CN113297344B - Three-dimensional remote sensing image-based ground linear matching method and device and ground object target position positioning method - Google Patents
Three-dimensional remote sensing image-based ground linear matching method and device and ground object target position positioning method Download PDFInfo
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Abstract
The invention discloses a three-dimensional remote sensing image-based geodesic matching method and a device, wherein the method comprises the following steps: acquiring a curve segment to be matched, which is selected in the depth map by a user through a human-computer interaction interface and used for representing a geodesic line; marking a geodesic reference curve segment corresponding to the curve segment to be matched on the three-dimensional remote sensing image based on the corresponding relation between the depth map and the DEM data of the three-dimensional remote sensing image; acquiring a geodesic matching curve segment which is selected by a user in the panoramic image through a human-computer interaction interface and corresponds to the geodesic reference curve segment; and matching the geodesic matching curve segment in the panoramic image with the curve segment to be matched in the depth image to obtain a coordinate mapping relation between the panoramic image and the depth image. The invention also discloses a method for positioning the ground object target position based on the three-dimensional remote sensing image. The method and the device can more intuitively find the geodesic corresponding to the geodesic to be matched in the depth map in the panoramic image, and are favorable for accurately positioning the longitude and latitude of the target position of the geodesic.
Description
Technical Field
The invention relates to the technical field of ground object target position positioning, in particular to a three-dimensional remote sensing image-based ground linear matching method and device and a ground object target position positioning method.
Background
In the cloud deck monitoring alarm detection system established based on machine vision, when the ground nature lines of a panoramic image and a depth image are matched, the terrain of an application scene is complex, and the ground nature lines in the shot images are easily displayed in the panoramic image due to poor image acquisition angles or weather reasons, so that the situation that the matching is misplaced or the corresponding ground nature lines are difficult to find is possibly caused, the positioning error of the target position of a ground object is further caused, and the consequences of interference and difficult estimation are caused to subsequent processing.
Disclosure of Invention
The invention aims to at least solve the technical problems in the prior art, and particularly provides a three-dimensional remote sensing image-based geodesic matching method, a three-dimensional remote sensing image-based geodesic matching device and a geodesic target position positioning method.
In order to achieve the above object of the present invention, according to a first aspect of the present invention, there is provided a three-dimensional remote sensing image-based ground line matching method, comprising the steps of:
acquiring a curve segment to be matched, which is selected in the depth map by a user through a human-computer interaction interface and used for representing a geodesic line;
marking a geodesic reference curve segment corresponding to the curve segment to be matched on the three-dimensional remote sensing image based on the corresponding relation between the depth map and the DEM data of the three-dimensional remote sensing image;
acquiring a geodesic matching curve segment which is selected by a user in the panoramic image through the human-computer interaction interface and corresponds to the geodesic reference curve segment;
and matching the geodesic matching curve segment in the panoramic image with the curve segment to be matched in the depth image to obtain a coordinate mapping relation between the panoramic image and the depth image.
Preferably, the method for matching the geodesic lines based on the three-dimensional remote sensing images further comprises a step of constructing a depth map, wherein,
the construction step of the depth map comprises the following steps:
generating a data file recorded with DEM elevation information by taking the holder camera as a center through a GIS tool or programming;
and generating the depth map based on the DEM elevation information contained in the data file.
Preferably, the method for matching the geodesic lines based on the three-dimensional remote sensing images further comprises a construction step of a panoramic image, wherein,
the construction step of the panoramic image comprises the following steps:
splicing a single-layer picture shot by the pan-tilt camera in a fixed vertical direction or a plurality of layers of pictures shot by changing shooting angles in the vertical direction into the panoramic picture taking the pan-tilt camera as the center, wherein each layer of picture comprises a plurality of pictures to be positioned shot at certain angles in the horizontal direction;
and storing the PTZ value of the central point of each picture to be positioned spliced into the panoramic picture and the coordinate data of the central point of each picture to be positioned obtained by conversion after splicing into a database.
Preferably, the human-computer interaction interface is provided with a depth map display window for displaying the depth map, a remote sensing map display window for displaying the three-dimensional remote sensing image, a panoramic map display window for displaying the panoramic map, and an operation button assembly for operating the depth map, the three-dimensional remote sensing image and the panoramic map.
In order to achieve the above object of the present invention, according to a second aspect of the present invention, there is provided a three-dimensional remote sensing image-based geodesic matching apparatus, comprising:
the first curve segment acquisition module is used for acquiring a curve segment to be matched, which is selected in the depth map through a human-computer interaction interface by a user and used for representing a geodesic line;
the curve segment marking module is used for marking a geodesic reference curve segment corresponding to the curve segment to be matched on the three-dimensional remote sensing image based on the corresponding relation between the depth map and the DEM data of the three-dimensional remote sensing image;
the second curve segment acquisition module is used for acquiring a geodesic line matching curve segment which is selected in the panoramic image through the human-computer interaction interface by a user and corresponds to the geodesic line reference curve segment;
and the curve section matching module is used for matching the geodesic line matching curve section in the panoramic image with the curve section to be matched in the depth image to obtain a coordinate mapping relation between the panoramic image and the depth image.
Preferably, the device for matching geodesic lines based on three-dimensional remote sensing images further comprises a depth map construction module for constructing a depth map, wherein the construction of the depth map comprises:
generating a data file recorded with DEM elevation information by taking the holder camera as a center through a GIS tool or programming;
and generating the depth map based on the DEM elevation information contained in the data file.
Preferably, the three-dimensional remote sensing image-based geodesic matching device further comprises a panorama constructing module for constructing a panorama, wherein the constructing of the panorama comprises:
splicing a single-layer picture shot by the pan-tilt camera in a fixed vertical direction or a plurality of layers of pictures shot by changing shooting angles in the vertical direction into the panoramic picture taking the pan-tilt camera as the center, wherein each layer of picture comprises a plurality of pictures to be positioned shot at certain angles in the horizontal direction;
and storing the PTZ value of the central point of each picture to be positioned spliced into the panoramic picture and the coordinate data of the central point of each picture to be positioned obtained by conversion after splicing into a database.
Preferably, the human-computer interaction interface is provided with a depth map display window for displaying the depth map, a remote sensing map display window for displaying the three-dimensional remote sensing image, a panoramic map display window for displaying the panoramic map, and an operation button assembly for operating the depth map, the three-dimensional remote sensing image and the panoramic map.
In order to achieve the above object, according to a third aspect of the present invention, there is provided a method for locating a position of a terrestrial object target based on a three-dimensional remote sensing image, the method comprising the steps of:
establishing a coordinate mapping relation between a panoramic image and a depth image by taking a pan-tilt camera as a center based on a line matching mode, wherein coordinates of each point in the depth image have corresponding longitude and latitude;
acquiring a picture to be positioned containing a to-be-positioned point and image information of the picture to be positioned, which are shot by the pan-tilt camera;
calculating to obtain the corresponding coordinates of the to-be-positioned point in the panoramic image with the holder camera as the center according to the image information of the to-be-positioned picture;
obtaining the corresponding coordinates of the to-be-positioned point in the depth map according to the coordinates of the to-be-positioned point in the panoramic map and the coordinate mapping relationship between the panoramic map and the depth map, wherein the coordinate mapping relationship between the panoramic map and the depth map is established by adopting the method for matching the geodesic lines based on the three-dimensional remote sensing image in the first aspect;
and obtaining the longitude and latitude of the point to be located according to the corresponding relation between the coordinates of the point to be located in the depth map and the coordinates and the longitude and latitude of each point in the depth map.
Preferably, the calculating, according to the image information of the picture to be located, to obtain the corresponding coordinates of the location point in the panorama centered on the pan-tilt camera includes:
calculating to obtain the corresponding coordinates of the to-be-positioned point in the panoramic image with the holder camera as the center by utilizing an image matching algorithm according to the image information of the to-be-positioned picture;
or
Calculating the coordinate of the to-be-positioned point in the panoramic image according to the PTZ value of the central point of the to-be-positioned image, the position relation between the central point of the to-be-positioned image and the to-be-positioned point, the PTZ value stored when the panoramic image is spliced and coordinate data;
or
And calculating to obtain the corresponding coordinates of the to-be-positioned point in the panoramic image with the holder camera as the center by combining an image matching algorithm according to the PTZ value of the center point of the to-be-positioned picture, the position relation between the center point of the to-be-positioned picture and the to-be-positioned point, the PTZ value and the coordinate data which are saved during splicing of the panoramic image.
According to the scheme, the invention provides a three-dimensional remote sensing image-based geodesic matching method, which comprises the steps of obtaining a curve segment to be matched, which is selected by a user in a depth map through a human-computer interaction interface and is used for representing the geodesic; marking a geodesic reference curve segment corresponding to the curve segment to be matched on the three-dimensional remote sensing image based on the corresponding relation between the depth map and the DEM data of the three-dimensional remote sensing image; acquiring a geodesic matching curve segment which is selected by a user in the panoramic image through the human-computer interaction interface and corresponds to the geodesic reference curve segment; and matching the geodesic matching curve segment in the panoramic image with the curve segment to be matched in the depth image to obtain a coordinate mapping relation between the panoramic image and the depth image. When the three-dimensional remote sensing image-based geodesic matching method is used for matching the geodesic of the panoramic image and the depth image, the three-dimensional remote sensing image is introduced for transition, firstly, the three-dimensional remote sensing image is marked with the geodesic matching line segment corresponding to the curve segment to be matched in the depth map, then the panoramic image is compared with the three-dimensional remote sensing image, the geodesic corresponding to the geodesic to be matched in the depth map can be found in the panoramic image more intuitively, quickly and accurately by utilizing the three-dimensional remote sensing image, thereby improving the matching speed and the matching accuracy between the panoramic image and the depth image, being beneficial to accurately positioning the longitude and latitude of the target position of the ground object, avoiding the situation that the terrain is complex due to the application scene, and poor picture acquisition angle or weather cause easily lead to the ground nature line in the picture that the shooting was got to show in the panorama not clear and may lead to the condition that the matching misplaces or is difficult to find corresponding ground nature line. The application also discloses a three-dimensional remote sensing image-based ground linear matching device and a three-dimensional remote sensing image-based ground object target position positioning method, and the technical effects can be achieved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a three-dimensional remote sensing image-based geodesic matching method in a preferred embodiment of the invention;
FIG. 2 is a schematic structural diagram of a three-dimensional remote sensing image-based geodesic matching device according to a preferred embodiment of the present invention;
FIG. 3 is a flow chart of a method for locating a position of a surface feature target based on a three-dimensional remote sensing image according to a preferred embodiment of the present invention;
FIG. 4 is a diagram illustrating an example of a method for calculating coordinates of a point in a depth map from coordinates of the point in a panoramic view according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating another example of a method for calculating coordinates of a point in a depth map from coordinates of the point in a panoramic view according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating a human-machine interface in accordance with an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Interpretation of terms:
DEM: a Digital Elevation Model (Digital Elevation Model) is used for realizing Digital simulation of ground terrain through limited terrain Elevation data to form a three-dimensional figure.
Depth map: the invention refers to an image which expresses the distance (depth) from an image collector to each point in a scene by pixel values, and each point has corresponding longitude and latitude. In addition, the data used to obtain the depth map may be obtained from GIS software or the like.
PTZ value: p, horizontal Pan-tilt angle (Pan); t, vertical rotation angle (Tilt) of the holder; z, lens magnification (Zoom) of the pan/tilt camera.
Edge line: in the present invention, the boundary line generated by the difference in pixel value, hue, gradient, and the like between adjacent pixels in the image represents the ground line of the actual ground feature as an edge line in the image.
The geodesic: the skeleton line of the landform form is a control line for describing the landform form, and mainly comprises a ridge line, a valley line, a river bank line and the like.
The embodiment of the invention provides a three-dimensional remote sensing image-based geodesic matching method, as shown in fig. 1, the method can comprise the following steps:
s101, acquiring a curve segment to be matched, which is selected by a user in a depth map through a human-computer interaction interface and used for representing a geodesic;
in order to establish a coordinate mapping relationship between a panoramic image and a depth image, a curve segment to be matched, which is selected by a user and used for representing a geodesic line, needs to be obtained first, the user can specifically select a start point and a stop point in the depth image through a human-computer interaction interface to select the curve segment to be matched, and a system stores the curve segment to be matched, which is selected by the user.
S102, marking a geodesic reference curve segment corresponding to the curve segment to be matched on the three-dimensional remote sensing image based on the corresponding relation between the depth map and the DEM data of the three-dimensional remote sensing image;
and calculating to obtain a geodesic reference curve segment corresponding to the curve segment to be matched on the three-dimensional remote sensing image according to the digital elevation model DEM data of the depth map and the three-dimensional remote sensing image, and marking the geodesic reference curve segment by highlighting, thickening, coloring and the like.
S103, acquiring a geodesic matching curve segment which is selected by a user in the panoramic image through a human-computer interaction interface and corresponds to the geodesic reference curve segment;
after the three-dimensional remote sensing image is marked with the geodesic reference curve segment corresponding to the curve segment to be matched, a user can draw the geodesic matching curve segment corresponding to the geodesic reference curve segment in the panoramic image in a selection mode through a human-computer interaction interface after comparing the panoramic image with visual characteristics such as landforms and landforms on the three-dimensional remote sensing image, and the system stores the geodesic matching curve segment selected by the user in the panoramic image.
And S104, matching the geodesic matching curve segment in the panoramic image with the curve segment to be matched in the depth image to obtain a coordinate mapping relation between the panoramic image and the depth image.
And finally, matching the geodesic matching curve segment selected from the panoramic image stored in the step with the curve segment to be matched selected from the depth image, and establishing a coordinate mapping relation between the two curve segments so as to obtain the coordinate mapping relation between the panoramic image and the depth image.
In summary, in the embodiment, a method for matching a geodesic based on a three-dimensional remote sensing image is provided, which includes firstly, obtaining a curve segment to be matched, which is selected by a user in a depth map through a human-computer interaction interface and used for representing the geodesic; then marking a geodesic reference curve segment corresponding to the curve segment to be matched on the three-dimensional remote sensing image based on the corresponding relation between the depth map and the DEM data of the three-dimensional remote sensing image; then, a geodesic matching curve segment which is selected by a user in the panoramic image through the human-computer interaction interface and corresponds to the geodesic reference curve segment is obtained; and finally, matching the geodesic matching curve segment in the panoramic image with the curve segment to be matched in the depth image to obtain a coordinate mapping relation between the panoramic image and the depth image. In the embodiment, when the ground nature line of the panoramic image and the depth image is matched, the three-dimensional remote sensing image is introduced for transition, firstly, the ground nature line matching line segment corresponding to the curve segment to be matched in the depth image is marked on the three-dimensional remote sensing image, then, the panoramic image is compared with the three-dimensional remote sensing image, the ground nature line corresponding to the ground nature line to be matched in the depth image can be found in the panoramic image more intuitively, quickly and accurately by utilizing the three-dimensional remote sensing image, thereby improving the matching speed and the matching accuracy between the panoramic image and the depth image, being beneficial to accurately positioning the longitude and latitude of the target position of the ground object, avoiding the situation that the terrain is complex due to the application scene, and poor picture acquisition angle or weather cause easily lead to the ground nature line in the picture that the shooting was got to show in the panorama not clear and may lead to the condition that the matching misplaces or is difficult to find corresponding ground nature line.
On the basis of the above-described embodiment of the method shown in fig. 1, as a preferred implementation, the method may further include a step of constructing a depth map, wherein,
the construction step of the depth map comprises the following steps:
generating a data file recorded with DEM elevation information by taking a holder camera as a center through a GIS tool or programming;
and generating a depth map based on the DEM elevation information contained in the data file.
On the basis of the above-described embodiment of the method shown in fig. 1, as a preferred implementation, the method may further include a step of constructing a panorama, wherein,
the construction step of the panorama comprises the following steps:
splicing a single-layer picture shot by a pan-tilt camera in a fixed vertical direction or a plurality of layers of pictures shot by changing shooting angles in the vertical direction into a panoramic picture taking the pan-tilt camera as the center, wherein each layer of picture comprises a plurality of pictures to be positioned shot at certain angles in the horizontal direction;
and storing the PTZ value of the central point of each picture to be positioned spliced into the panoramic picture and the coordinate data of the central point of each picture to be positioned obtained by transformation after splicing into a database.
Corresponding to the method for matching the geodesic based on the three-dimensional remote sensing image provided in the embodiment shown in fig. 1, as shown in fig. 2, the device for matching the geodesic based on the three-dimensional remote sensing image provided in the embodiment of the present application is a schematic structural diagram, and the device may include:
a first curve segment obtaining module 201, configured to obtain a curve segment to be matched, which is selected by a user in a depth map through a human-computer interaction interface and used for representing a geodesic line;
in order to establish a coordinate mapping relationship between a panoramic image and a depth image, a curve segment to be matched, which is selected by a user and used for representing a geodesic line, needs to be obtained first, the user can specifically select a start point and a stop point in the depth image through a human-computer interaction interface to select the curve segment to be matched, and a system stores the curve segment to be matched, which is selected by the user.
The curve segment marking module 202 is used for marking a geodesic reference curve segment corresponding to the curve segment to be matched on the three-dimensional remote sensing image based on the corresponding relation between the depth map and the DEM data of the three-dimensional remote sensing image;
and calculating to obtain a geodesic reference curve segment corresponding to the curve segment to be matched on the three-dimensional remote sensing image according to the digital elevation model DEM data of the depth map and the three-dimensional remote sensing image, and marking the geodesic reference curve segment by highlighting, thickening, coloring and the like.
A second curve segment obtaining module 203, configured to obtain a geodesic matching curve segment corresponding to the geodesic reference curve segment, which is selected in the panorama by the user through the human-computer interaction interface;
after the three-dimensional remote sensing image is marked with the geodesic reference curve segment corresponding to the curve segment to be matched, a user can draw the geodesic matching curve segment corresponding to the geodesic reference curve segment in the panoramic image in a selection mode through a human-computer interaction interface after comparing the panoramic image with visual characteristics such as landforms and landforms on the three-dimensional remote sensing image, and the system stores the geodesic matching curve segment selected by the user in the panoramic image.
And the curve segment matching module 204 is configured to match a geodesic matching curve segment in the panoramic image with a curve segment to be matched in the depth image, so as to obtain a coordinate mapping relationship between the panoramic image and the depth image.
And finally, matching the geodesic matching curve segment selected from the stored panoramic image with the curve segment to be matched selected from the depth image, establishing a coordinate mapping relation between the two curve segments, and further obtaining the coordinate mapping relation between the panoramic image and the depth image.
In summary, in the present embodiment, a three-dimensional remote sensing image-based geodesic matching apparatus is provided, where a curve segment to be matched, which is selected by a user in a depth map through a human-computer interaction interface and used for representing a geodesic, is obtained through a first curve segment obtaining module; marking a geodesic reference curve segment corresponding to the curve segment to be matched on the three-dimensional remote sensing image based on the corresponding relation between the depth map and the DEM data of the three-dimensional remote sensing image through a curve segment marking module; a second curve segment obtaining module is used for obtaining a geodesic matching curve segment which is selected in the panoramic image through the human-computer interaction interface by a user and corresponds to the geodesic reference curve segment; and matching the geodesic line matching curve segment in the panoramic image with the curve segment to be matched in the depth image through a curve segment matching module to obtain a coordinate mapping relation between the panoramic image and the depth image. In the embodiment, when the ground nature line of the panoramic image and the depth image is matched, the three-dimensional remote sensing image is introduced for transition, firstly, the ground nature line matching line segment corresponding to the curve segment to be matched in the depth image is marked on the three-dimensional remote sensing image, then, the panoramic image is compared with the three-dimensional remote sensing image, the ground nature line corresponding to the ground nature line to be matched in the depth image can be found in the panoramic image more intuitively, quickly and accurately by utilizing the three-dimensional remote sensing image, thereby improving the matching speed and the matching accuracy between the panoramic image and the depth image, being beneficial to accurately positioning the longitude and latitude of the target position of the ground object, avoiding the situation that the terrain is complex due to the application scene, and poor picture acquisition angle or weather cause easily lead to the ground nature line in the picture that the shooting was got to show in the panorama not clear and may lead to the condition that the matching misplaces or is difficult to find corresponding ground nature line.
On the basis of the above embodiment of the apparatus shown in fig. 2, as a preferred implementation, the apparatus may further include a depth map construction module for constructing a depth map, where constructing the depth map includes:
generating a data file recorded with DEM elevation information by taking a holder camera as a center through a GIS tool or programming;
and generating a depth map based on the DEM elevation information contained in the data file.
On the basis of the embodiment of the apparatus shown in fig. 2, as a preferred implementation, the apparatus may further include a panorama constructing module for constructing a panorama, where constructing the panorama includes:
splicing a single-layer picture shot by a pan-tilt camera in a fixed vertical direction or a plurality of layers of pictures shot by changing shooting angles in the vertical direction into a panoramic picture taking the pan-tilt camera as the center, wherein each layer of picture comprises a plurality of pictures to be positioned shot at certain angles in the horizontal direction;
and storing the PTZ value of the central point of each picture to be positioned spliced into the panoramic picture and the coordinate data of the central point of each picture to be positioned obtained by transformation after splicing into a database.
As shown in fig. 3, a flowchart of a method for locating a position of a surface feature target based on a three-dimensional remote sensing image according to an embodiment of the present application may include the following steps:
s301, establishing a coordinate mapping relation between a panoramic image and a depth image by taking a pan-tilt camera as a center based on a line matching mode, wherein coordinates of each point in the depth image have corresponding longitude and latitude;
s302, acquiring a picture to be positioned containing a point to be positioned and image information of the picture to be positioned, which are shot by a pan-tilt camera;
s303, calculating to obtain the corresponding coordinates of the to-be-positioned point in the panoramic image taking the pan-tilt camera as the center according to the image information of the to-be-positioned picture;
s304, obtaining the corresponding coordinates of the to-be-positioned point in the depth map according to the coordinates of the to-be-positioned point in the panoramic map and the coordinate mapping relation between the panoramic map and the depth map, wherein the coordinate mapping relation between the panoramic map and the depth map is established by adopting a three-dimensional remote sensing image-based geodesic matching method in the embodiment;
s305, obtaining the longitude and latitude of the point to be located according to the corresponding relation between the coordinates of the point to be located in the depth map and the coordinates and the longitude and latitude of each point in the depth map.
In summary, the present embodiment provides a method for positioning a ground object target position based on a three-dimensional remote sensing image, which includes first establishing a coordinate mapping relationship between a panoramic image and a depth image, where the panoramic image and the depth image are centered on a pan-tilt camera, and coordinates of each point in the depth image have a corresponding longitude and latitude; then, acquiring a picture to be positioned containing a to-be-positioned point and image information of the picture to be positioned, which is shot by a pan-tilt camera; then, calculating to obtain the corresponding coordinates of the to-be-positioned point in the panoramic image with the holder camera as the center according to the image information of the to-be-positioned picture; then, obtaining the corresponding coordinates of the to-be-positioned point in the depth map according to the coordinates of the to-be-positioned point in the panoramic map and the coordinate mapping relationship between the panoramic map and the depth map, wherein the coordinate mapping relationship between the panoramic map and the depth map is established by adopting a three-dimensional remote sensing image-based geodesic matching method in the embodiment; and finally, obtaining the longitude and latitude of the point to be located according to the corresponding relation between the coordinates of the point to be located in the depth map and the coordinates and the longitude and latitude of each point in the depth map, thereby realizing the accurate location of the ground object target position. In the positioning method of the embodiment, the coordinate mapping relationship between the panoramic image and the depth map is established by adopting the three-dimensional remote sensing image-based geodesic matching method, so that the geodesic corresponding to the geodesic to be matched in the depth map can be found in the panoramic image more intuitively, quickly and accurately, the matching speed and the matching accuracy between the panoramic image and the depth map are improved, and the accurate positioning of the longitude and latitude of the target position of the ground object is facilitated.
On the basis of the embodiment of the method shown in fig. 3, as a preferred implementation manner, in the step S303, the coordinates of the to-be-positioned point in the panorama centering on the pan-tilt camera may specifically be obtained by calculating according to the image information of the to-be-positioned picture, by using one of the following three methods:
calculating to obtain the corresponding coordinates of a to-be-positioned point in a panoramic image taking a pan-tilt camera as the center by utilizing an image matching algorithm according to the image information of the to-be-positioned picture;
the method comprises the steps of obtaining a coordinate calculation relation of any point in a picture to be positioned in a panoramic picture, and calculating the corresponding coordinate of the point to be positioned in the panoramic picture taking a pan-tilt camera as the center according to the obtained calculation relation.
Calculating the coordinates of the to-be-positioned point in the panoramic image according to the PTZ value of the central point of the to-be-positioned image, the position relation between the central point of the to-be-positioned image and the to-be-positioned point, the PTZ value stored during splicing of the panoramic image and coordinate data;
the specific calculation steps are as follows:
calculating a PTZ value of a to-be-positioned point according to the PTZ value of the central point of the to-be-positioned picture and the position relation between the central point of the to-be-positioned picture and the to-be-positioned point;
calculating a group of PTZ values closest to the PTZ value of the to-be-positioned point in the PTZ values of the central points of the to-be-positioned pictures spliced into the panoramic image with the holder camera as the center;
and calculating the accurate coordinates of the picture to be positioned in the panoramic image by using a proportional method according to the corresponding relation between the PTZ value of the point to be positioned and a group of PTZ values closest to the PTZ value of the point to be positioned.
And calculating to obtain the corresponding coordinates of the to-be-positioned point in the panoramic image with the holder camera as the center by combining an image matching algorithm according to the PTZ value of the center point of the to-be-positioned image, the position relation between the center point of the to-be-positioned image and the to-be-positioned point, the PTZ value and the coordinate data saved during splicing of the panoramic image.
The specific calculation steps are as follows:
calculating a PTZ value of a to-be-positioned point according to the PTZ value of the central point of the to-be-positioned picture and the position relation between the central point of the to-be-positioned picture and the to-be-positioned point;
calculating a group of PTZ values closest to the PTZ value of the to-be-positioned point in the PTZ values of the central points of the to-be-positioned pictures spliced into the panoramic image with the holder camera as the center;
determining a picture matching region centered on the closest set of PTZ values;
and performing feature matching on the picture to be positioned and the picture matching area by using a picture matching algorithm, and obtaining the accurate coordinates of the picture to be positioned in the panoramic image according to a matching result.
In the third method, the corresponding coordinates of the to-be-positioned point in the to-be-positioned picture in the panoramic image can be obtained by matching the to-be-positioned picture with the panoramic image, but the panoramic image has too large pixels, a complex scene, high possibility of mismatching and long matching time. Therefore, a group of PTZ values closest to the PTZ value of the point to be located can be calculated, an image matching area is determined by taking the corresponding point of the PTZ value as the center, the matching range is narrowed, the narrowed image matching area is subjected to feature matching with the image to be located, more accurate coordinates of the point to be located in the panoramic image can be obtained, the matching precision is improved, and the matching time can be effectively reduced.
It should be noted that, in the third method, the calculation result has a smaller deviation when the magnification of the picture to be located is different from the magnification of the panorama, and at this time, a picture matching area may be determined according to the coordinates of the picture to be located, which may have a smaller deviation, in the panorama, which are obtained through the PTZ value calculation, and the picture matching area is used as a constraint condition for image feature matching.
In the above embodiment, in the first method, when the coordinates of the to-be-positioned point in the panorama are calculated only through the image matching algorithm, the image matching method is very accurate in the case of appropriate weather and lighting conditions due to the high quality of the shot image of the to-be-positioned image, but may not be matched in the case of large changes in weather and lighting conditions, such as heavy fog, heavy rain and night; in the second method, when the coordinates of the to-be-positioned point in the panorama are calculated through the PTZ values, when the PTZ values of the to-be-positioned point can directly find the corresponding PTZ values in the existing PTZ data in the database, the calculation result is very accurate, and the farther the distance between the to-be-positioned point and the existing PTZ data in the database is, the larger the deviation value of the calculation result is.
Therefore, in the present embodiment, a method in which the PTZ value described in method three is combined with image matching is preferably employed.
Specifically, in the above embodiment, after the PTZ value of the to-be-located point in the to-be-located picture and the corresponding coordinate thereof in the panorama are obtained through calculation, the PTZ value of the to-be-located point and the corresponding coordinate thereof in the panorama can be stored in the database, so as to update the database.
For example, when the image matching result is confirmed to be correct, the PTZ value corresponding to the to-be-positioned point in the to-be-positioned image is stored in the existing PTZ data in the database, and the more PTZ data, the more possibility that the distance between the PTZ value of the to-be-positioned point and the existing PTZ data is closer is indicated, and the more accurate the calculation is. When the image matching cannot be matched when the illumination and weather conditions change, such as heavy fog, heavy rain and night, the result of calculation by using the PTZ is more accurate.
Specifically, the image matching result is correct, a biased value is calculated by using the PTZ, an area is determined, and if the key points in the image to be located after the image matching, such as the center point and the four corners, all the coordinates in the panorama fall in the area, the matching is considered to be successful. When the images cannot be matched to the point to be positioned only by image matching because of different weather and illumination, the PTZ data of the matched images are recorded, and the PTZ data which can be inquired about the images which cannot be matched are increased. For example, in the midday, because the weather and the illumination condition are good, if a point to be positioned in a picture to be positioned is matched, the PTZ data is recorded, and an alarm is given at the same place in the evening, but the coordinate of the point to be positioned in the panorama cannot be found through image matching at this time. Then, the PTZ data can be searched, and just the PTZ data of an alarm picture (picture to be positioned) at noon is the same as the PTZ data, so that the coordinates of the PTZ data in the panoramic image can be directly found out, and the longitude and latitude of the picture to be positioned can be obtained.
Specifically, in each of the above embodiments, the human-computer interaction interface for performing the geodesic matching between the panoramic image and the depth image based on the three-dimensional remote sensing image is as shown in fig. 6, an upper window and a lower window on the left of the human-computer interaction interface are respectively used for displaying the panoramic image and the depth image, a window on the right of the human-computer interaction interface is used for displaying the three-dimensional remote sensing image, and the operation buttons and function introduction thereof mainly included in the operation button assembly for operating the depth image, the three-dimensional remote sensing image, and the panoramic image on the human-computer interaction interface are as follows:
"load picture": calling a file selection window to enable a user to select a panoramic picture to be loaded;
"load dem file": calling a file selection window to enable a user to select a DEM data file to be loaded;
"load PT data": calling a file selection window to enable a user to select a PT data file to be loaded;
"select starting point": allowing a user to click on the picture, and taking the corresponding coordinate as a starting point of the geodesic line to be selected;
"select endpoint": allowing a user to click on the picture, and taking the corresponding coordinate as the terminal point of the geodesic line to be selected;
"select line": allowing a user to press a mouse on the picture to perform dragging operation, and drawing lines;
"match" is performed: establishing a mapping relation between the geodesic lines selected from the two graphs;
"calculate": calculating the position of the PT value in the panoramic image according to the input PT value, and then calculating the position of the PT value in the depth image to obtain the corresponding longitude and latitude;
"save record": storing the loaded data and the established line mapping relation into a local binary file;
"read record": reading a local binary file, and restoring the local binary file to a human-computer interaction interface;
tab page switching button: and switching the panoramic image/the depth image and the corresponding image with the extracted edge.
Specifically, in the embodiment of the method for locating the position of the surface feature target based on the three-dimensional remote sensing image shown in fig. 3, the method for calculating the coordinates of a point in the depth map from the coordinates of the point in the panoramic image through the established pair of mapping of the geodesic lines (edge lines) of the panoramic image and the depth map is as follows:
1) as shown in FIG. 4, if there is only one mapped geodesic line above and below the point A to be calculated, i.e. the curve L1。
Wherein L is1The height of the area occupied by the curve is h, the width is w, B is the vertical projection of the point A on the curve, namely A and B have the same abscissa, and the ratio p of the distance from the point B to the left end of the area to the width of the whole area is recordedxIs composed of
Ratio p of distance of point A, B to overall area heightyIs composed of
Finding out the corresponding geodesic line in the depth map by using the geodesic line in the panoramic image, and obtaining a curve L1' means that the width of the occupied area is w ', the height is h ', and the abscissa of the leftmost end is x0', then the abscissa of the mapped point B' of the point B in the depth map is
At curve L1'find this abscissa, find y's ordinate of BB′。
The coordinates of the mapping point a' of point a in the depth map are then
2) As shown in FIG. 5, if there is a geodesic line with a mapping established above and below the point A to be calculated, i.e. the curve L1、L2。
Wherein L is1The width of the area occupied by the curve is w1，L2The width of the area occupied by the curve is w2，B1Point A on curve L1Vertical projection of (A), B2Point A on curve L2Vertical projection of (a). Then A, B1、B2All having the same abscissa, as in 1), find B1、B2Respectively mapped points B in the depth map1′(xB1′,yB1′)、B2′(xB2′,yB2') then the coordinates of the mapped point A' of point A in the depth map are
xA′＝xB1′＝xB2′ (6)
Specifically, the method for positioning the position of the ground object target based on the three-dimensional remote sensing image in the embodiment of the application can be applied to positioning the position of a fire point in a forest area in a mountain area, and in a scene of positioning the fire point position, the picture to be positioned in each embodiment can be a fire alarm picture containing the fire point and shot by a pan-tilt camera arranged in a fire monitoring alarm detection system, wherein the point to be positioned is the fire point.
The functions described in the method of the embodiment of the present application may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as independent products. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A three-dimensional remote sensing image-based geodesic matching method is characterized by comprising the following steps:
acquiring a curve segment to be matched, which is selected in the depth map by a user through a human-computer interaction interface and used for representing a geodesic line;
marking a geodesic reference curve segment corresponding to the curve segment to be matched on the three-dimensional remote sensing image based on the corresponding relation between the depth map and the DEM data of the three-dimensional remote sensing image;
acquiring a geodesic matching curve segment which is selected by a user in the panoramic image through the human-computer interaction interface and corresponds to the geodesic reference curve segment;
and matching the geodesic matching curve segment in the panoramic image with the curve segment to be matched in the depth image to obtain a coordinate mapping relation between the panoramic image and the depth image.
2. The method for matching geodesic lines based on three-dimensional remote sensing images according to claim 1, characterized by further comprising a step of constructing a depth map, wherein,
the construction step of the depth map comprises the following steps:
generating a data file recorded with DEM elevation information by taking a holder camera as a center through a GIS tool or programming;
and generating the depth map based on the DEM elevation information contained in the data file.
3. The method for matching geodesic lines based on three-dimensional remote sensing images according to claim 1, characterized by further comprising a construction step of a panorama, wherein,
the construction step of the panoramic image comprises the following steps:
splicing a single-layer picture shot by a pan-tilt camera in a fixed vertical direction or a plurality of layers of pictures shot by changing shooting angles in the vertical direction into the panoramic picture taking the pan-tilt camera as the center, wherein each layer of picture comprises a plurality of pictures to be positioned shot at certain angles in the horizontal direction;
and storing the PTZ value of the central point of each picture to be positioned spliced into the panoramic picture and the coordinate data of the central point of each picture to be positioned obtained by conversion after splicing into a database.
4. The three-dimensional remote sensing image-based geodesic matching method according to any one of claims 1-3, characterized in that the human-computer interface has a depth map display window for displaying the depth map, a remote sensing image display window for displaying the three-dimensional remote sensing image, a panorama display window for displaying the panorama and an operation button assembly for operating the depth map, the three-dimensional remote sensing image and the panorama.
5. A three-dimensional remote sensing image-based geodesic matching device is characterized by comprising:
the first curve segment acquisition module is used for acquiring a curve segment to be matched, which is selected in the depth map through a human-computer interaction interface by a user and used for representing a geodesic line;
the curve segment marking module is used for marking a geodesic reference curve segment corresponding to the curve segment to be matched on the three-dimensional remote sensing image based on the corresponding relation between the depth map and the DEM data of the three-dimensional remote sensing image;
the second curve segment acquisition module is used for acquiring a geodesic line matching curve segment which is selected in the panoramic image through the human-computer interaction interface by a user and corresponds to the geodesic line reference curve segment;
and the curve section matching module is used for matching the geodesic line matching curve section in the panoramic image with the curve section to be matched in the depth image to obtain a coordinate mapping relation between the panoramic image and the depth image.
6. The device for matching the geodesic lines based on the three-dimensional remote sensing images according to claim 5, further comprising a depth map construction module for constructing a depth map, wherein the construction of the depth map comprises:
generating a data file recorded with DEM elevation information by taking a holder camera as a center through a GIS tool or programming;
and generating the depth map based on the DEM elevation information contained in the data file.
7. The device for matching the geodesic lines based on the three-dimensional remote sensing images according to claim 5, further comprising a panorama constructing module for constructing a panorama, wherein the constructing the panorama comprises:
splicing a single-layer picture shot by a pan-tilt camera in a fixed vertical direction or a plurality of layers of pictures shot by changing shooting angles in the vertical direction into the panoramic picture taking the pan-tilt camera as the center, wherein each layer of picture comprises a plurality of pictures to be positioned shot at certain angles in the horizontal direction;
and storing the PTZ value of the central point of each picture to be positioned spliced into the panoramic picture and the coordinate data of the central point of each picture to be positioned obtained by conversion after splicing into a database.
8. The three-dimensional remote sensing image-based geodesic matching device according to any one of claims 5-7, characterized in that said human-computer interface has a depth map display window for displaying said depth map, a remote sensing image display window for displaying said three-dimensional remote sensing image, a panorama display window for displaying said panorama and an operation button assembly for operating said depth map, three-dimensional remote sensing image and panorama.
9. A method for positioning a ground object target position based on a three-dimensional remote sensing image is characterized by comprising the following steps:
establishing a coordinate mapping relation between a panoramic image and a depth image by taking a pan-tilt camera as a center based on a line matching mode, wherein coordinates of each point in the depth image have corresponding longitude and latitude;
acquiring a picture to be positioned containing a to-be-positioned point and image information of the picture to be positioned, which are shot by the pan-tilt camera;
calculating to obtain the corresponding coordinates of the to-be-positioned point in the panoramic image with the holder camera as the center according to the image information of the to-be-positioned picture;
obtaining the corresponding coordinates of the to-be-positioned point in the depth map according to the coordinates of the to-be-positioned point in the panoramic map and the coordinate mapping relation between the panoramic map and the depth map, wherein the coordinate mapping relation between the panoramic map and the depth map is established by adopting the three-dimensional remote sensing image-based geodesic matching method of any one of claims 1 to 4;
and obtaining the longitude and latitude of the point to be located according to the corresponding relation between the coordinates of the point to be located in the depth map and the coordinates and the longitude and latitude of each point in the depth map.
10. The method for positioning the position of the ground object target based on the three-dimensional remote sensing image according to claim 9, wherein the step of calculating the corresponding coordinates of the to-be-positioned point in the panorama centering on the pan-tilt camera according to the image information of the to-be-positioned picture comprises the following steps:
calculating to obtain the corresponding coordinates of the to-be-positioned point in the panoramic image with the holder camera as the center by utilizing an image matching algorithm according to the image information of the to-be-positioned picture;
or
Calculating the coordinate of the to-be-positioned point in the panoramic image according to the PTZ value of the central point of the to-be-positioned image, the position relation between the central point of the to-be-positioned image and the to-be-positioned point, the PTZ value stored when the panoramic image is spliced and coordinate data;
or
And calculating to obtain the corresponding coordinates of the to-be-positioned point in the panoramic image with the holder camera as the center by combining an image matching algorithm according to the PTZ value of the center point of the to-be-positioned picture, the position relation between the center point of the to-be-positioned picture and the to-be-positioned point, the PTZ value and the coordinate data which are saved during splicing of the panoramic image.
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