matrix is calculated as a preset formula:
the fourth column of the world coordinate matrix excluding the last row is position information of the camera in the world coordinate system, and is expressed as
The last row of the world coordinate matrix, denoted as [ 0001 ];
the world coordinate matrix M of the camera is obtained from the above analysis.
The second step is as follows: identifying a target object in an image or a video shot by a camera, and acquiring a two-dimensional coordinate of a head central point of the target object in the image or the video to serve as a first position point; and performing mapping calculation according to the first position point and by combining with the horizontal and vertical pixel values of the camera to obtain a two-dimensional coordinate of the projection of the head center point of the target object on the near projection plane of the camera in a camera coordinate system as a second position point.
Specifically, existing mature image or video intelligent analysis technologies such as machine learning are utilized to identify target objects such as constructors in images or videos in monitoring cameras deployed in a construction site, and the position information of the constructors in the monitoring images or videos is obtained; every time a constructor is detected in the video, two-dimensional coordinates of the head center position of the constructor in the image, namely first position point coordinates P, are obtained0(x0,y0) And the width-height ratio W of the head area of the constructor in the image or video0,H0；
The images in the surveillance video can be regarded as a near projection surface of a camera in a three-dimensional world coordinate system. Let the horizontal and vertical pixel values of the camera be W1， H1The center point P of the head of the person is obtained by calculation according to the following method0Second position point P projected by camera near projection plane in three-dimensional world1(x1,y1)：
x1＝(x0/W1)*2-1
y1＝-(y0/H1)*2+1
Based on the embodiment of the invention, the second position point can be positioned only by combining the inherent camera parameter value and the initial plane coordinate of the target object in the image or video, so that the positioning operation steps are simplified, and when the target object is a constructor, because the head and the body of the constructor are integrated in a BIM three-dimensional model (for short, a BIM model), the head part is placed at the head position of the constructor calculated in the BIM three-dimensional model by positioning the head central point only, so that the positioning of the constructor is realized, and the positioning operation is simplified and the positioning precision is improved by positioning the head central point of the constructor only.
The third step: and calculating a three-dimensional coordinate in a camera coordinate system with the camera as an origin according to the second position point to serve as a third position point. Preferably, a straight line is drawn from the camera position to the second position point with the camera as the origin, and the straight line direction is calculated, the straight line direction including the X-axis coordinate of the straight line calculated from the second position point and the tangent value of the half angle of view of the camera, the Y-axis coordinate of the straight line calculated from the second position point and the horizontal and vertical pixel values, and the Z-axis coordinate of the camera in the camera coordinate system as seen in the negative direction of the Z-axis by default; calculating the distance between the head of the target object and the camera according to the width-height ratio of the head area of the target object in the image or the video image; and zooming the straight line according to the calculated distance between the head of the target object and the camera according to the principle of the imaging of the camera on the large and small distances to determine a third position point.
In particular, point P is located from camera position Z to point1Make a straight line L (x)L,yL,zL) Calculating the direction of L:
xL＝x1halfttan 1, wherein halfttan is the tan value of the true camera half-view;
yL＝y1l H1/W1, and calculating Y-axis coordinates according to the horizontal and vertical pixel ratios;
zL-1, according to the default view of the camera in the three-dimensional world to the negative Z-axis direction.
According to the width and height ratio W of the head of a worker in the image0,H0Calculating the distance D between the head of the worker and the position of the camera (the principle of camera imaging is large and small):
D＝λ/(W0+H0) And λ is an empirical constant according to the size statistics of the surveillance video picture.
Scaling the straight line L by D times to obtain a third position point P of the head of the constructor in a camera coordinate system with the camera as the origin2(x2,y2,z2):
x2＝xL*D
y2＝yL*D
z2＝zL*D
According to the embodiment of the invention, the second position point is a projection position point of a real target object on the near projection surface of the camera, the third position point is a position point of the real target object between the near projection surface and the far projection surface of the camera, namely a position point of the real target object in the camera coordinate system, and the second position point is an image (projection) of the third position point. The positioning effect of the invention is not influenced by the behavior of a target object, namely a constructor, and the invention is more robust and reliable.
The fourth step: and performing product transformation processing on the third position point and the world coordinate matrix to obtain a position point of the target object in a three-dimensional world coordinate system of the BIM three-dimensional model as a fourth position point, and displaying the three-dimensional positioning of the target object in the BIM three-dimensional model according to the fourth position point. Specifically, the third position point P2Multiplying the world coordinate matrix M of the camera to obtain a fourth position point P of the head of the constructor in the three-dimensional world coordinate system3(x3,y3,z3)＝M*P2. That is, the third location point is converted into a fourth location point through a world coordinate matrix, and the fourth location point is the coordinate of the target object in the world coordinate system. Finally according to four position points P3The coordinates of (b) map the position of an object (e.g., a constructor) in the BIM three-dimensional model.
Based on the embodiment of the invention, the second position point (actual position point) of the target object in the camera coordinate system is converted into the position point of the target object in the three-dimensional world coordinate system by utilizing the Euler angle determined by the visual angle direction of the camera in the three-dimensional world coordinate system and combining the world coordinate matrix obtained by the position information of the camera in the three-dimensional world coordinate system, and the position of the target object (constructor) is drawn in the BIM three-dimensional model, so that the positioning process of the target object is simplified, a plurality of positioning base stations are not required to be equipped, the target object can be positioned simply, conveniently and accurately without wearing a positioning device only by collecting video images, identifying two-dimensional or three-dimensional position coordinates of the target object in different coordinate systems and simply converting coordinates, the positioning cost is saved, and the positioning efficiency is improved. The positioning effect of the invention is not influenced by the behavior of a target object, namely a constructor, and the invention is more robust and reliable.
The present invention also provides a three-dimensional positioning device for an object, which corresponds to the three-dimensional positioning method for an object, and can be understood as a device for implementing the three-dimensional positioning method for an object, and embodiments, effects and technical problems of the three-dimensional positioning device for an object are the same as those achieved by the three-dimensional positioning method for an object, and only brief descriptions are provided here, and repeated descriptions are omitted. As shown in the block diagram of fig. 3, the device is used for positioning the target object on the construction site, and comprises: the information acquisition module is used for acquiring position information and view direction of a camera deployed on a building site in a three-dimensional world coordinate system of a building site BIM three-dimensional model obtained by BIM modeling of the building site; identifying a target object in an image or a video shot by a camera, and acquiring a two-dimensional coordinate of the target object in the image or the video to be used as a first position point; the computing module is used for computing a world coordinate matrix of the camera according to the position information and the view angle direction; calculating according to the mapping of the first position point to obtain a two-dimensional coordinate of the projection of the target object on the near projection plane of the camera in the camera coordinate system as a second position point; calculating to obtain a three-dimensional coordinate in a camera coordinate system with the camera as an origin as a third position point according to the second position point; performing product transformation processing on the third position point and the world coordinate matrix to obtain a position point of the target object in a three-dimensional world coordinate system of the BIM three-dimensional model as a fourth position point; and the positioning display module is used for displaying the three-dimensional positioning of the target object in the BIM three-dimensional model according to the fourth position point.
The invention provides a three-dimensional positioning device for a target object, which can be used for acquiring the position information and the visual angle direction of a camera with the target object in a world coordinate system in a view cone range, acquiring the two-dimensional position information of the target object in an image plane coordinate system in an image or video shot by the camera through the mutual cooperative work of an information acquisition module, a calculation module and a positioning display module which are sequentially connected, converting the two-dimensional position information into the three-dimensional position information in the camera coordinate system, converting the three-dimensional position information in the camera coordinate system into the three-dimensional position information in the three-dimensional world coordinate system through a world coordinate matrix, realizing the positioning of the position of the target object in a BIM three-dimensional model, and realizing the accurate positioning without wearing a positioning label, an electronic label, a positioning device with a positioning chip, a mobile terminal or other small electronic positioning equipment on the target object, and no matter indoor or outdoor, a plurality of positioning base stations are not required to be equipped, so that the positioning cost is saved, the easy and accurate positioning is easier to realize, and the three-dimensional positioning precision is improved.
Preferably, in this embodiment, the information acquiring module acquires two-dimensional coordinates of the target object in the image or video as the first position point by using an image or video intelligent analysis technology.
Based on the embodiment of the invention, the video image is analyzed in real time by a computer by utilizing an image or intelligent video analysis technology, the event violating the set rule is alarmed by rule filtering, and the method is applied to the application, namely, the target object with the set characteristics, such as the preset shape, the preset contour, the preset height and the like, is automatically positioned and displayed, and has high accuracy and high speed. The image or intelligent video analysis technology is based on a deep learning algorithm such as a Convolutional Neural Network (CNN), and has a plurality of different algorithms, which are roughly divided into a 2-stage algorithm represented by R-CNN and a 1-stage algorithm represented by YOLO. At present, a system provided by a third party is adopted, and based on a YOLO algorithm, a CNN network is used for directly predicting the types and the positions of different targets, so that the recognition of human body targets is finally realized. It is somewhat less accurate but faster than R-CNN-like algorithms.
Preferably, the information acquisition module identifies the target object in the image or video shot by the camera, and acquires two-dimensional coordinates of the center point of the head of the target object in the image or video as the first position point by using an image or video intelligent analysis technology.
Based on the embodiment of the invention, the head central point of the target object is used for replacing the whole target object for positioning, because the head and the body of the constructor in the BIM three-dimensional model are integrated, the head part is placed at the head position of the constructor calculated in the BIM three-dimensional model by only positioning the head central point, so that the positioning of the constructor is realized, the positioning operation is simplified and the positioning precision is improved by only positioning the head central point of the constructor.
Preferably, the calculation module performs mapping calculation according to the first position point and by combining with the horizontal and vertical pixel values of the camera to obtain a two-dimensional coordinate of the projection of the center point of the head of the target object on the near projection plane of the camera in the camera coordinate system as the second position point.
Based on the embodiment of the invention, the second position point can be positioned only by combining the inherent camera parameter value with the initial plane coordinate of the target object in the image or video, so that the positioning operation steps are simplified, and when the target object is a constructor, because the head and the body of the constructor are integrated in the BIM three-dimensional model, the head part is placed at the head position of the constructor calculated in the BIM three-dimensional model by only positioning the head central point, so that the positioning of the constructor is realized, the positioning operation is simplified by only positioning the head central point of the constructor, and the positioning precision is improved.
Preferably, the calculating module calculates, according to the second position point, a three-dimensional coordinate in a camera coordinate system with the camera as an origin to serve as a third position point specifically: taking a straight line from the camera position to a second position point by taking the camera as an origin, and calculating a straight line direction, wherein the straight line direction comprises an X-axis coordinate of the straight line calculated according to the second position point and a tangent value of a half visual angle of the camera, a Y-axis coordinate of the straight line calculated according to the second position point and a horizontal-vertical pixel ratio, and a Z-axis coordinate determined by the camera in a camera coordinate system in a default direction of looking at a Z-axis negative direction; calculating the distance between the head of the target object and the camera according to the width-height ratio of the head area of the target object in the image or the video image; and zooming the straight line according to the calculated distance between the head of the target object and the camera according to the principle of the imaging of the camera on the large and small distances to determine a third position point.
According to the embodiment of the invention, the second position point is a projection position point of a real target object on the near projection surface of the camera, the third position point is a position point of the real target object between the near projection surface and the far projection surface of the camera, namely a position point of the real target object in the camera coordinate system, and the second position point is an image (projection) of the third position point. The positioning effect of the invention is not influenced by the behavior of a target object, namely a constructor, and the invention is more robust and reliable.
Preferably, the calculating module is configured to calculate a world coordinate matrix of the camera according to the position information and the viewing direction, and includes: determining Euler angles required by the camera to rotate around three coordinate axes respectively according to the visual angle directions of the camera in a three-dimensional world coordinate system, and calculating to obtain a first two-three column of a world coordinate matrix of the camera according to the Euler angles; and obtaining a fourth column of a world coordinate matrix of the camera according to the position information of the camera in the three-dimensional world coordinate system.
Based on the embodiment of the invention, the second position point (actual position point) of the target object in the camera coordinate system is converted into the position point of the target object in the three-dimensional world coordinate system by utilizing the Euler angle determined by the visual angle direction of the camera in the three-dimensional world coordinate system and combining the world coordinate matrix obtained by the position information of the camera in the three-dimensional world coordinate system, and the position of the target object (constructor) is drawn in the BIM three-dimensional model, so that the positioning process of the target object is simplified, a plurality of positioning base stations are not required to be equipped, the target object can be positioned simply, conveniently and accurately without wearing a positioning device only by collecting video images, identifying two-dimensional or three-dimensional position coordinates of the target object in different coordinate systems and simply converting coordinates, the positioning cost is saved, and the positioning efficiency is improved. The positioning effect of the invention is not influenced by the behavior of a target object, namely a constructor, and the invention is more robust and reliable.
The following describes the three-dimensional positioning method/apparatus for the target object with reference to data:
the method and the device for three-dimensional positioning of the target object are based on intelligent analysis of a monitoring video of a construction site, and two-dimensional position information of personnel in an image or a video is obtained; secondly, converting the two-dimensional position information of the personnel into three-dimensional position information through the position and the visual angle of the camera corresponding to the monitoring video in the BIM three-dimensional model; finally, the position of the constructor in the BIM three-dimensional model in the world coordinate system is located, and the main steps are as shown in fig. 6 (fig. 6 can be understood as a work flow diagram of the target three-dimensional location method of the present invention, and can also be understood as a working principle diagram of the target three-dimensional location device of the present invention), taking the target as the constructor as an example:
(1) deploying a surveillance camera at a construction site;
(2) carrying out BIM three-dimensional modeling on the construction site, and constructing a BIM three-dimensional model to obtain detailed construction site three-dimensional model information; identifying three-dimensional world coordinates Z (xz, yz, zz) of the camera in the BIM three-dimensional model;
(3) utilizing the existing mature image or video intelligent analysis technology such as machine learning and the like to identify constructors in images or videos in monitoring cameras deployed in construction sites, and obtaining two-dimensional image coordinates of two-dimensional images of the constructors, namely first position point coordinates P0；
(4) The BIM three-dimensional world coordinate P of the constructor is obtained through mapping calculation3Specifically, the method can be divided into three steps, and the two-dimensional coordinates of the constructor on the near projection plane of the camera, namely the coordinates P of a second position point, are calculated firstly1And then calculating the three-dimensional coordinate of the constructor in a camera coordinate system taking the position of the camera as the origin coordinate, namely a third position point P2Then, calculating the position of the constructor in the three-dimensional world coordinate system, namely the fourth position point coordinate P3；
(5) According to P3(x3,y3,z3) The three-dimensional positioning of the constructor is displayed in the BIM three-dimensional model, as shown in FIG. 7.
According to the embodiment, the specific calculation process of the three-dimensional positioning of the constructor in the BIM is described by listing data:
specifically, as shown in FIG. 5, in the three-dimensional world of a computer, a camera has a viewing cone range, a near projection plane and a far projection plane, only an object between the two planes can be seen by the camera, and then the distance between the camera and the near projection plane is P1The point is connected with a straight line L, the straight line L is prolonged, and the information between the near projection surface and the far projection surface on the straight line L can be projected to the P on the near projection surface1On the points, all the points projected on the near projection surface are combined into an image (negative film), namely the content shot by the camera.
Assuming that the position point Z of the camera in the three-dimensional world coordinate is (643.07, 21.54, 196.36) and the viewing angle direction R is (-1, 0, -0.5), and the euler angle obtained by further calculation is {2.356, -0.615, 2.618}, the matrix of the camera coordinate system after the rotational translation is obtained through the preset matrix formula ① as described above, and is the matrix of the camera coordinate system after the rotational translation is
Thus, the fourth column and the last row are added, thereby deriving the final world matrix M as
A first position point P is obtained after AI intelligent analysis is carried out on a video image acquired by a camera0(1473.5，561)， W0＝1494-1453＝41，H0586 and 536 is 50, the camera size is 1920 x 1080, and the first position point P is calculated0Second position point P as position point projected by camera near projection plane in three-dimensional world1(x1,y1)，
x1＝1473.5/1920*2-1＝0.534896，
y1＝-1*561/1080*2+1＝-0.038889。
Making a straight line L (x) from the camera position to the point PL,yL,zL)：
xL＝0.534896*tan(45*Math.PI/180/2)*1＝0.221561，
yL＝-0.038889*tan(45*Math.PI/180/2)*1080/1920*1＝-0.009061，
zL＝-1。
As shown in fig. 4, assuming that the distance from the camera position to the center point of the near projection surface is 1, the length of half of the width of the near projection surface on the X axis is tan (45 °/2) × 1, and 45 °/2 is converted into a radian, namely tan (45 × math.pi/180/2) × 1, the visual field angle of the human eye is usually 124 degrees, so that the human eye cannot see objects behind the head pocket, and the camera also has the visual field angle, namely 45 degrees, which is the range that can be displayed in the transverse direction of the image.
The math is that pi is 3.1415926,360 degrees is 2 pi, and Math.PI/180 is that the angle is converted into radian.
According to the width and height ratio W of the head of a worker in the image0，H0And calculating the distance D between the head of the worker and the position of the camera, wherein D is 1200/(41+50) is 13.186813, and the constant lambda is 1200.
Scaling the straight line L by D times to obtain a position point of the head of the worker in a coordinate system with the camera as an origin, namely a third position point P2(x2,y2,z2)，
x2＝0.221561*13.186813＝2.921685，
y2＝-0.009061*13.186813＝-0.119485，
z2＝-1*13.186813＝-13.186813，
World matrix M multiplied by point P2Obtaining the position of the head of the constructor in the three-dimensional world coordinate system, namely a fourth position point P3：
I.e. P3＝(631.39,24.46,190.32)。
The person positions are plotted in the BIM three-dimensional model, as shown in FIG. 7.
It should be noted that the above-mentioned embodiments enable a person skilled in the art to more fully understand the invention, without restricting it in any way. Therefore, although the present invention has been described in detail with reference to the drawings and examples, it will be understood by those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. A three-dimensional positioning method of an object, which is used for positioning the object on a construction site, and is characterized by comprising the following steps:
deploying a monitoring camera on a building site or utilizing the existing monitoring camera on the building site and carrying out BIM modeling on the building site to obtain a BIM three-dimensional model of the building site, acquiring the position information and the view angle direction of the camera in a three-dimensional world coordinate system of the BIM three-dimensional model, and calculating a world coordinate matrix of the camera according to the position information and the view angle direction;
identifying a target object in an image or a video shot by a camera, and acquiring a two-dimensional coordinate of the target object in the image or the video to serve as a first position point;
calculating according to the first position point mapping to obtain a two-dimensional coordinate of the projection of the target object on the near projection plane of the camera in a camera coordinate system to serve as a second position point;
calculating to obtain a three-dimensional coordinate in a camera coordinate system with a camera as an origin as a third position point according to the second position point;
and performing product transformation processing on the third position point and the world coordinate matrix to obtain a position point of the target object in a three-dimensional world coordinate system of the BIM three-dimensional model as a fourth position point, and displaying the three-dimensional positioning of the target object in the BIM three-dimensional model according to the fourth position point.
2. The method according to claim 1, characterized in that, the target object identification is carried out in the image or video shot by the camera, and the two-dimensional coordinates of the center point of the head of the target object in the image or video are obtained as the first position point; and performing mapping calculation according to the first position point and by combining with horizontal and vertical pixel values of the camera to obtain a two-dimensional coordinate of the projection of the head center point of the target object on a near projection plane of the camera in a camera coordinate system to serve as a second position point.
3. The method of claim 2, wherein said calculating three-dimensional coordinates in a camera coordinate system with a camera as an origin from said second location point as a third location point comprises:
taking a straight line from the camera position to the second position point by taking a camera as an origin and calculating the straight line direction, wherein the straight line direction comprises an X-axis coordinate of the straight line calculated according to the second position point and a tangent value of a half visual angle of the camera, a Y-axis coordinate of the straight line calculated according to the second position point and a horizontal and vertical pixel value and a Z-axis coordinate determined by the camera in a default direction of a Z-axis negative direction in a camera coordinate system; calculating the distance between the head of the target object and the camera according to the width-height ratio of the head area of the target object in the image or the video image; and zooming the straight line according to the calculated distance between the head of the target object and the camera according to the principle of the imaging of the camera on the large and small distances to determine the third position point.
4. The method of any one of claims 1 to 3, wherein said computing a world coordinate matrix of said camera from said position information and a view direction comprises: determining Euler angles required to be respectively rotated around three coordinate axes by the camera according to the visual angle direction of the camera in a three-dimensional world coordinate system, and calculating to obtain a first two-three column of a world coordinate matrix of the camera according to the Euler angles; and obtaining a fourth column of a world coordinate matrix of the camera according to the position information of the camera in the three-dimensional world coordinate system.
5. A three-dimensional positioning device for an object on a construction site, comprising:
the information acquisition module is used for acquiring position information and view direction of a camera deployed on a building site in a three-dimensional world coordinate system of a building site BIM three-dimensional model obtained by BIM modeling of the building site; identifying a target object in an image or a video shot by a camera, and acquiring a two-dimensional coordinate of the target object in the image or the video to serve as a first position point;
the computing module is used for computing a world coordinate matrix of the camera according to the position information and the view angle direction; calculating according to the first position point mapping to obtain a two-dimensional coordinate of the projection of the target object on the near projection plane of the camera in a camera coordinate system to serve as a second position point; calculating to obtain a three-dimensional coordinate in a camera coordinate system with a camera as an origin as a third position point according to the second position point; performing product transformation processing on the third position point and the world coordinate matrix to obtain a position point of the target object in a three-dimensional world coordinate system of the BIM three-dimensional model as a fourth position point;
and the positioning display module is used for displaying the three-dimensional positioning of the target object in the BIM three-dimensional model according to the fourth position point.
6. The apparatus of claim 5, wherein the information acquisition module acquires two-dimensional coordinates of the object in the image or video as the first location point using an image or video smart analysis technique.
7. The device of claim 6, wherein the information acquisition module performs object recognition in the image or video captured by the camera, and acquires two-dimensional coordinates of a center point of the head of the object in the image or video as the first position point by using an image or video intelligent analysis technology.
8. The apparatus of claim 7, wherein the calculation module performs mapping calculation according to the first position point and by combining with the horizontal and vertical pixel values of the camera to obtain the two-dimensional coordinates of the projection of the center point of the head of the target object on the near projection plane of the camera in the camera coordinate system as the second position point.
9. The apparatus according to claim 8, wherein the calculating module calculates three-dimensional coordinates in a camera coordinate system with a camera as an origin from the second location point as a third location point by:
making a straight line from the camera position to the second position point with the camera as an origin and calculating the straight line direction, wherein the straight line direction comprises an X-axis coordinate of the straight line calculated according to the second position point and a tangent value of a half visual angle of the camera, a Y-axis coordinate of the straight line calculated according to the second position point and a horizontal-vertical pixel ratio and a Z-axis coordinate of the camera in a camera coordinate system, wherein the Z-axis coordinate is determined by the camera in a default direction of a Z-axis negative direction; calculating the distance between the head of the target object and the camera according to the width-height ratio of the head area of the target object in the image or the video image; and zooming the straight line according to the calculated distance between the head of the target object and the camera according to the principle of the imaging of the camera on the large and small distances to determine the third position point.
10. The apparatus of one of claims 5 to 9, wherein the computing module for computing the world coordinate matrix of the camera from the position information and the view direction comprises: determining Euler angles required to be respectively rotated around three coordinate axes by the camera according to the visual angle direction of the camera in a three-dimensional world coordinate system, and calculating to obtain a first two-three column of a world coordinate matrix of the camera according to the Euler angles; and obtaining a fourth column of a world coordinate matrix of the camera according to the position information of the camera in the three-dimensional world coordinate system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911404383.8A CN111192321B (en) | 2019-12-31 | 2019-12-31 | Target three-dimensional positioning method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911404383.8A CN111192321B (en) | 2019-12-31 | 2019-12-31 | Target three-dimensional positioning method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111192321A true CN111192321A (en) | 2020-05-22 |
| CN111192321B CN111192321B (en) | 2023-09-22 |
Family
ID=70709704
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911404383.8A Active CN111192321B (en) | 2019-12-31 | 2019-12-31 | Target three-dimensional positioning method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111192321B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112199754A (en) * | 2020-10-30 | 2021-01-08 | 久瓴(江苏)数字智能科技有限公司 | Coordinate positioning method and device, storage medium and electronic equipment |
| CN112652015A (en) * | 2020-11-30 | 2021-04-13 | 中国公路工程咨询集团有限公司 | BIM-based pavement disease marking method and device |
| CN112685812A (en) * | 2020-12-16 | 2021-04-20 | 中冶建筑研究总院有限公司 | Dynamic supervision method, device, equipment and storage medium |
| CN113329181A (en) * | 2021-06-08 | 2021-08-31 | 厦门四信通信科技有限公司 | Angle switching method, device, equipment and storage medium of camera |
| CN114998768A (en) * | 2022-06-02 | 2022-09-02 | 广州市港航工程研究所 | Intelligent construction site management system and method based on unmanned aerial vehicle |
| WO2023178729A1 (en) * | 2022-03-24 | 2023-09-28 | 香港大学深圳研究院 | Bim and video surveillance-based museum visit analysis method and system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107248193A (en) * | 2017-05-22 | 2017-10-13 | 北京红马传媒文化发展有限公司 | The method, system and device that two dimensional surface is switched over virtual reality scenario |
| US20180259328A1 (en) * | 2015-09-21 | 2018-09-13 | Imetrum Limited | Device And Method To Locate A Measurement Point With An Image Capture Device |
| CN108648237A (en) * | 2018-03-16 | 2018-10-12 | 中国科学院信息工程研究所 | A kind of space-location method of view-based access control model |
| US20180348249A1 (en) * | 2017-06-02 | 2018-12-06 | Gpro Co., Ltd. | Flight parameter measuring apparatus and flight parameter measuring method |
| US20190026948A1 (en) * | 2017-07-24 | 2019-01-24 | Visom Technology, Inc. | Markerless augmented reality (ar) system |
| CN109272570A (en) * | 2018-08-16 | 2019-01-25 | 合肥工业大学 | A kind of spatial point three-dimensional coordinate method for solving based on stereoscopic vision mathematical model |
| CN109801301A (en) * | 2018-12-15 | 2019-05-24 | 华南理工大学 | A kind of automatic collection method of tile work progress msg based on BIM and computer vision |
| DE102018010252A1 (en) * | 2018-02-14 | 2019-08-14 | Gesellschaft zur Förderung angewandter Informatik eV | Method and system for dynamic structural analysis |
-
2019
- 2019-12-31 CN CN201911404383.8A patent/CN111192321B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180259328A1 (en) * | 2015-09-21 | 2018-09-13 | Imetrum Limited | Device And Method To Locate A Measurement Point With An Image Capture Device |
| CN107248193A (en) * | 2017-05-22 | 2017-10-13 | 北京红马传媒文化发展有限公司 | The method, system and device that two dimensional surface is switched over virtual reality scenario |
| US20180348249A1 (en) * | 2017-06-02 | 2018-12-06 | Gpro Co., Ltd. | Flight parameter measuring apparatus and flight parameter measuring method |
| US20190026948A1 (en) * | 2017-07-24 | 2019-01-24 | Visom Technology, Inc. | Markerless augmented reality (ar) system |
| DE102018010252A1 (en) * | 2018-02-14 | 2019-08-14 | Gesellschaft zur Förderung angewandter Informatik eV | Method and system for dynamic structural analysis |
| CN108648237A (en) * | 2018-03-16 | 2018-10-12 | 中国科学院信息工程研究所 | A kind of space-location method of view-based access control model |
| CN109272570A (en) * | 2018-08-16 | 2019-01-25 | 合肥工业大学 | A kind of spatial point three-dimensional coordinate method for solving based on stereoscopic vision mathematical model |
| CN109801301A (en) * | 2018-12-15 | 2019-05-24 | 华南理工大学 | A kind of automatic collection method of tile work progress msg based on BIM and computer vision |
Non-Patent Citations (2)
| Title |
|---|
| 朱志鹏: "基于结构光三维空间测量方法的研究" * |
| 洪灏 等: "基于BIM的单目相机室内定位技术" * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112199754A (en) * | 2020-10-30 | 2021-01-08 | 久瓴(江苏)数字智能科技有限公司 | Coordinate positioning method and device, storage medium and electronic equipment |
| CN112199754B (en) * | 2020-10-30 | 2023-05-09 | 久瓴(江苏)数字智能科技有限公司 | Coordinate positioning method and device, storage medium and electronic equipment |
| CN112652015A (en) * | 2020-11-30 | 2021-04-13 | 中国公路工程咨询集团有限公司 | BIM-based pavement disease marking method and device |
| CN112652015B (en) * | 2020-11-30 | 2023-05-09 | 中国公路工程咨询集团有限公司 | BIM-based pavement disease marking method and device |
| CN112685812A (en) * | 2020-12-16 | 2021-04-20 | 中冶建筑研究总院有限公司 | Dynamic supervision method, device, equipment and storage medium |
| CN113329181A (en) * | 2021-06-08 | 2021-08-31 | 厦门四信通信科技有限公司 | Angle switching method, device, equipment and storage medium of camera |
| WO2023178729A1 (en) * | 2022-03-24 | 2023-09-28 | 香港大学深圳研究院 | Bim and video surveillance-based museum visit analysis method and system |
| CN114998768A (en) * | 2022-06-02 | 2022-09-02 | 广州市港航工程研究所 | Intelligent construction site management system and method based on unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111192321B (en) | 2023-09-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111192321B (en) | Target three-dimensional positioning method and device | |
| Zollmann et al. | Augmented reality for construction site monitoring and documentation | |
| Golparvar-Fard et al. | Evaluation of image-based modeling and laser scanning accuracy for emerging automated performance monitoring techniques | |
| US10068344B2 (en) | Method and system for 3D capture based on structure from motion with simplified pose detection | |
| CN108810473B (en) | Method and system for realizing GPS mapping camera picture coordinate on mobile platform | |
| CN104330074B (en) | Intelligent surveying and mapping platform and realizing method thereof | |
| CN102214000B (en) | Hybrid registration method and system for target objects of mobile augmented reality (MAR) system | |
| US20180211404A1 (en) | 3d marker model construction and real-time tracking using monocular camera | |
| US11557083B2 (en) | Photography-based 3D modeling system and method, and automatic 3D modeling apparatus and method | |
| CN107103056B (en) | Local identification-based binocular vision indoor positioning database establishing method and positioning method | |
| CN103226838A (en) | Real-time spatial positioning method for mobile monitoring target in geographical scene | |
| US8369578B2 (en) | Method and system for position determination using image deformation | |
| WO2023093217A1 (en) | Data labeling method and apparatus, and computer device, storage medium and program | |
| CN112686877B (en) | Binocular camera-based three-dimensional house damage model construction and measurement method and system | |
| CN115597659B (en) | Intelligent safety management and control method for transformer substation | |
| CN111337037B (en) | Mobile laser radar slam drawing device and data processing method | |
| EP4068210A1 (en) | System and method for automated estimation of 3d orientation of a physical asset | |
| KR20190114696A (en) | An augmented reality representation method for managing underground pipeline data with vertical drop and the recording medium thereof | |
| CN111770450B (en) | Workshop production monitoring server, mobile terminal and application | |
| CN112422653A (en) | Scene information pushing method, system, storage medium and equipment based on location service | |
| CN110619661A (en) | Method for measuring volume of outdoor stock ground raw material based on augmented reality | |
| CN108234932B (en) | Method and device for extracting personnel form in video monitoring image | |
| CN112509135A (en) | Element labeling method, device, equipment, storage medium and computer program product | |
| CN107274449B (en) | Space positioning system and method for object by optical photo | |
| CN115982824A (en) | Construction site worker space management method and device, electronic equipment and storage medium |
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 |