CN111536947B - Method and system for automatically detecting oblique photography missing and quickly performing rephotography - Google Patents
Method and system for automatically detecting oblique photography missing and quickly performing rephotography Download PDFInfo
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- CN111536947B CN111536947B CN202010363832.5A CN202010363832A CN111536947B CN 111536947 B CN111536947 B CN 111536947B CN 202010363832 A CN202010363832 A CN 202010363832A CN 111536947 B CN111536947 B CN 111536947B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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Abstract
The invention discloses a method and a system for automatically detecting oblique photography lost and quickly performing a rephotography, wherein an MCU is correspondingly connected with each camera in oblique cameras through a plurality of high-speed comparators; wherein, a primary photographing trigger signal of the inclined camera is sent out; receiving a POS signal, and generating a POS sequence number for marking the photo at this time; detecting a hot target feedback signal of each camera within a preset time; if the hot target feedback signal is received, judging that the camera is effective for taking the picture at this time; if the hot target feedback signal is not received, judging that the camera is ineffective in photographing at this time; and storing the camera state result of the POS sequence number. The method judges whether the shooting of the corresponding camera is effective or not by detecting whether the camera feeds back the hot target signal or not, further marks the invalid camera, solves the problem of image data loss in aerial survey by the characteristics of low cost and high efficiency, avoids complex repeated aerial survey tasks, reduces aerial survey risks and cost, and is economical, practical and effective.
Description
Technical Field
The invention relates to the technical field of aerial photography and oblique photography, in particular to a method and a system for automatically detecting oblique photography missing and quickly performing compensation.
Background
Nowadays, the oblique photography technology of unmanned aerial vehicles is widely applied to the industries such as homeland security, city planning, real estate registration and the like, wherein an oblique camera is the most important component in the oblique photography technology. The inclined camera can acquire image information from the vertical direction, the forward direction, the backward direction, the leftward direction and the rightward direction at the same time, simultaneously records the geographic position information of the group of images, and obtains a high-precision geographic 3D model after the image information and the geographic position information of each group are processed by professional processing software according to a certain format in the later period.
Tilt cameras typically consist of 5 camera sensors, usually suspended under a drone or other aircraft; the tilt camera and the POS system work simultaneously, the POS system can store geographical position information while the tilt camera collects images, but the tilt camera and the POS system work simultaneously and can work abnormally due to vibration, interference or electric quantity and other problems, so that the condition that the camera loses image information appears, and the image information and the position information are not matched when only one position point image is lost or a plurality of position point images are lost to cause post-processing data.
The reasons for the above-mentioned drawbacks are: the image parameters corresponding to the position information are not known to be lost, so that the later manual correction work cannot be carried out, the final model is malformed or inaccurate due to a light person, and the model cannot be generated due to a severe person.
The existing processing method for solving the defects is not: the original data are discarded, the image information is collected again, time and labor are wasted, time cost is doubled, manufacturing cost is increased, and even an aerial survey task is delayed.
Disclosure of Invention
Aiming at the condition that image parameters are lost due to the fact that an oblique camera cannot work normally due to certain factors in the oblique photography implementation process, the invention provides a method and a system for automatically detecting oblique photography missing and quickly performing rephotography, which have the advantages of low application cost and convenience in later use, and can solve the time and economic losses caused by missing of a film.
The invention discloses a method for automatically detecting oblique photography lost pictures and quickly supplementing photos, which comprises the following steps:
sending a primary photographing trigger signal of the inclined camera;
receiving a POS signal and generating a POS serial number for marking the photo;
detecting a hot target feedback signal of each camera within a preset time;
if the hot target feedback signal is received, judging that the camera is effective for taking the picture at this time;
If the hot target feedback signal is not received, judging that the camera is ineffective in taking the picture at this time;
and storing the camera state result of the POS serial number at this time.
As a further improvement of the present invention, the preset time is 300 ms.
As a further improvement of the present invention, if the camera takes a picture effectively this time, the camera status is 1; if the camera is invalid in the photographing process, the camera state is 0.
As a further improvement of the present invention, the camera state result of each photographing trigger signal includes: POS serial number, camera 1 state, camera 2 state, camera 3 state, camera 4 state, and camera 5 state;
the POS serial numbers are 1, 2, 3, · arranged in sequence;
the camera 1 state, camera 2 state, camera 3 state, camera 4 state, or camera 5 state is 1 or 0.
As a further improvement of the present invention, the camera state result of each photographing trigger signal further includes: a state;
if the camera 1 state, the camera 2 state, the camera 3 state, the camera 4 state or the camera 5 state are all 1, the state is 1; otherwise, the state is 0.
The invention also discloses a system for automatically detecting oblique photography lost films and quickly supplementing photos, which comprises the following steps:
a tilt camera for acquiring image information;
The POS system is used for acquiring the geographical position information of the group of images, and when a photographing triggering signal of the inclined camera is sent out, the inclined camera and the POS system work simultaneously;
the MCU is connected with the oblique camera and the POS system and is used for receiving the image information and the geographical position information of the group of images and generating a POS serial number for marking the photo taking;
further comprising:
the MCU is correspondingly connected with each camera in the oblique cameras through a plurality of high-speed comparators;
the MCU is further configured to:
detecting a hot target feedback signal of each camera within a preset time;
if the hot target feedback signal is received, judging that the camera is effective for taking the picture at this time;
if the hot target feedback signal is not received, judging that the camera is ineffective in photographing at this time;
and storing the camera state result of the POS sequence number.
As a further improvement of the present invention, the preset time is 300 ms.
As a further improvement of the present invention, if the camera takes a picture effectively this time, the camera status is 1; if the camera is invalid in the photographing process, the camera state is 0.
As a further improvement of the present invention, the camera state result of each photographing trigger signal includes: POS serial number, camera 1 state, camera 2 state, camera 3 state, camera 4 state, and camera 5 state;
The POS serial numbers are 1, 2, 3, · arranged in sequence;
the camera 1 state, camera 2 state, camera 3 state, camera 4 state, or camera 5 state is 1 or 0.
As a further improvement of the present invention, the camera state result of each photographing trigger signal further includes: a state;
if the camera 1 state, the camera 2 state, the camera 3 state, the camera 4 state or the camera 5 state are all 1, the state is 1; otherwise, the state is 0.
Compared with the prior art, the invention has the beneficial effects that:
the method judges whether the shooting of the corresponding camera is effective or not by detecting whether the camera feeds back the hot target signal or not, further marks the invalid camera, solves the problem of image data loss in aerial survey by the characteristics of low cost and high efficiency, avoids complex repeated aerial survey tasks, reduces aerial survey risks and cost, and is economical, practical and effective.
Drawings
FIG. 1 is a flowchart illustrating a method for automatically detecting oblique photographic losses and fast rephotography in accordance with an embodiment of the present invention;
FIG. 2 is a block diagram of a system for automatically detecting oblique photographic losses and fast rephotography in accordance with an embodiment of the present invention;
Fig. 3 is a diagram of a file format in a TF card after the photographing is finished according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The invention is described in further detail below with reference to the following drawings:
the invention provides a method and a system for automatically detecting oblique photography missing and quickly performing rephotography aiming at the condition that image parameters are lost due to the fact that an oblique camera cannot work normally because of certain factors in the oblique photography implementation process.
Specifically, the method comprises the following steps:
as shown in fig. 1 and 2, the present invention provides a method for automatically detecting oblique photography film loss and fast rephotography, and a system for implementing the method, wherein the method is implemented on the premise that an MCU is correspondingly connected to each of oblique cameras through a plurality of high-speed comparators; the reason is as follows: the level of a hot boot signal of the camera is 5-15 mv, the effective signal duration is 240us, and a general MCU cannot directly acquire the signals, so a high-speed comparator is selected for converting the signals and then the signals are processed by the MCU.
The method specifically comprises the following steps:
the airplane sends out a primary photographing trigger signal for inclining the camera;
an oblique camera composed of 5 cameras collects image information from a vertical direction, a forward direction, a backward direction, a left direction and a right direction;
the POS system records the geographical position information of the group of images while the camera collects the images;
the MCU receives the image information and the geographical position information of the group of images, and the high-precision geographical 3D model is obtained after the image information and the geographical position information of each group are processed by professional processing software according to a certain format; the group of images have unique corresponding POS serial numbers, and the POS serial numbers indicate images acquired under a photographing triggering signal;
In addition, after the MCU sends a photographing trigger signal, the heat target feedback signal of each camera is detected within a preset time, and the preferable preset time is 300 ms; the invention designs a circuit for detecting the camera hot target feedback signal through the MCU, and further judges whether the camera normally works when the shooting is triggered, namely whether the shooting is effective or not by detecting the hot target feedback signal of each camera.
If the hot target feedback signal is received within the preset time, judging that the camera is effective for taking the picture at this time;
if the hot target feedback signal is not received within the preset time, judging that the camera is invalid for taking the picture;
storing the camera state result of the POS sequence number; wherein, all the photo/POSE attribute information will be stored in the TF card, and when the operator finds that there is a lost photo, the operator can check the file. Each photo in the file has a corresponding POSE signal sequence, if a plurality of photos are lost, POSE position information of the lost photos can be directly found out, and the operator only needs to find out POSE coordinates of the lost photos and then take the photos at the position again to obtain complete aerial survey data.
Further, as shown in fig. 3, the camera status result of the trigger signal for each photographing according to the present invention includes: POS serial number, camera 1 state, camera 2 state, camera 3 state, camera 4 state, camera 5 state and state; wherein the content of the first and second substances,
POS serial numbers are 1, 2, 3, · arranged in sequence;
the camera 1 state, the camera 2 state, the camera 3 state, the camera 4 state or the camera 5 state is 1 or 0, and if the camera takes a picture effectively at this time, the camera state is 1; if the camera is invalid in the photographing, the camera state is 0;
the state is 1 or 0, and if the camera 1 state, the camera 2 state, the camera 3 state, the camera 4 state or the camera 5 state are all 1, the state is 1; otherwise, the state is 0.
The invention has the advantages that:
the method judges whether the shooting of the corresponding camera is effective or not by detecting whether the camera feeds back the hot target signal or not, further marks the invalid camera, solves the problem of image data loss in aerial survey by the characteristics of low cost and high efficiency, avoids complex repeated aerial survey tasks, reduces aerial survey risks and cost, and is economical, practical and effective.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A method for automatically detecting oblique photography missing and fast rephotography is characterized by comprising the following steps:
sending a primary photographing trigger signal of the inclined camera;
receiving a POS signal and generating a POS serial number for marking the photo;
detecting a hot shoe feedback signal of each camera within a preset time;
if the hot shoe feedback signal is received, judging that the camera is effective for taking the picture at this time;
if the hot shoe feedback signal is not received, judging that the camera is invalid for taking the picture;
if the camera is effective in the photographing, the state of the camera is 1; if the camera is invalid in the photographing, the camera state is 0;
storing the camera state result of the POS sequence number;
the camera state result of the photographing trigger signal each time comprises: POS serial number, camera 1 state, camera 2 state, camera 3 state, camera 4 state, and camera 5 state;
the POS serial numbers are 1, 2, 3, · arranged in sequence;
the camera 1 state, the camera 2 state, the camera 3 state, the camera 4 state and the camera 5 state are 1 or 0;
the camera state result of the photographing trigger signal at each time further comprises: a state;
if the camera 1 state, the camera 2 state, the camera 3 state, the camera 4 state and the camera 5 state are all 1, the states are 1; otherwise, the state is 0.
2. The method of claim 1, wherein the predetermined time is 300 ms.
3. A system for automatically detecting oblique photography film loss and fast rephotography, comprising:
a tilt camera for acquiring image information;
the POS system is used for acquiring the geographical position information of the image, and when a one-time photographing triggering signal of the inclined camera is sent out, the inclined camera and the POS system work simultaneously;
the MCU is connected with the oblique camera and the POS system and is used for receiving the image information and the geographical position information of the image and generating a POS serial number for marking the photo taken at this time;
it is characterized by also comprising:
the MCU is correspondingly connected with each camera in the oblique cameras through a plurality of high-speed comparators;
the MCU is further configured to:
detecting a hot shoe feedback signal of each camera within a preset time;
if the hot shoe feedback signal is received, judging that the camera is effective for taking the picture at this time;
if the hot shoe feedback signal is not received, judging that the camera is invalid for taking the picture;
if the camera is effective in the photographing, the state of the camera is 1; if the camera is invalid in the photographing, the camera state is 0;
storing the camera state result of the POS sequence number;
The camera state result of the photographing trigger signal each time comprises: POS serial number, camera 1 state, camera 2 state, camera 3 state, camera 4 state, and camera 5 state;
the POS serial numbers are 1, 2, 3, · arranged in sequence;
the camera 1 state, the camera 2 state, the camera 3 state, the camera 4 state and the camera 5 state are 1 or 0;
the camera state result of the photographing trigger signal at each time further comprises: a state;
if the camera 1 state, the camera 2 state, the camera 3 state, the camera 4 state and the camera 5 state are all 1, the states are 1; otherwise, the state is 0.
4. The system of claim 3, wherein the predetermined time is 300 ms.
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| CN111970445A (en) * | 2020-08-24 | 2020-11-20 | 广州南方卫星导航仪器有限公司 | POS data recording method and system for unmanned aerial vehicle |
| CN112033376A (en) * | 2020-09-03 | 2020-12-04 | 成都微宇科技有限责任公司 | Aerial camera shooting system and aerial camera shooting method |
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| GB2342523B (en) * | 1998-06-09 | 2003-09-17 | Furuno Electric Co | Radar and like systems and method for improving image quality |
| KR20080026003A (en) * | 2006-09-19 | 2008-03-24 | 삼성전자주식회사 | Apparatus and method for tagging id in photos by utilizing geographical positions |
| CN100543413C (en) * | 2008-06-20 | 2009-09-23 | 北京大学 | A kind of digital airborne photography system |
| CN202494448U (en) * | 2012-02-24 | 2012-10-17 | 黄克明 | Synchronous acquiring device of aerial photo data |
| US9349195B2 (en) * | 2012-03-19 | 2016-05-24 | Google Inc. | Apparatus and method for spatially referencing images |
| CN104748730B (en) * | 2015-04-15 | 2017-06-23 | 中测新图(北京)遥感技术有限责任公司 | Determine the device at aerial survey camera exposure moment in unmanned plane |
| CN106871874A (en) * | 2017-02-27 | 2017-06-20 | 广西翼界科技有限公司 | A kind of POS management systems for being applied to aerial survey of unmanned aerial vehicle |
| CN106908042A (en) * | 2017-02-27 | 2017-06-30 | 广西翼界科技有限公司 | Aerophotogrammetry data screening method |
| CN107144264A (en) * | 2017-06-19 | 2017-09-08 | 北京理工大学 | A kind of aeroplane photography method that high definition pavement image is gathered for fixed-wing unmanned plane |
| CN109141362A (en) * | 2017-07-27 | 2019-01-04 | 上海华测导航技术股份有限公司 | A kind of unmanned plane high-precision oblique photograph measuring system and method |
| CN108931235A (en) * | 2018-08-22 | 2018-12-04 | 上海华测导航技术股份有限公司 | Application method of the unmanned plane oblique photograph measuring technique in planing final construction datum |
| CN109922297B (en) * | 2019-01-23 | 2021-10-08 | 视联动力信息技术股份有限公司 | Call method and device |
| CN209877958U (en) * | 2019-04-11 | 2019-12-31 | 广州笨笨网络科技有限公司 | Oblique photography system |
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Effective date of registration: 20230920 Address after: Floor 1-3, Building 6, No. 326 Jiamao Fifth Road, International Advanced Industrial Transfer and Acceptance Base, Nanchang Economic and Technological Development Zone, Nanchang City, Jiangxi Province, 330052 Patentee after: Bading Saiwei (Nanchang) Technology Co.,Ltd. Address before: 330000 1st floor, No.1 Factory building, Hengda, No.189 Huoju 3rd road, Nanchang hi tech Industrial Development Zone, Nanchang City, Jiangxi Province Patentee before: Nanchang Lunyu Technology Co.,Ltd. |