CN112907724B - Building interactive automatic imaging method utilizing unmanned aerial vehicle oblique photography - Google Patents
Building interactive automatic imaging method utilizing unmanned aerial vehicle oblique photography Download PDFInfo
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Abstract
The invention relates to a building interactive automatic mapping method utilizing unmanned aerial vehicle oblique photography, which is characterized in that on the basis of loading a three-dimensional model and selecting a coordinate system, building type selection is carried out by responding to a global keyboard key, characteristic point acquisition is carried out by utilizing plane intersection and horizontal projection, a two-dimensional straight line intersection point and foot hanging method acquisition is adopted for a model shielding or deformation area, and building automatic mapping is completed by CASS coding and simplified code recognition. The invention relates to a building interactive automatic imaging method utilizing unmanned aerial vehicle oblique photography, which introduces a plane and plane intersection projection algorithm and a straight line intersection algorithm into building characteristic point acquisition, and solves the problems of accuracy of model point acquisition and data loss of model shielding and deformation.
Description
Technical Field
The invention relates to the field of mapping geographic information, in particular to a building interactive automatic mapping method utilizing unmanned aerial vehicle oblique photography.
Background
The building is one of the most widely distributed artificially constructed features in the human production and living areas, and the building plan is taken as important basic data in the construction of smart cities. The three-dimensional model reconstructed by matching the inclined images of the unmanned aerial vehicle has become an effective means for rapidly acquiring the three-dimensional digital model of the urban building and registering the large scale map by the right of house and land integration, can play a larger role in the future mapping building data acquisition and map formation, and has important significance in the aspects of rapidly and accurately acquiring building information, automatically completing the drawing of a building plan, rapidly and accurately providing basic data support for the construction of urban and house and land integration projects, scientifically carrying out urban planning and decision making, solving the contradiction between economic rapid development and land utilization and the like. Because of the complexity of real world buildings, there is currently no mature method for building automatic mapping using unmanned aerial vehicle oblique photography three-dimensional models.
The existing building mapping methods comprise four main categories:
the method adopts the traditional mapping mode to carry out the project of the management right of the agricultural house and rural land contractual business, mainly relies on single-point measurement, carries out field data acquisition by a total station and a GNSS (Global Navigation Satellite System ) RTK (Real-time kinematic) technology, can meet the precision requirement of large-scale drawing, but has the defects of large field workload, low data acquisition efficiency, large restriction of field acquisition environment and the like, can only acquire limited building characteristic point data, and can also face the problems of difficult field data acquisition, difficult data verification and the like;
the second category provides an important technical means for large-scale building drawing by utilizing high-precision satellite remote sensing images, but the requirements of high-precision building plan drawing are difficult to meet due to the reasons of spatial resolution, satellite revisit period, the fact that the images only have plane characteristics on a sensor focal plane, lack of spatial information, incapability of truly reproducing three-dimensional scenes and the like;
the third category is research on building extraction and imaging by using an onboard LiDAR (Light Detection And Ranging) technology, but the wide application of the building extraction and imaging technology is still largely limited by expensive data acquisition cost and strong professional operation;
the fourth category is to utilize unmanned aerial vehicle oblique photography to carry out three-dimensional reconstruction and building drawing, and the method for carrying out building drawing based on oblique image matching reconstruction three-dimensional model is an effective means for rapidly obtaining urban building line drawing and large scale drawing, and currently, in-house drawing software mainly comprises EPSW which is developed by Qinghai mountain dimension company and Qinghai university civil engineering system in combination, RDMS of Wuhan Ruidean mapping automation company and CASS3D series of southern mapping instrument company. However, the existing method is still subject to rapid automation, and has the problems of high labor intensity in the industry, low automation degree of building mapping, low acquisition precision of model shielding or deformation areas, missing building graph attributes and the like.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a building interactive automatic imaging method utilizing unmanned aerial vehicle oblique photography, solves the problems of low automation degree, high labor intensity in the industry and the like of the existing building imaging based on the unmanned aerial vehicle oblique photography three-dimensional model, and overcomes the defects of low accuracy and the like of the acquisition of building characteristic points in a model shielding or deformation area.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a building interactive automatic mapping method using unmanned aerial vehicle oblique photography, comprising the steps of:
1) Loading a three-dimensional model in an osgb format, and selecting a coordinate system required by a final imaging result;
2) Corresponding to a house type formed by a house drawing command DRAWDDF (FF) corresponding to the CASS, setting different global keyboard response events to correspond respectively, and starting an interactive single building acquisition mode if the different global keyboard response events correspond;
3) Collected building characteristic points: if the space has two adjacent non-parallel planes, the two adjacent planes are intersected to obtain a straight line L, wherein the straight line L is a building characteristic line, and the characteristic line L is projected onto a horizontal plane to obtain the building characteristic point to be acquired;
4) Assuming that two space adjacent planes are P1 and P2 respectively, the normal vectors corresponding to the two adjacent planes are respectivelyThen:
the space geometry knowledge shows that the intersecting line L is perpendicular to two plane normal vectors, namely, the direction of the intersecting line L is that, under the condition of knowing the intersecting line direction, in order to accurately determine the space position of the intersecting line, a known point on the known intersecting line is needed, and the point set on the intersecting line L satisfies:
and combining the two formulas to obtain:
solving a and b to obtain:
the formula of the intersection line L of two adjacent planes in space is:
5) Projecting intersection lines L onto a horizontal plane to obtain building feature points for automatic imaging, and in the process of building feature point acquisition, interacting adjacent plane intersection lines of a building through a mouse at a place with obvious feature lines in a three-dimensional model to directly obtain two-dimensional feature points of the building for automatic imaging;
6) If the building area is blocked, performing classified calculation:
adjacent wall surfaces are not vertically intersected:
assuming that L1 and L2 are projections of two adjacent wall surfaces in a horizontal plane, wherein the two planes are not vertically intersected, but the intersection part is blocked or deformed by a model, so that building characteristic points cannot be obviously obtained;
the straight lines L1 and L2 can be determined by two points on the projection plane where they lie, respectively, expressed by the formula:
a 1 x+b 1 y+c 1 ＝0
a 2 x+b 2 y+c 2 ＝0；
the two formulas of the simultaneous formula can obtain the calculated building characteristic point coordinates:
adjacent wall surfaces vertically intersect:
assuming that P1 and P2 are two adjacent wall surfaces and vertically intersect, projection lines of the two planes are L1 and L2, and the intersection part is shielded or deformed by a model, so that the plane coordinates of the building feature points to be calculated are converted into vertical feet from one point to a straight line;
assuming that the coordinates of a point on the straight line L2 are (x 2, y 2), the calculated building feature point coordinates are:
through the calculation, building feature point coordinates of the shielding area can be obtained, when the collection of one building feature point is finished, global keyboard response events are set to be respectively corresponding, and the collection of the feature point of one building is completed by utilizing the interactive keyboard design;
7) Defining a jcode/def coding file, representing different house types by different codes, realizing collection and coding of different types of buildings by responding to different keyboard events, and obtaining a data file with CASS codes after the collection of one building is finished;
8) The automatic generation of the oblique photography building line drawing can be completed through CASS software drawing processing- > brief code identification;
as an improvement, the global keyboard response event in the step 2) comprises a general room, a concrete room, a brick room, an iron room, a steel room, a wood room, a mixed room, a simple room, a building room, a destructive room and a shed room.
The beneficial effects of the invention are as follows:
the invention introduces a plane and plane intersection projection algorithm and a straight line intersection algorithm into building feature point collection, solves the accuracy problem of model point collection and the problem of data missing of model shielding and deformation, introduces a CASS self-coding and simple code method into unmanned aerial vehicle oblique photography three-dimensional model building automatic mapping.
The key technology in the automatic drawing of the building plan by the low-cost unmanned aerial vehicle oblique photography three-dimensional model is closely related to the overall trend of diversification and intellectualization of the current three-dimensional data acquisition means in China, and can provide automatic processing method reference and basic data support for fast-built real estate registration and confirmation building graphics, "digital city" and "smart city". The unmanned aerial vehicle oblique photography measurement low-cost advantage and the advantages of enriching the elevation data and the spectrum characteristics are fully utilized, the automation and the intelligentization degree based on oblique photography point cloud data processing are improved, the capability of ground object target cognition and knowledge service is improved, the method theory of rapid automatic processing based on an unmanned aerial vehicle oblique photography three-dimensional model is enriched and perfected, and the contradiction between the hardware technology rapidly developed in the three-dimensional automatic processing field and the relatively lagged data processing is relieved to a certain extent. The method overcomes the defects of high labor intensity in the industry, low automation degree of building imaging, low acquisition precision of model shielding or deformation areas, missing of building graph attributes and the like in the existing building imaging method based on the unmanned aerial vehicle oblique photography model, and improves the working efficiency of building imaging in the industry.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic illustration of a building feature line of the present invention;
FIG. 3 is a schematic view of the non-vertical intersection of adjacent walls according to the present invention;
FIG. 4 is a schematic view of the vertical intersection of adjacent wall surfaces according to the present invention;
FIG. 5 is a diagram of a three-dimensional model data acquisition of a human-machine oblique photography of the present invention;
FIG. 6 is a plot of experimental plot point cloud data of the present invention;
fig. 7 is a plan view of an automatically generated building for an experimental area of the present invention.
Detailed Description
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
As shown in the figure, the method is based on three-dimensional model loading and coordinate system selection, the building type selection is carried out by responding to a global keyboard key, the characteristic point acquisition is carried out by utilizing the intersection of the surface and the horizontal projection, the two-dimensional straight line intersection and the foot hanging method are adopted for acquiring the model shielding or deformation area, and the building automatic mapping is completed by CASS coding and simple code recognition, and the flow chart is shown in the figure 1 and comprises the following steps:
step one: loading a three-dimensional model in an osgb format, and selecting a coordinate system (spatial reference system) required by a final mapping result for further acquisition by using the oblique photography three-dimensional model and automatic generation of a building line drawing;
step two: corresponding to house types formed by house drawing commands DRAWDDF (FF) corresponding to CASS, setting different global keyboard response events to correspond to: (1) a general room (2) concrete room (3) brick room (4) iron room (5) steel room (6) wood room (7) mixed room (8) simple room (9) building room (10) damages a room (11) shed room, and if a corresponding key is pressed, an interactive single building collection mode is started;
step three: in a real three-dimensional mapping scene, the most common building feature points are located on a straight line obtained by intersecting two planes, if two adjacent non-parallel planes exist in a space, the two adjacent planes are intersected to obtain a straight line L, the straight line L is a building feature line, as shown in fig. 2, the feature line L is projected onto a horizontal plane, and the building feature points required to be collected are obtained.
Assuming that two space adjacent planes are P1 and P2 respectively, the normal vectors corresponding to the two adjacent planes are respectivelyThen:
the space geometry knowledge shows that the intersecting line L is perpendicular to two plane normal vectors, namely, the direction of the intersecting line L is that, under the condition of knowing the intersecting line direction, in order to accurately determine the space position of the intersecting line, a known point on the known intersecting line is needed, and the point set on the intersecting line L satisfies:
combining the formulas to obtain:
solving a and b to obtain:
the formula of the intersection line L of two adjacent planes in space is:
projecting intersection lines L onto a horizontal plane to obtain building feature points for automatic imaging, and in the process of building feature point acquisition, interacting adjacent plane intersection lines of a building through a mouse at a place with obvious feature lines in a three-dimensional model to directly obtain two-dimensional feature points of the building for automatic imaging;
step four: due to the reasons of tree shielding, image acquisition view angle, three-dimensional modeling software processing algorithm and the like, in a real three-dimensional mapping scene, the situation that a building characteristic line obtained by three-dimensional modeling through oblique photography is shielded or deformed inevitably occurs, and a method of intersection solving of straight line horizontal projections in adjacent planes is adopted to obtain building characteristic points. The construction feature points of the shielding area are calculated in two conditions:
(1) Adjacent wall surfaces are not vertically intersected
As shown in fig. 3, L1 and L2 are projections of two adjacent wall surfaces in a horizontal plane, and the two planes do not intersect vertically, but the intersection is blocked or deformed by the model, so that the building feature points cannot be obtained obviously.
The straight lines L1 and L2 can be determined by two points on the projection plane where they lie, respectively, expressed by the formula:
a 1 x+b 1 y+c 1 ＝0
a 2 x+b 2 y+c 2 ＝0
the calculated building characteristic point coordinates can be obtained by the simultaneous expression (6) and the expression (7):
(2) Adjacent wall surfaces are vertically intersected
As shown in fig. 4, P1 and P2 are two adjacent wall surfaces and vertically intersect, but the intersection is blocked or deformed by the model, and at this time, the plane coordinates of the building feature points to be calculated are converted into the homeowners from one point to a straight line.
Assuming that the coordinates of a point on the straight line L2 are (x 2, y 2), the calculated building feature point coordinates are:
through the calculation, building feature point coordinates of the shielding area can be obtained, when the collection of one building feature point is finished, global keyboard response events are set to be respectively corresponding, and the collection of the feature point of one building is completed by utilizing the interactive keyboard design;
step five: during the collection operation of the inner industry, a jcode/def coding file is defined, different house types are represented by different codes, as shown in table 1, the collection and coding of different types of buildings are realized by responding to different keyboard events, and when the collection of one building is finished, a data file with CASS codes can be obtained. Table 1:
and (3) automatically generating the oblique photography building line drawing through CASS software drawing processing- > brief code identification.
Examples:
selecting an experimental building: the experimental data acquisition system comprises a No. 2 experimental building, a No. 3 experimental building, an practice factory, no. 1 to No. 6 teaching building, a library and other buildings, wherein the teaching building is 5-6 layers, the experiment building is 5 layers, the practice factory is 1 layer of iron house, a six-rotor unmanned aerial vehicle is utilized to carry a five-lens tilting camera, the size of a camera sensor is 13.2mm multiplied by 8.8mm, the focal length is 10.4mm, the set course and the side direction overlapping degree are both 75%, the horizontal flying speed is 6m/s, experimental data acquisition is carried out, and a processed experimental area unmanned aerial vehicle tilting shooting three-dimensional model is shown in fig. 6.
The building diagram automatically generated in the experimental area is shown in fig. 7 after model loading and coordinate system selection, interactive building type selection, building feature point acquisition, CASS coding and brief code identification.
It should be understood that the foregoing description is only of specific embodiments of the present invention and is not intended to limit the invention, but rather should be construed to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (2)
1. A building interactive automatic mapping method using unmanned aerial vehicle oblique photography, comprising the steps of:
1) Loading a three-dimensional model in an osgb format, and selecting a coordinate system required by a final imaging result;
2) In order to correspond to the house type formed by the house drawing command DRAWDDF (FF) corresponding to the CASS, different global keyboard response events are set to correspond to: general houses, concrete houses, brick houses, iron houses, steel houses, wood houses, mixed houses, simple houses, building houses, destructive houses and shed houses, and if a corresponding key is pressed, the interactive single building acquisition mode is started;
3) Collected building characteristic points: if the space has two adjacent non-parallel planes, the two adjacent planes are intersected to obtain a straight line L, wherein the straight line L is a building characteristic line, and the characteristic line L is projected onto a horizontal plane to obtain the building characteristic point to be acquired;
4) Assuming that two space adjacent planes are P1 and P2 respectively, the normal vectors corresponding to the two adjacent planes are respectivelyThen:
the space geometry knowledge shows that the intersecting line L is perpendicular to two plane normal vectors, namely, the direction of the intersecting line L is that, under the condition of knowing the intersecting line direction, in order to accurately determine the space position of the intersecting line, a known point on the known intersecting line is needed, and the point set on the intersecting line L satisfies:
combining two formulas to obtain:
solving a and b to obtain:
the formula of the intersection line L of two adjacent planes in space is:
5) Projecting intersection lines L onto a horizontal plane to obtain building feature points for automatic imaging, and in the process of building feature point acquisition, interacting adjacent plane intersection lines of a building through a mouse at a place with obvious feature lines in a three-dimensional model to directly obtain two-dimensional feature points of the building for automatic imaging;
6) If the building area is blocked, performing classified calculation:
adjacent wall surfaces are not vertically intersected:
assuming that L1 and L2 are projections of two adjacent wall surfaces in a horizontal plane, wherein the two planes are not vertically intersected, but the intersection part is blocked or deformed by a model, so that building characteristic points cannot be obviously obtained;
the straight lines L1 and L2 are respectively determined by two points on the projection plane where they are located, and are expressed as:
a 1 x+b 1 y+c 1 ＝0
a 2 x+b 2 y+c 2 ＝0；
the calculated building characteristic point coordinates can be obtained by the simultaneous formulas:
adjacent wall surfaces vertically intersect:
assuming that P1 and P2 are two adjacent wall surfaces and vertically intersect, projection lines of the two planes are L1 and L2, and the intersection part is shielded or deformed by a model, so that the plane coordinates of the building feature points to be calculated are converted into vertical feet from one point to a straight line;
assuming that the coordinates of a point on the straight line L2 are (x 2, y 2), the calculated building feature point coordinates are:
through the calculation, building feature point coordinates of the shielding area can be obtained, when the collection of one building feature point is finished, global keyboard response events are set to be respectively corresponding, and the collection of the feature point of one building is completed by utilizing the interactive keyboard design;
7) Defining a jcode/def coding file, representing different house types by different codes, realizing collection and coding of different types of buildings by responding to different keyboard events, and obtaining a data file with CASS codes after the collection of one building is finished;
8) And (3) automatically generating the oblique photography building line drawing through CASS software drawing processing- > brief code identification.
2. The method for interactive automatic mapping of a building using unmanned aerial vehicle tilt photography according to claim 1, wherein the global keyboard response event in step 2) comprises a general room, a concrete room, a brick room, an iron room, a steel room, a wood room, a mixed room, a simple room, a building room, a destructive room, and a shed room.
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