CN112419176B - Single-loop transmission channel lead positive shooting image point cloud enhancement method and device - Google Patents
Single-loop transmission channel lead positive shooting image point cloud enhancement method and device Download PDFInfo
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Abstract
The invention discloses a single-loop transmission channel wire positive shooting image point cloud enhancement method and device, wherein the method comprises the following steps: processing the forward-looking aerial image group based on a forward-looking aerial image point cloud algorithm to generate channel point cloud data in response to the acquired forward-looking aerial image group; identifying each wire in the aerial photographing graph group based on a deep learning image identification algorithm; setting a pixel of a certain wire in the aerial photographing graph group to be a certain color, and setting other pixels to be another color so as to generate a certain wire image group; processing a certain wire image group based on a positive photographic image point cloud algorithm to generate certain wire point cloud data; and superposing the point cloud data of a certain wire and the point cloud data of the channel to obtain the point cloud data after wire reinforcement. The regenerated wire point cloud is overlapped with the power transmission channel point cloud, so that the enhanced wire point cloud is obtained, and the problem of wire point cloud missing in the generation of the three-dimensional point cloud of the positive photographic image is solved.
Description
Technical Field
The invention belongs to the technical field of voice recognition, and particularly relates to a single-loop transmission channel wire forward shooting image point cloud enhancement method and device.
Background
The three-dimensional reconstruction of corridor lines is developed by a large number of power grid enterprises, a three-dimensional point cloud computing method of the power transmission channel based on the forward shot images is mainly adopted, and the method is widely applied to unmanned aerial vehicle tree obstacle inspection of the line channel. In actual unmanned aerial vehicle line inspection, a back-and-forth double-navigation-belt flight mode is generally adopted, and a single camera is used for shooting. In aerial photography, the airplane is required to fly at low altitude along a wire, and the course overlapping degree of the photographed images cannot be lower than 60%.
After the aerial photography is completed, a set of aerial photographs of the power corridor are obtained. Firstly, extracting connection points between images; then GPS auxiliary aerial triangulation is carried out on the aerial image to obtain external azimuth elements of the image; and finally, performing dense matching on the images to generate a point cloud model with three-dimensional information.
The deep learning technology is currently the most mainstream algorithm for image processing, for example, based on a YOLO2 target detection algorithm, and is used for identifying and positioning an insulator burst defect target in a patrol image, and the detection of the insulator is realized by constructing and improving a convolutional neural network. The unmanned aerial vehicle inspection image defect intelligent analysis method based on the convolutional neural network (Faster R-CNN) and an improved algorithm thereof is provided based on the research results of the former, can meet the precision requirement of automatic identification, and can reach the practical popularization level.
Because of shooting or other external reasons such as weather, the matching characteristics are failed, so that the situation of power line point cloud missing is quite common, more than about 80% of wire point clouds in practical application are partially missing or cannot be identified, the accuracy of tree obstacle inspection data is reduced due to missing of wire point cloud data, and certain hidden danger is left for line operation.
Disclosure of Invention
The embodiment of the invention provides a single-loop transmission channel lead forward shooting image point cloud enhancement method which is used for at least solving one of the technical problems.
In a first aspect, an embodiment of the present invention provides a method for enhancing a positive shooting image point cloud of a single loop transmission channel wire, including: processing the forward-looking aerial image group based on a forward-looking aerial image point cloud algorithm to generate channel point cloud data in response to the acquired forward-looking aerial image group; identifying each wire in the positive aerial photography graph group based on a deep learning image identification algorithm; setting a pixel of a certain wire in the positive shooting graphic group to be a certain color, and setting other pixels to be another color so as to generate a certain wire image group; processing the certain wire image group based on a positive photographic image point cloud algorithm to generate certain wire point cloud data; and superposing the certain wire point cloud data and the channel point cloud data to obtain the point cloud data after wire reinforcement.
In a second aspect, an embodiment of the present invention provides a single loop transmission channel wire positive shooting image point cloud enhancement device, where the device includes: the first processing module is configured to respond to the acquired forward-looking aerial image group, and process the forward-looking aerial image group based on a forward-looking image point cloud algorithm to generate channel point cloud data; the identification module is configured to identify each wire in the positive shooting aerial graph group based on a deep learning image identification algorithm; the color setting module is configured to set the pixel of a certain wire in the positive aerial photography graph group to be a certain color, and the other pixels are set to be another color so as to generate a certain wire image group; the second processing module is configured to process the certain wire image group based on a positive photographic image point cloud algorithm so as to generate certain wire point cloud data; and the superposition module is configured to superpose the certain wire point cloud data with the channel point cloud data to obtain wire-enhanced point cloud data.
In a third aspect, there is provided an electronic device, comprising: the system comprises at least one processor and a memory communicatively connected with the at least one processor, wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the steps of the single loop power transmission channel wire positive photographic image point cloud enhancement method of any of the embodiments of the present invention.
In a fourth aspect, embodiments of the present invention also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the steps of the single loop power transmission channel wire positive image point cloud enhancement method of any of the embodiments of the present invention.
The method and the device adopt an image recognition algorithm to recognize, screen and match wire segments in an original image for generating the power transmission channel point cloud, and a regeneration algorithm for the wire point cloud is adopted, and the regenerated wire point cloud is overlapped with the power transmission channel point cloud, so that the enhanced wire point cloud is obtained, and the problem of wire point cloud missing in the generation of the three-dimensional point cloud of the positive photographic image is solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for enhancing a single loop transmission channel wire positive shooting image point cloud according to an embodiment of the present invention;
FIG. 2 is a flowchart of another method for enhancing a single loop power transmission channel wire positive image point cloud according to an embodiment of the present invention;
FIG. 3 is a block diagram of a single loop power transmission channel wire positive image point cloud enhancement device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a flowchart of an embodiment of a single-loop transmission path wire forward imaging point cloud enhancement method according to the present application is shown, and the single-loop transmission path wire forward imaging point cloud enhancement method according to the present embodiment may be applied to a terminal with an image recognition function.
As shown in fig. 1, in step 101, in response to the acquired group of aerial images being photographed, the group of aerial images being photographed is processed based on a positive photographic image point cloud algorithm to generate channel point cloud data;
In step 102, identifying each wire in the group of aerial photography graphics based on a deep learning image identification algorithm;
In step 103, setting a pixel of a certain wire in the aerial photographing graph group to a certain color, and setting other pixels to another color to generate a certain wire image group;
In step 104, a certain wire image group is processed based on a positive photographic image point cloud algorithm to generate certain wire point cloud data;
in step 105, a certain wire point cloud data is superimposed with the channel point cloud data to obtain wire-enhanced point cloud data.
In this embodiment, for step 101, the point cloud enhancement device processes the captured aerial image group based on the captured aerial image point cloud algorithm to generate channel point cloud data. Then, for step 102, the point cloud enhancement device identifies each wire in the group of aerial images being photographed based on a deep learning image identification algorithm. Then, for step 103, the point cloud enhancement device sets the pixel of a certain wire in the aerial image group to a certain color, and sets the rest pixels to another color to generate a certain wire image group. Wherein the lightness of one color differs significantly from the other color, e.g., yellow and purple. Then, for step 104, the point cloud enhancement device processes a certain wire image group based on the positive photographic point cloud algorithm to generate a certain wire point cloud data. Then, for step 105, the point cloud enhancement device superimposes a certain wire point cloud data with the channel point cloud data to obtain the point cloud data after wire enhancement.
According to the scheme provided by the embodiment, after the aerial photographing image group is processed to generate the channel point cloud data, the wires in the aerial photographing image are identified, the pixels of a certain wire are set to be one color, the fish pixels of the wire are set to be the other color, so that the pixels of the certain wire are highlighted, interference caused when the pixels of the wire are similar to other pixels can be eliminated, after the processing of the certain wire image group, the point cloud data of the certain wire can be generated, the point cloud data of the certain wire and the channel point cloud data are overlapped, the point cloud data after the reinforcement of the certain wire can be obtained, and the problem of wire point cloud loss in the generation of the three-dimensional point cloud of the aerial photographing image is solved.
In some alternative embodiments, the point cloud enhancement device performs phase-by-phase filtering on at least one wire based on the spatial location of the at least one wire before setting a pixel of a wire in the group of aerial images to a color and the remaining pixels to another color to generate the group of wire images. Therefore, each wire in the positive aerial image group can be marked in sequence, and the later processing operation of each wire is facilitated.
In a specific embodiment, pixels of a wire in a group of aerial images are set to white and the remaining pixels are set to black to generate a group of wire images.
Referring to fig. 2, a flowchart of still another single loop transmission path conductor forward imaging point cloud enhancement method according to the present application is shown. The flow chart is essentially a flow chart of the steps further defining the additional flow of flow chart 1.
As shown in fig. 2, in step 201, a pixel of another wire in the group of aerial images is set to a certain color, and the remaining pixels are set to another color to generate another group of wire images;
in step 202, another set of wire images is processed based on a positive photographic image point cloud algorithm to generate another wire point cloud data.
In this embodiment, for step 201, the point cloud enhancement device sets the pixel of another wire in the aerial image group to a certain color, and sets the remaining pixels to another color to generate another wire image group. Thereafter, for step 202, the point cloud enhancement device processes the other wire image set based on the positive photographic point cloud algorithm to generate other wire point cloud data.
In the method, each wire in the aerial image is processed respectively, so that a plurality of wire point cloud data can be generated, the plurality of wire point cloud data and the channel point cloud data are overlapped, and the enhancement of each wire point cloud data in the aerial image can be realized.
In a specific embodiment, a single loop transmission channel wire positive shooting image point cloud enhancement method comprises the following steps:
Step one: processing the power transmission channel forward shooting aerial image group M by utilizing a forward shooting image point cloud algorithm to generate channel point cloud data Q;
step two: identifying the wires in the aerial photographing image group M by using a deep learning image identification algorithm;
Step three: according to the left-to-right direction, the wires in the positive aerial image group M are marked as a wire 1, a wire 2 and a wire 3 in sequence;
Step four: setting pixels of the lead 1 in the M image group to be white and setting the rest pixels to be black to generate an image group M1;
step five: processing the image group M1 by using a positive photographic image point cloud algorithm to generate lead 1 point cloud data Q1;
Step six: processing the wires 2 and 3 according to the fourth step and the fifth step to generate wire 2 and wire 3 point cloud data Q2 and Q3;
Step seven: and superposing the point cloud data Q with Q1, Q2 and Q3, wherein the obtained point cloud is the point cloud data after wire reinforcement.
The method of the application can effectively improve the integrity of the wire point cloud for the single-loop power transmission line which utilizes the positive photographic image to carry out three-dimensional point cloud modeling, thereby more accurately reflecting the spatial relationship between the wires and peripheral objects in the power transmission corridor and reducing the hidden trouble of insufficient safety distance.
Referring to fig. 3, a block diagram of a single loop power transmission channel wire positive image point cloud enhancement device according to an embodiment of the invention is shown.
As shown in fig. 3, the point cloud enhancement apparatus 300 includes a first processing module 310, an identification module 320, a color setting module 330, a second processing module 340, and a superposition module 350.
Wherein, the first processing module 310 is configured to process the group of aerial images based on the forward shooting image point cloud algorithm to generate channel point cloud data in response to the acquired group of aerial images; an identification module 320 configured to identify each wire in the group of aerial photographs based on a deep learning image recognition algorithm; a color setting module 330 configured to set a pixel of a certain wire in the aerial photography graphic group to a certain color and the other pixels to another color to generate a certain wire image group; a second processing module 340 configured to process a certain wire image group based on a positive photographic image point cloud algorithm to generate certain wire point cloud data; the superimposing module 350 is configured to superimpose a certain wire point cloud data with the channel point cloud data to obtain wire-enhanced point cloud data.
Specifically, the point cloud enhancement apparatus 300 further comprises a screening apparatus configured to screen the at least one wire phase by phase based on the spatial position of the at least one wire.
It should be understood that the modules depicted in fig. 3 correspond to the various steps in the method described with reference to fig. 1 and 2. Thus, the operations and features described above for the method and the corresponding technical effects are equally applicable to the modules in fig. 3, and are not described here again.
In other embodiments, the present invention further provides a non-volatile computer storage medium, where the computer storage medium stores computer executable instructions, where the computer executable instructions may perform the method for enhancing a positive photographic image point cloud of a single loop power transmission channel wire in any of the above method embodiments;
As one embodiment, the non-volatile computer storage medium of the present invention stores computer-executable instructions configured to:
processing the forward-looking aerial image group based on a forward-looking aerial image point cloud algorithm to generate channel point cloud data in response to the acquired forward-looking aerial image group;
identifying each wire in the aerial photographing graph group based on a deep learning image identification algorithm;
setting a pixel of a certain wire in the aerial photographing graph group to be a certain color, and setting other pixels to be another color so as to generate a certain wire image group;
Processing a certain wire image group based on a positive photographic image point cloud algorithm to generate certain wire point cloud data;
And superposing the point cloud data of a certain wire and the point cloud data of the channel to obtain the point cloud data after wire reinforcement.
The non-transitory computer readable storage medium may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the stored data area may store data created from the use of single loop transmission channel conductor positive image point cloud enhancement devices, etc. Further, the non-volatile computer-readable storage medium may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the non-transitory computer readable storage medium optionally includes a memory remotely located with respect to the processor, the remote memory connectable to the single loop power transmission channel conductor forward imaging point cloud enhancement device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The embodiment of the invention also provides a computer program product, which comprises a computer program stored on a non-volatile computer readable storage medium, the computer program comprises program instructions, when the program instructions are executed by a computer, the computer is caused to execute the method for enhancing the positive photographic image point cloud of any single-loop transmission channel wire.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, as shown in fig. 4, where the device includes: one or more processors 410, and a memory 420, one processor 410 being illustrated in fig. 4. The device of the single loop transmission channel wire positive photographic image point cloud enhancement method can further comprise: an input device 430 and an output device 440. The processor 410, memory 420, input device 430, and output device 440 may be connected by a bus or other means, for example in fig. 4. Memory 420 is the non-volatile computer-readable storage medium described above. The processor 410 executes the non-volatile software programs, instructions and modules stored in the memory 420 to perform various functional applications and data processing of the server, i.e. to implement the single loop power transmission channel conductor forward imaging point cloud enhancement method of the above-described method embodiment. The input device 430 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the single loop power transmission channel conductor positive image point cloud enhancement device. The output 440 may include a display device such as a display screen.
The product can execute the method provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in this embodiment may be found in the methods provided in the embodiments of the present invention.
As an implementation manner, the electronic device is applied to a single-loop transmission channel wire positive shooting image point cloud enhancement device, and is used for a client, and the electronic device comprises: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to:
processing the forward-looking aerial image group based on a forward-looking aerial image point cloud algorithm to generate channel point cloud data in response to the acquired forward-looking aerial image group;
identifying each wire in the aerial photographing graph group based on a deep learning image identification algorithm;
setting a pixel of a certain wire in the aerial photographing graph group to be a certain color, and setting other pixels to be another color so as to generate a certain wire image group;
Processing a certain wire image group based on a positive photographic image point cloud algorithm to generate certain wire point cloud data;
And superposing the point cloud data of a certain wire and the point cloud data of the channel to obtain the point cloud data after wire reinforcement.
The electronic device of the embodiments of the present application exists in a variety of forms including, but not limited to:
(1) A mobile communication device: such devices are characterized by mobile communication capabilities and are primarily aimed at providing voice, data communications. Such terminals include smart phones (e.g., iPhone), multimedia phones, functional phones, and low-end phones, among others.
(2) Ultra mobile personal computer device: such devices are in the category of personal computers, having computing and processing functions, and generally also having mobile internet access characteristics. Such terminals include: PDA, MID, and UMPC devices, etc., such as iPad.
(3) Portable entertainment device: such devices may display and play multimedia content. Such devices include audio, video players (e.g., iPod), palm game consoles, electronic books, and smart toys and portable car navigation devices.
(4) The server is similar to a general computer architecture in that the server is provided with high-reliability services, and therefore, the server has high requirements on processing capacity, stability, reliability, safety, expandability, manageability and the like.
(5) Other electronic devices with data interaction function.
The apparatus embodiments described above are merely illustrative, wherein elements illustrated as separate elements may or may not be physically separate, and elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on such understanding, the foregoing technical solutions may be embodied essentially or in part in the form of a software product, which may be stored in a computer-readable storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the various embodiments or methods of some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A single-loop transmission channel wire positive shooting image point cloud enhancement method is characterized by comprising the following steps of:
Processing the forward-looking aerial image group based on a forward-looking aerial image point cloud algorithm to generate channel point cloud data in response to the acquired forward-looking aerial image group;
identifying each wire in the positive aerial photography image group based on a deep learning image identification algorithm;
Setting a pixel of a certain wire in the positive shooting aerial image group to be a certain color, and setting other pixels to be another color so as to generate a certain wire image group;
Processing the certain wire image group based on a positive photographic image point cloud algorithm to generate certain wire point cloud data;
And superposing the certain wire point cloud data and the channel point cloud data to obtain the point cloud data after wire reinforcement.
2. A single loop power transmission channel conductor positive image point cloud enhancement method as claimed in claim 1, wherein prior to setting a pixel of a conductor in said positive image group to a certain color and the remaining pixels to another color to generate a conductor image group, said method further comprises: and screening the certain wire phase by phase based on the space position of the certain wire.
3. A single loop power transmission channel wire positive image point cloud enhancement method according to claim 1, wherein pixels of a wire in said positive image group are set to white and remaining pixels are set to black to generate a wire image group.
4. The single loop power transmission channel wire positive photographic image point cloud enhancement method of claim 1, wherein after processing the certain wire image group based on a positive photographic image point cloud algorithm to generate certain wire point cloud data, the method further comprises:
Setting pixels of another wire in the positive shooting image group to be the certain color, and setting other pixels to be the other color so as to generate another wire image group;
The further set of wire images is processed based on a positive photographic image point cloud algorithm to generate further wire point cloud data.
5. A single loop transmission channel wire positive photographic image point cloud enhancement device, the device comprising:
the first processing module is configured to respond to the acquired forward-looking aerial image group, and process the forward-looking aerial image group based on a forward-looking image point cloud algorithm to generate channel point cloud data;
the identification module is configured to identify each wire in the positive shooting aerial image group based on a deep learning image identification algorithm;
A color setting module configured to set a pixel of a certain wire in the positive aerial image group to a certain color, and the other pixels to another color, so as to generate a certain wire image group;
The second processing module is configured to process the certain wire image group based on a positive photographic image point cloud algorithm so as to generate certain wire point cloud data;
And the superposition module is configured to superpose the certain wire point cloud data with the channel point cloud data to obtain wire-enhanced point cloud data.
6. The single loop power transmission channel wire positive image point cloud enhancement device of claim 5, further comprising: and the screening device is configured to screen the certain wire phase by phase based on the space position of the certain wire.
7. An electronic device, comprising: at least one processor, and a memory communicatively coupled to the at least one processor, wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the steps of the method of any one of claims 1 to 4.
8. A storage medium having stored thereon a computer program, which when executed by a processor performs the steps of the method according to any of claims 1 to 4.
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