CN113298944A - Automatic three-dimensional modeling measurement method based on unmanned aerial vehicle oblique photography - Google Patents
Automatic three-dimensional modeling measurement method based on unmanned aerial vehicle oblique photography Download PDFInfo
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Abstract
The invention discloses an automatic three-dimensional modeling measurement method based on unmanned aerial vehicle oblique photography, which extracts images and image measurement data through unmanned aerial vehicle oblique photography; importing the obtained data into an automatic modeling processing system to obtain a space real scene three-dimensional modeling; thereby obtaining data to be measured or calculated; the method can conveniently and flexibly acquire the captured multi-angle high-resolution image, quickly and automatically generate the live-action three-dimensional model, can acquire the geographic elements indoors based on the live-action three-dimensional model, replaces field actual measurement, saves time, and has the characteristics of high efficiency, low cost, accurate data and the like.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle photogrammetry, and particularly relates to an automatic three-dimensional modeling measurement method based on unmanned aerial vehicle oblique photography.
Background
With the continuous improvement of the measurement technology in China, people have higher requirements on the accuracy of the measurement result and the measurement cost; at present, because a field measurement method of a GPS-RTK and a total station instrument is generally adopted for rural homestead measurement, the method has the defects that a large amount of manpower is consumed to carry out field measurement, the efficiency is low, the period is long, the cost is high, and the measurement result and the cost are not very ideal, so that a measurement method capable of saving material resources and manpower is needed, namely, the investment is reduced and the efficiency is improved compared with the traditional method, and therefore, a novel automatic three-dimensional modeling measurement method based on unmanned aerial vehicle oblique photography is provided The method is widely applied to the technical fields of illegal building, emergency monitoring, shock absorption and disaster relief and the like.
Disclosure of Invention
The invention provides an automatic three-dimensional modeling measurement method based on unmanned aerial vehicle oblique photography, which aims at the existing problems, and the method is characterized in that a plurality of sensors (five-lens cameras are commonly used at present) are carried on the same flight platform, and images are acquired from different angles such as vertical angles, oblique angles and the like, so that more complete and accurate information of ground objects is obtained, and the heights of the ground objects such as buildings and the like are directly calculated; the three-dimensional modeling produced by the oblique photogrammetry technology truly reflects the urban scene conforming to the vision of human eyes, and combines the GNSS technology to build a three-dimensional city and incorporate an urban geographic information frame, thereby showing comprehensive and abundant geographic information.
The technical scheme adopted by the invention for solving the technical problems comprises the following steps:
an automatic three-dimensional modeling measurement method based on unmanned aerial vehicle oblique photography, comprising the following steps:
s1, extracting images and image measurement data through unmanned aerial vehicle oblique photography;
s2, importing the data obtained in the S1 into an automatic modeling processing system to obtain space real scene three-dimensional modeling;
and S3, obtaining the data to be measured or calculated through the S2.
Preferably, the step S1 specifically includes the following steps:
s11, survey area and route design: the method comprises the following steps of knowing the terrain of a survey area, determining an aerial photography range, carrying out reasonable flight frame division on the aerial photography range according to a survey area survey result and combining a latest image map, and optimizing the route design;
s12, image control point layout and measurement are carried out according to the air route design of S1: uniformly arranging flat high points at intervals of about 100 meters, wherein the intervals are not more than 150 meters at most, and determining the arrangement number of image control points according to the field condition of the village under the condition of ensuring the precision of a space real-scene three-dimensional model; carrying out image control point measurement by adopting a network RTK technology based on an SDCORS system;
s13, field flight: the unmanned aerial vehicle carries out field flight according to flight control requirements, flight quality and image quality requirements;
and S14, checking the image quality in the S13, and performing compensation and retake on the images which do not meet the requirements.
Preferably, the step S2 specifically includes the following steps:
s21, preprocessing data: screening and classifying the original pos data;
s22, null triple encryption: the method comprises the steps that triangular TIN is formed by triangular relations among images established by the space-three, then white molds are formed by the triangular TIN, corresponding textures are calculated from the images by software, the textures are automatically mapped to the corresponding white molds, and finally a real three-dimensional scene is formed;
s23, model reconstruction: automatically generating a three-dimensional model meeting the precision requirement through software, automatically screening the most suitable image from the multi-angle images as a texture, performing texture mapping on the three-dimensional model to obtain a real three-dimensional model result, and finally extracting a digital orthoscopic image result from the real three-dimensional model;
s24, outcome output: the result format is output by using a ContextCapture Center cluster processing system, and multiple formats are supported.
Preferably, the unmanned aerial vehicle oblique photography adopts a five-lens oblique photography digital camera to acquire image data, and the effective pixel of a single lens is not less than 2400 ten thousand.
Preferably, the ground resolution of the image should be better than 0.012 m, and the individual areas of greater topographic relief are better than 0.015 m.
Preferably, the course coverage by the unmanned aerial vehicle during oblique shooting is guaranteed to meet the following conditions: exceeding the boundary line of the shooting area by at least 2 routes; the course overlapping needs to be controlled to be more than 80%, and the side overlapping needs to be controlled to be more than 70%; the difference of the altitude of the adjacent photos on the same route is not more than 5 m; course coverage beyond the chart boundary should be no less than 3 baselines.
Preferably, the flying height of the unmanned aerial vehicle is 80 m.
Preferably, the resolving precision of the three-dimensional model of the space real scene comprises:
relative orientation precision, the error in the homonymous point matching reprojection is better than 1 pixel;
the absolute orientation precision, the air-to-air three-calculation plane precision is better than 1cm, and the elevation precision is better than 3 cm.
Preferably, the automatic three-dimensional modeling system automatically matches homonymous points in all images according to a high-precision image matching algorithm, and extracts more characteristic points from the images to form dense point cloud, wherein the more complex the ground features are, the denser the building is, the higher the point density degree is; otherwise, it is relatively sparse.
Preferably, the S21 adopts original data eliminating software, and can obtain about 2 ten thousand sheets without adding extra expansion within one square kilometer, and the extra expansion can be up to 4 ten thousand sheets.
The invention has the technical effects that:
the automatic three-dimensional modeling measurement method based on unmanned aerial vehicle oblique photography can conveniently and flexibly acquire and take multi-angle high-resolution images, quickly and automatically generate a live-action three-dimensional model, can acquire geographic elements indoors based on the live-action three-dimensional model, replaces field actual measurement, saves time, has the advantages of high efficiency, low cost, accurate data and the like, has more advantages compared with a two-dimensional digital model, is more direct in spatial information presentation of the three-dimensional digital model, provides more abundant display space for the spatial information compared with the two-dimensional digital model, enables people to visualize and visualize the abstract and unintelligible spatial information, can understand the abstract and unintelligible spatial information by combining with own related experience, and accordingly makes quick and accurate judgment; compared with other modeling processes, redundant photos are automatically removed in the software modeling process, and the space-three encryption is completed more quickly and quickly under a cluster mechanism, so that the reconstruction and the export of a three-dimensional model are realized.
The invention will be further described with reference to the accompanying drawings.
Drawings
FIG. 1 is a flowchart of a tilted photography process of an unmanned aerial vehicle in an automatic three-dimensional modeling measurement method based on tilted photography of the unmanned aerial vehicle;
FIG. 2 is a flow chart of a three-dimensional modeling technology in the unmanned aerial vehicle oblique photography-based automatic three-dimensional modeling measurement method;
Detailed Description
The embodiments of the present invention will be further described with reference to the accompanying drawings so that the present invention can be further understood by those skilled in the art without limiting the scope of the present invention.
The embodiment discloses an automatic three-dimensional modeling measurement method based on unmanned aerial vehicle oblique photography, which comprises the following steps: extracting images and image measurement data through unmanned aerial vehicle oblique photography; and importing the obtained data, namely the photo data, into a full-automatic modeling processing system to obtain space real scene three-dimensional modeling so as to obtain data needing measurement or calculation, wherein the full-automatic modeling system is compatible with various internal collection software formats.
With reference to fig. 1 and fig. 2, the specific operation steps of this embodiment are as follows:
firstly, surveying area surveying is carried out, the topography and the landform of the surveying area are fully known, tall buildings, radio transmitting towers, power transmission towers and the like which do not influence the flight of the unmanned aerial vehicle are observed in or around villages, and the high buildings, the radio transmitting towers, the power transmission towers and the like are communicated with villages, so that a specific aerial range is determined; according to the survey result of the survey area and the combination of the latest image map, reasonable flight frame division is carried out on the aerial photography range, the aerial photography scheme is optimized, and the operation efficiency is improved; the flight path design needs to meet relevant requirements of 'low-altitude digital aerial photography Specification' (CH/Z3005-2010), the flight path design is carried out by taking villages as units, and the flight direction is carried out according to the shape of the villages and by adopting the heading direction parallel to or perpendicular to the house orientation as much as possible.
Image control point layout and measurement: 1) uniformly arranging horizontal high points at intervals of about 100 meters by referring to relevant standards and specifications, wherein the intervals are not more than 150 meters at most, and determining the arrangement number of image control points according to the field condition of the village under the condition of ensuring the model precision; 2) the image control points can not be obviously shielded, so that the image control points can be seen in the photos in five directions; 3) the image control point layout adopts a uniform image control point mark, the image control point name adopts a uniform numbering mode, and numbering is carried out according to a format of first letters of villages and towns and a serial number; 4) carrying out image control point measurement by adopting a network RTK technology based on an SDCORS system; 5) initializing an instrument before starting, selecting at least one known control point every day for checking, wherein the plane difference is not more than 3cm, and the elevation difference is not more than 5 cm; 6) observing to obtain an RTK fixed solution, converging to a millimeter level, wherein the horizontal precision (HRMS) is less than 2cm, the vertical precision (VRMS) is less than 3cm, and starting to record after the RTK fixed solution is stabilized, wherein the recorded data is a fixed solution result; 7) each image control point should measure 2 times, and each observation should not be less than 30 epochs, or each image control point should measure 3 times, and each observation should not be less than 20 epochs. The initialization should be re-performed for each observation with a time interval of not less than 1 minute. The difference of the plane coordinate component of multiple observation is less than 2cm, the difference of the vertical coordinate component is less than 3cm, and the average value of the multiple measurement results is taken as the final observation result of the image control point.
Wherein, the aerial photography requirement is as follows: 1) equipment selection: the method comprises the steps that a five-lens oblique photography digital camera is used for collecting image data, the effective pixel of a single lens is not less than 2400 ten thousand, and a multi-rotor unmanned aerial vehicle flight platform is adopted as a flight platform; 2) aerial photography resolution ratio: the ground resolution of the image is better than 0.012 meter, the area with large relief difference of individual topography is better than 0.015 meter, and the image quality is particularly emphasized to ensure the mapping precision; 3) the course and the course overlap of the side-by-side overlapped downward-looking images need to be controlled to be more than 80 percent, and the side-by-side overlap needs to be controlled to be more than 70 percent; 4) the air-to-air resolving precision is as follows: relative orientation precision, the error in the homonymous point matching reprojection is better than 1 pixel; absolute orientation precision, air-to-three resolving plane precision is better than 1cm, and elevation precision is better than 3 cm; 5) precision index the real-scene three-dimensional model result should meet the precision requirement of the house boundary point; 6) the three-dimensional model requires beautiful color, uniform color and distinct layers, the edges among different blocks are well connected, the conditions of large holes, distortion and flower drawing which influence the mapping precision do not exist, and the three-dimensional model can process the suspension on the water surface and in the air.
Field flight control requirements: before flying, the equipment and materials used for the same frame are carefully checked; a person in charge of an aerial photography site needs to strictly master weather standards to ensure the aerial photography image quality; organizing field workers to carry out technical intersection of route design before flight; before flying, all parameters are strictly checked to ensure that equipment installation and all settings are correct; after the airplane and the personnel arrive at the measuring area, arranging test flight examination pictures of equipment and materials immediately, and preparing for formal operation; during operation, main equipment such as an airplane, an oblique camera and the like, a power supply system and a recording system are regularly checked, so that the main equipment, the power supply system and the recording system are kept in a good working state; and attention is paid to the inspection of all parts on the airplane body and the test of a flight control system, so that the flight safety is ensured.
Flight quality and aerial shooting condition of the image:
in a specified aerial photography period, selecting a time period with small influence on the mapping, little cloud and fog and good transparency of dust (sand) -free atmosphere by earth surface vegetation and other coverings to carry out photography; selecting the photographing time according to different terrain and ground feature conditions and strictly according to the requirement of the sun altitude angle specified by the specification, wherein the time interval before and after the acquisition of the images of a single measuring area is not more than 10 days at most; the coverage guarantee course is laid according to the straight line method of the shot area, and the first and last courses parallel to the shot area boundary line must ensure that the side-looking lens can obtain the effective image of the survey area.
Covering at least 2 routes beyond the boundary line of the shooting area by the routes, and interpolating the routes in the area with particularly large altitude difference; the course and the lateral overlapping degree of the photo under different terrain conditions refer to corresponding indexes; the shooting area boundary line coverage area has no aerial shooting holes, the course overlapping needs to be controlled to be more than 80%, and the side overlapping needs to be controlled to be more than 70%; keeping the altitude, wherein the altitude difference of adjacent photos on the same route is not more than 5 m; the shot area boundary coverage should meet the requirements of partition model production; the course covering exceeds the boundary line of the image and is not less than 3 base lines; the lateral coverage exceeds the boundary of the image formation and is generally not less than 50 percent of the image frame, and at least not less than 30 percent of the image frame; the relative loopholes and the absolute loopholes in the aerial photography should be compensated in time, the digital camera of the previous aerial photography flight should be adopted for compensation, and two ends of the compensation route should exceed two baselines outside the loopholes.
The image quality requirement is to ensure that the ground resolution of the image is better than 0.012 meter, the area with large relief difference of individual topography is better than 0.015 meter, and the image quality is particularly emphasized to ensure the mapping precision; the image quality particularly emphasizes clear images, moderate contrast, saturated colors, bright colors and consistent hues. The method has rich layers, can distinguish fine ground object images adaptive to ground resolution, and meets the requirements of accurate adjustment, drawing and indoor interpretation of all field factors; when the assisted aerial photography techniques such as GNSS and POS are used, the implementation should be performed with reference to the corresponding specifications or standards.
Then, carrying out compensation shooting and re-shooting, wherein absolute loopholes (the side overlapping rate cannot meet the requirement of space-time-space-three resolving quality), relative loopholes (missed shooting occurs between side photos) and other serious defects in the aerial shooting process need to be compensated and shot in time; and the loophole repairing and shooting must be carried out according to the original design track. The length of the supplementary shooting route is required to meet the requirement of encrypted stationing of a user area network. Two ends of the supplementary shooting route exceed the loophole by not less than 3 routes, and the supplementary shooting is carried out by adopting a digital aerial camera with the same main distance and the same model; for relative bugs and local defects (such as clouds, cloud shadows, speckles and the like) which do not influence the internal encryption point selection and the model connection, the shooting needs to be compensated, and the shooting needs to be repeated by the whole route. The length of the supplementary shooting route exceeds 2 routes outside the loophole, and a digital aerial camera with the same main distance and the same model is adopted for supplementary shooting; the image is clear, the levels are rich, the contrast is moderate, the color is saturated, the color is bright, and the color tone is consistent; the image should not have the defects of cloud, cloud shadow, smoke, large-area reflection, stain and the like; the small ground object image corresponding to the ground resolution can be identified, and a clear three-dimensional model can be established.
And then three-dimensional modeling is carried out, the system automatically matches the same-name points in all images according to a high-precision image matching algorithm, and extracts more characteristic points from the images to form dense point cloud, so that the details of the ground objects are more accurately expressed. The more complex the ground object is, the denser the building is, the higher the point density is; otherwise, relative sparsity is obtained, which specifically includes the following operations:
1) data preprocessing: the original data eliminating software is created, the oblique photography technology is five-lens moving shooting because of the mode of the data acquired by the oblique photography technology, about 2 ten thousand pieces can be acquired within one square kilometer without adding external expansion, the external expansion is up to 4 ten thousand pieces, and the irregularity of the terrain is caused. This results in photographs being collected for field work, which requires a lot of time for field work processing; after one flight, the data line is used for connecting the computer and the camera, the software is opened, flight number data can be automatically displayed on the software, the number name of the flight number is clicked, detailed information of the flight number can be checked, the number of POS (point of sale) data comprises the number of POS (point of sale) data, the number of photos and the name of the photos, copy or cleaning operation is carried out on the wanted number of the flight number, POS data generated by the flight control system contains information which is not needed by post-processing, the format does not meet the use requirement of the post-processing software, the POS data cannot be directly used for post-processing work, and the original POS data can be used for the post-processing software after being screened and classified.
The software originally synchronously completes the copying of the photos and the writing of the positioning information, the time spent is as long as that of independent copying, the working efficiency is greatly improved, and meanwhile, the photos are additionally processed, so that the photos can be led into full-automatic modeling software, and the modeling effect is better than that of the ordinary photos only with the writing of the positioning information; before copying, selecting to not copy ground photos in the copying setting, or importing a kml file to remove photos outside a shooting area, and copying only necessary data; the overlapping rates of different heights can be calculated for the relief terrain, and the prediction of data volume, precision and quality of aerial photography modeling is facilitated.
2) And (3) encryption by using a null key: firstly, space triangulation calculation is carried out, and the number of lost empty three pictures can be displayed on an information panel in the process of aerial triangulation calculation; if too many photos are lost, the space-three operation is cancelled, the space-three block is deleted, and different settings are selected to re-execute the space triangulation; if the overlap ratio of the input photos is not enough or some settings are incorrect (such as a phase-square coordinate system and the like), the aerial triangulation operation may also fail, and the aerial triangulation process may generate a rough 3D view; the method comprises the steps that triangular TIN is formed by triangular relations among images established by the space-three, then white molds are formed by the triangular TIN, corresponding textures are calculated from the images by software, the textures are automatically mapped to the corresponding white molds, and finally a real three-dimensional scene is formed; according to the real size and shape of the building and the landform, on the premise of ensuring the basic characteristics of the building and the landform, the three-dimensional models of the building and the landform are constructed by the number of the triangular patches as small as possible, and the edited texture veneers are pasted. When the model is browsed, the concerned object is clearly distinguished; the model has no obvious structural deformation and distortion; the texture and the color are uniform and beautiful, and no obvious flower is drawn.
3) Model reconstruction: firstly, three-dimensional reconstruction calculation is carried out, because the shooting range is large, the image data is more, the memory of a computer required for completing reconstruction often reaches hundreds of G, a common computer cannot complete reconstruction calculation at one time, a frame is reconstructed according to the performance of the computer, the reconstruction range and the size of a tile are adjusted, the original frame is divided into a plurality of data blocks with the same size, and the reconstruction calculation is carried out in blocks; then, an oblique photography automatic modeling technology is adopted, a ContextCapture Center cluster processing system is used, the latest oblique aerial photography image is utilized, the digital photogrammetry technology is used for completing oblique image space-three encryption, a three-dimensional model meeting the precision requirement is automatically produced through software, the most suitable image is automatically screened out from the multi-angle image to be used as texture, texture mapping is carried out on the three-dimensional model, so as to obtain a real three-dimensional model result, and finally, a digital orthographic image result is extracted from the real three-dimensional model,
4) outcome output
The ContextCapture Center output result format supports multiple formats, namely a three-dimensional model format and a two-dimensional orthographic mode. The data cluster processing can be performed as follows: and (3) building a local area network, taking one computer as a server, taking other computers in the local area network as nodes to be connected to the server to form a group, and after the task is submitted, the server uniformly allocates the subtasks to each node. After the node finishes the subtasks, returning the processing result to the server, and receiving new subtasks until the tasks are finished; compared with the data processing with a single machine, the cluster processing has higher reliability and fault tolerance rate, and when one node computer in a group breaks down, the subtasks originally distributed to the node are automatically distributed to other nodes for calculation; meanwhile, the cluster processing can reduce the cost and huge GIS data volume, great tests are provided for the storage space and the data processing speed of a single computer, and the hardware cost can be effectively reduced by clustering the common computers, so that the computing capability equivalent to that of a high-performance computer is exerted.
Further, the three-dimensional model of the present invention further comprises a finishing and singulation process: the three-dimensional GIS model established based on the ContextCapture has the situations of building deformation (texture garbling, structural distortion, broken faces and missing faces and the like), suspended matters, lost parts and the like caused by wrong image matching or poor geometric postures. And the model is refined and reconstructed through monomer software, so that the surface feature elements are complete, and the later three-dimensional GIS application is achieved. The intelligent interconnection platform needs to realize operations such as individual selection, attribute giving, attribute query, data management and the like on part of buildings in the parcel, so that the tilt model needs to be processed in a single mode. The oblique photography model is cut by utilizing the corresponding vector surfaces of buildings, roads, trees and the like, and the continuous triangular patch network is physically divided, so that the singulation is realized.
In addition, the automatic three-dimensional modeling based on unmanned aerial vehicle oblique photography also adopts an original algorithm, and the method specifically comprises the following steps: the method is characterized in that a service-oriented SOA architecture is adopted, the platform adopts a design concept based on the SOA system, cross-platform and interoperation are convenient to realize, integration of a loosely-coupled heterogeneous environment is realized by using a Web Services method, geographic information data functions are packaged into an interface meeting OGC standard specifications, a service-oriented geographic information data sharing framework architecture integrating a sharing service provider, a user and a manager is constructed, a service organization mode and an operation management mechanism based on unified registration and hierarchical authorization are realized, and continuous extension of geographic information sharing exchange is realized; the method has the advantages that a micro-service architecture is adopted, an easy-to-develop, easy-to-integrate and high-availability system is realized, a proper service system is constructed according to a specific application scene, each micro-service in the system only focuses on completing one task and can be independently distributed and deployed, so that the complexity and the coupling degree of the system are reduced, meanwhile, unified proxy, authentication and monitoring are carried out on each service, the service safety is guaranteed, the response efficiency and the capability of the service are greatly improved, and the system can continuously maintain high availability at lower cost; the method adopts a full-flow and automatic data precision quality control method and data precision quality inspection, and relates to a plurality of quality control links, and different quality control links have great difference on the content of the quality inspection; on the other hand, the processed data covers a plurality of data contents, and different data types have great difference on the content of the precision check. Therefore, the quality control system which is flexible to construct, easy to customize, high in automation degree and suitable for various data precision checks is also an important target of software design, and data precision quality is grasped layer by layer from the source; the distributed data space information management and service technology route is characterized in that an extensible distributed space data storage and management technology is built, a distributed space information indexing and query technology is built, a distributed space information service cluster based on an SOA is built, and a super-large-scale time-space data comprehensive integrated management and service system is achieved.
Finally, what is needed to be adjusted by the cavity is that the automatic three-dimensional modeling measurement method based on unmanned aerial vehicle oblique photography is implemented by carrying a plurality of sensors (a five-lens camera is commonly used at present) on the same flying platform, meanwhile, images are collected from different angles such as vertical angle and inclined angle to obtain more complete and accurate information of ground objects, the image shot at the angle vertical to the ground is called positive (one group of images), the image shot at a certain included angle between the lens and the ground is called oblique (four groups of images), collecting information in multiple angles, matching with control points or image POS information, enabling each point on an image to have a three-dimensional coordinate, measuring any point and line surface based on image data, obtaining centimeter-level measurement precision, automatically generating a three-dimensional geographic information model, quickly obtaining geographic information, and directly measuring the height of buildings and other ground objects; the acquired image contains rich real environment information, the data depth mining of the image information can be realized, the advantages of high efficiency, low cost, accurate data, flexible operation, available side information and the like are achieved, the cooperative work of surveying and mapping internal and external industries is greatly adjusted, and the delay of traditional manual operation caused by external factors such as weather is solved; with the innovation and development of aerial photography technology, the oblique photogrammetry technology expands the application range of remote sensing images, and overturns the mode that the traditional aerial photography only acquires images from a positive shooting angle, a multi-angle camera is used for synchronously acquiring aerial shooting images with high resolution at all angles of a ground object, a three-dimensional modeling produced by the oblique photogrammetry technology truly reflects urban scenes which accord with human vision, and a three-dimensional city is built by combining with a GNSS technology and is brought into an urban geographic information framework, so that comprehensive and rich geographic information is shown.
The automatic three-dimensional modeling measurement method based on unmanned aerial vehicle oblique photography can conveniently and flexibly acquire and take multi-angle high-resolution images, quickly and automatically generate a live-action three-dimensional model, can acquire geographic elements indoors based on the live-action three-dimensional model, replaces field actual measurement, saves time, has the advantages of high efficiency, low cost, accurate data and the like, has more advantages compared with a two-dimensional digital model, is more direct in spatial information presentation of the three-dimensional digital model, provides more abundant display space for the spatial information compared with the two-dimensional digital model, enables people to visualize and visualize the abstract and unintelligible spatial information, can understand the abstract and unintelligible spatial information by combining with own related experience, and accordingly makes quick and accurate judgment; compared with other modeling processes, redundant photos are automatically removed in the software modeling process, and the space-three encryption is completed more quickly and quickly under a cluster mechanism, so that the reconstruction and the export of a three-dimensional model are realized.
The above examples are given for the purpose of illustrating the invention clearly and not for the purpose of limiting the same, and it will be apparent to those skilled in the art that, in light of the foregoing description, numerous modifications and variations can be made in the form and details of the embodiments of the invention described herein, and it is not intended to be exhaustive or to limit the invention to the precise forms disclosed.
Claims (10)
1. An automatic three-dimensional modeling measurement method based on unmanned aerial vehicle oblique photography is characterized by comprising the following steps:
s1, extracting images and image measurement data through unmanned aerial vehicle oblique photography;
s2, importing the data obtained in the S1 into an automatic modeling processing system to obtain space real scene three-dimensional modeling;
and S3, obtaining the data to be measured or calculated through the S2.
2. The automated three-dimensional modeling measurement method based on unmanned aerial vehicle oblique photography according to claim 1, wherein the step S1 specifically comprises the following steps:
s11, survey area and route design: the method comprises the following steps of knowing the terrain of a survey area, determining an aerial photography range, carrying out reasonable flight frame division on the aerial photography range according to a survey area survey result and combining a latest image map, and optimizing the route design;
s12, image control point layout and measurement are carried out according to the air route design of S1: uniformly arranging flat high points at intervals of about 100 meters, wherein the intervals are not more than 150 meters at most, and determining the arrangement number of image control points according to the field condition of the village under the condition of ensuring the precision of a space real-scene three-dimensional model; carrying out image control point measurement by adopting a network RTK technology based on an SDCORS system;
s13, field flight: the unmanned aerial vehicle carries out field flight according to flight control requirements, flight quality and image quality requirements;
and S14, checking the image quality in the S13, and performing compensation and retake on the images which do not meet the requirements.
3. The automated three-dimensional modeling measurement method based on unmanned aerial vehicle oblique photography according to claim 1, wherein the step S2 specifically comprises the following steps:
s21, preprocessing data: screening and classifying the original pos data;
s22, null triple encryption: the method comprises the steps that triangular TIN is formed by triangular relations among images established by the space-three, then white molds are formed by the triangular TIN, corresponding textures are calculated from the images by software, the textures are automatically mapped to the corresponding white molds, and finally a real three-dimensional scene is formed;
s23, model reconstruction: automatically generating a three-dimensional model meeting the precision requirement through software, automatically screening the most suitable image from the multi-angle images as a texture, performing texture mapping on the three-dimensional model to obtain a real three-dimensional model result, and finally extracting a digital orthoscopic image result from the real three-dimensional model;
s24, outcome output: the result format is output by using a ContextCapture Center cluster processing system, and multiple formats are supported.
4. The automated three-dimensional modeling measurement method based on unmanned aerial vehicle oblique photography of claim 1, wherein the unmanned aerial vehicle oblique photography adopts a five-lens oblique photography digital camera for image data acquisition, and the effective pixel of a single lens is not less than 2400 ten thousand.
5. The automated three-dimensional modeling measurement method based on unmanned aerial vehicle oblique photography of claim 2, wherein the ground resolution of the image is better than 0.012 meter, and the area with large individual terrain relief is better than 0.015 meter.
6. The method of claim 2, wherein the course coverage by the unmanned aerial vehicle oblique photography ensures that the following conditions are met: exceeding the boundary line of the shooting area by at least 2 routes; the course overlapping needs to be controlled to be more than 80%, and the side overlapping needs to be controlled to be more than 70%; the difference of the altitude of the adjacent photos on the same route is not more than 5 m; course coverage beyond the chart boundary should be no less than 3 baselines.
7. The automated three-dimensional modeling measurement method based on unmanned aerial vehicle oblique photography of claim 2, wherein the flying height of said unmanned aerial vehicle is 80 m.
8. The automated three-dimensional modeling measurement method based on unmanned aerial vehicle oblique photography according to claim 2, wherein the resolving precision of the space real scene three-dimensional model comprises:
relative orientation precision, the error in the homonymous point matching reprojection is better than 1 pixel;
the absolute orientation precision, the air-to-air three-calculation plane precision is better than 1cm, and the elevation precision is better than 3 cm.
9. The automatic three-dimensional modeling measurement method based on unmanned aerial vehicle oblique photography according to claim 3, characterized in that the automatic three-dimensional modeling system automatically matches the same-name points in all images according to a high-precision image matching algorithm, and extracts more feature points from the images to form a dense point cloud, wherein the more complex the ground features are, the denser the building is, the higher the point density is; otherwise, it is relatively sparse.
10. The automated three-dimensional modeling measurement method based on unmanned aerial vehicle oblique photography according to claim 3, wherein S21 adopts original data elimination software, and can obtain about 2 ten thousand sheets within one square kilometer without adding extra expansion, and the extra expansion is up to 4 ten thousand sheets.
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