CN113758438A - Special building oblique aerial photography and three-dimensional reconstruction method - Google Patents
Special building oblique aerial photography and three-dimensional reconstruction method Download PDFInfo
- Publication number
- CN113758438A CN113758438A CN202110773152.5A CN202110773152A CN113758438A CN 113758438 A CN113758438 A CN 113758438A CN 202110773152 A CN202110773152 A CN 202110773152A CN 113758438 A CN113758438 A CN 113758438A
- Authority
- CN
- China
- Prior art keywords
- aerial photography
- special building
- outer contour
- building
- planning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000013507 mapping Methods 0.000 claims abstract description 6
- 238000005259 measurement Methods 0.000 claims abstract description 6
- 238000004590 computer program Methods 0.000 claims description 6
- 238000004088 simulation Methods 0.000 claims description 5
- 238000012986 modification Methods 0.000 abstract description 3
- 230000004048 modification Effects 0.000 abstract description 3
- 230000001788 irregular Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 239000000969 carrier Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000009430 construction management Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/10—Constructive solid geometry [CSG] using solid primitives, e.g. cylinders, cubes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30181—Earth observation
- G06T2207/30184—Infrastructure
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/60—Planning or developing urban green infrastructure
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Geometry (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Computer Graphics (AREA)
- Software Systems (AREA)
- Image Generation (AREA)
- Image Processing (AREA)
- Processing Or Creating Images (AREA)
Abstract
The invention discloses a special building oblique aerial photography and three-dimensional reconstruction method, which comprises the following steps: firstly, simulating and constructing the outer contour of a special building according to the characteristics of the outer contour, then determining the central axis of the outer contour, carrying out equal-angle division on the outer contour according to a set division angle by taking the central axis as a reference, then determining the normal vector of each pre-projection according to the equal-angle division result, determining an aerial photography reference surface according to the normal vector, finally planning a photography route according to an intersecting line formed by the aerial photography reference surface around the outer contour, after the route planning is finished, flying according to the photography route, and collecting inclined aerial photography images of the special building. And performing field photo control measurement on the oblique aerial photographic image, performing intra-field aerial triangulation by using the control point data obtained by measurement to obtain photo orientation element data, constructing a three-dimensional model by using the photo orientation elements, and performing texture mapping and model modification to obtain a live-action three-dimensional model.
Description
Technical Field
The invention relates to the technical field of control over the position, the stroke, the height or the attitude of an aircraft, in particular to a special building oblique aerial photography and three-dimensional reconstruction method.
Background
The oblique aerial photography technology is used for acquiring images of a target object from different angles, performing three-dimensional reconstruction through oblique aerial photography with high overlapping degree, and really restoring the characteristics of the position, the form, the texture and the like of the target object, and has important application in the aspects of city management, cultural relic protection, travel propaganda, security and protection layout and the like. The conventional oblique aerial photography mode is often with the help of flight carriers such as big aircraft, unmanned aerial vehicle, uses many camera lenses to gather the image of ground look under, side viewing angle simultaneously, carries out three-dimensional reconstruction through utilizing big overlap degree image, restores the real world, and at this in-process, the true restoration of building is the key. When oblique aerial photography and three-dimensional reconstruction are carried out on buildings with column type, tower type, ball type and other irregular physical signs, if a conventional mode is continued, due to the fact that the aerial flight height of a flight carrier and the inclination angle of a camera are fixed, observation blind areas are easily caused, collection of textures on the side face and the bottom of the building is incomplete, the quality of three-dimensional reconstruction of images is limited, and achievement application is limited.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a special building oblique aerial photography and three-dimensional reconstruction method, which solves the problem that the conventional method cannot meet the requirement of high-precision three-dimensional reconstruction of a special building.
In a first aspect, there is provided a special building oblique aerial photography method, comprising:
simulating the outer contour of a special building according to the outer contour characteristics of the building;
carrying out equiangular division on the outer contour according to a division angle by taking a central axis of the outer contour as a reference;
determining a normal vector of each pre-projection according to the equiangular division result, and determining an aerial photography reference surface according to the normal vector;
and planning a photographing route of oblique aerial photography through the aerial photography reference surface.
With reference to the first aspect, in a first implementable manner of the first aspect, the simulating an outer contour of the special building according to the outer contour feature of the building includes:
analyzing the outer contour characteristics of the building to determine the physical sign form of the special building;
selecting key points of a special building according to the physical sign forms;
and performing digital rarefaction simulation based on the key points to construct the outer contour of the special building.
With reference to the first aspect, in a second implementable manner of the first aspect, the central axis is a mathematical center line of the outer contour.
With reference to the first aspect, in a third implementation manner of the first aspect, the value range of the division angle is
θ is the dividing angle.
With reference to the first aspect, in a fourth implementable manner of the first aspect, the planning of the shooting route for oblique aerial photography by the aerial photography reference plane includes:
determining the position coordinates of the intersection line between each aerial photography datum plane and the outer contour;
and planning the photographing route according to the position coordinates of the intersecting line.
In a second aspect, there is provided a storage medium storing a computer program which, when executed, performs the method for planning a tilted aerial photographic route for a particular building according to the first aspect, or any one of the first to fourth realizations of the first aspect.
In a third aspect, a special building three-dimensional reconstruction method is provided, including:
planning a shooting course by adopting the first aspect and any one of the first to the fourth realizable modes of the first aspect;
performing oblique aerial photography according to the planned photography route to obtain an oblique aerial photography image of the special building;
and performing three-dimensional reconstruction through the oblique aerial photography image to obtain a real-scene three-dimensional model of the special building.
With reference to the third aspect, in a first implementable manner of the third aspect, the sidewise overlap degree and the heading overlap degree of the oblique aerial photographic image are both 70% to 80%.
With reference to the third aspect, in a second implementable manner of the third aspect, the three-dimensional reconstruction by the oblique aerial photographic image includes:
performing field photo control measurement based on the oblique aerial photography image to obtain control point data;
carrying out interior industry aerial triangulation according to the control point data to obtain photo orientation element data of the oblique aerial photography image;
performing three-dimensional reconstruction according to the obtained photo orientation element data to obtain a three-dimensional model of the special building;
and obtaining the real-scene three-dimensional model of the special building by performing texture mapping on the three-dimensional model.
In a fourth aspect, a storage medium is provided, which stores a computer program that, when running, executes the special building three-dimensional reconstruction method of the second implementable manner of the third aspect.
Has the advantages that: by adopting the special building oblique aerial photography and three-dimensional reconstruction method, the oblique aerial photography mode is determined by identifying the physical signs of the building, the texture information of each facade of the building is accurately acquired, and the high-precision three-dimensional reconstruction and restoration of the special building are further realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention, the drawings, which are required to be used in the embodiments, will be briefly described below. In all the drawings, the elements or parts are not necessarily drawn to actual scale.
FIG. 1 is a flow chart of a route planning method provided in an embodiment of the present invention;
FIG. 2 is a flow chart of the construction of the outer contour of the particular building in the course planning method shown in FIG. 1;
fig. 3 is a flowchart of a three-dimensional reconstruction method for a special building according to an embodiment of the present invention;
FIG. 4 is a schematic drawing showing the outer contour isometric division of the present invention;
FIG. 5 is a schematic representation of the oblique aerial photography of a particular building of the present invention;
FIG. 6 is a schematic diagram of a real three-dimensional model of a special building constructed according to the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
In a first embodiment, a flowchart of a method for planning a route for a special building inclined aerial photography is shown in fig. 1, and the route planning method includes:
step 1, simulating the outer contour of a special building according to the outer contour characteristics of the building;
step 2, carrying out equal-angle division on the outer contour according to a division angle by taking the central axis of the outer contour as a reference;
step 3, determining a normal vector of each pre-projection according to the equiangular division result, and determining an aerial photography reference surface according to the normal vector;
and 4, planning a shooting route of the oblique aerial photography through the aerial photography reference surface.
Specifically, firstly, the outer contour of the special building can be constructed according to the outer contour feature simulation of the building, and the outer contour feature of the special building can be extracted by acquiring a facade image of the special building or by using historical image data through the existing image contour feature extraction method. Then, a central axis L of the outer contour is determined, the outer contour is divided into equal angles according to a set dividing angle by taking the central axis L as a reference, then a normal vector of each pre-projection can be determined according to the equal angle dividing result, an aerial photography reference surface is determined according to the normal vector, finally, an intersecting line formed by the aerial photography reference surface around the outer contour can be used as a planning route, and a photography route is combined by all intersecting lines of the aerial photography reference surface and the outer contour.
The aircraft can carry out oblique aerial photography according to a planned photography route, accurately acquire texture information of each vertical face of a building, acquire oblique aerial photography images of a special building to construct a fine real-scene three-dimensional model of the special building, and realize high-precision three-dimensional reconstruction and restoration of the special physical sign building.
In this embodiment, preferably, as shown in fig. 2, the simulating the external contour of the special building according to the external contour feature of the building includes:
step 1-1, analyzing the outer contour characteristics of a building, and determining the physical sign form of a special building;
1-2, selecting key points of a special building according to the physical sign form;
and 1-3, performing digital rarefaction simulation based on key points, and constructing the outer contour of the special building.
Specifically, firstly, it can be determined that the physical sign form of the special building is a cylinder, a triangle or other irregular shapes through the external contour features of the building, then, according to the physical sign form of the special building, key points in the external contour are selected, for example, top surface edge points can be selected as the key points for the cylinder, then, the selected key points are thinned to remove repeated key points, the external contour of the special building is constructed according to the key point data simulation obtained after thinning, the key point data comprises the position coordinates of the key points, and the external contour features of the building can be accurately expressed through the position coordinates of the key points.
In this embodiment, preferably, the central axis is a mathematical center line of the outer contour, i.e. a mathematical center line passing through the geometric center of gravity and the top surface center line point.
In this embodiment, preferably, the value range of the division angle is
Theta is the dividing angle. The division angle is determined by the fineness of the three-dimensional reconstruction expression, and the higher the fineness requirement is, the smaller the division angle is, and the larger the division angle is otherwise. According to typical buildings such as a column type building, a tower type building, a ball type building and the like, the experience value of the division angle is
In this embodiment, it is preferable that the planning of the photographing route for oblique aerial photography by the aerial photography reference plane includes:
determining the position coordinates of the intersection line between each aerial photography datum plane and the outer contour;
and planning the photographing route according to the position coordinates of the intersecting line.
Specifically, as shown in fig. 4, the equiangular division line of the outer contour may be taken as a normal vector for each pre-projection
Wherein N belongs to N, N is the equiangular division number, and N is 180 DEG/theta. As shown in fig. 5, will be aligned with the normal vector
The vertical plane is used as an aerial photography reference surface for oblique aerial photography, each aerial photography reference surface forms an intersecting line around the outer contour, a photography route can be planned through the position coordinates of the intersecting lines formed by all the aerial photography reference surfaces around the outer contour, namely the position coordinates of the intersecting lines are determined through the position coordinates of the aerial photography reference surfaces and the outer contour characteristics.
A storage medium storing a computer program which, when executed, performs the above-described method for planning an inclined aerial photography route for a particular building.
In a second embodiment, a flowchart of a three-dimensional reconstruction method for a special building shown in fig. 3 is shown, where the three-dimensional reconstruction method includes:
step one, planning a shooting route by adopting the method;
step two, performing oblique aerial photography according to the planned photography route to obtain an oblique aerial photography image of the special building;
and thirdly, performing three-dimensional reconstruction through the oblique aerial photography image to obtain a real-scene three-dimensional model of the special building.
Specifically, firstly, a shooting course of the aircraft can be planned for a special building by using the course planning method, then the aircraft flies around the special building according to the shooting course, and in the flying process, the special building is subjected to oblique aerial photography in real time, and an oblique aerial photography image of the special building is accurately acquired. And finally, performing three-dimensional reconstruction according to the acquired oblique aerial photography image to realize high-precision three-dimensional reconstruction and restoration of the special building. Through carrying out the pertinence oblique photography to different characteristic buildings, avoided high red love aerial photograph and useless line black, when satisfying the specialization application, practiced thrift the cost, improved efficiency.
In this embodiment, preferably, the lateral overlap and the course overlap of the oblique aerial photography image are both 70% to 80%, and the ground resolution is set to 4 cm, as long as the requirements of the conventional oblique aerial photography course and the colossal overlap are met.
In this embodiment, it is preferable that the three-dimensional reconstruction by the oblique aerial photography image includes:
performing field photo control measurement based on the oblique aerial photography image to obtain control point data;
carrying out interior industry aerial triangulation according to the control point data to obtain photo orientation element data of the oblique aerial photography image;
performing three-dimensional reconstruction according to the obtained photo orientation element data to obtain a three-dimensional model of the special building;
and obtaining the real-scene three-dimensional model of the special building by performing texture mapping on the three-dimensional model.
Specifically, first, field photograph control measurement may be performed on an oblique aerial photographic image obtained by shooting, and control point data in the image may be obtained. Then, the tilt aerial photography images are subjected to interior operation aerial triangulation by using the control point data, so that photo orientation element data of each tilt aerial photography image can be obtained, then, a three-dimensional model of a special building can be constructed by the photo orientation elements, finally, the material of the three-dimensional model is set according to the existing texture mapping step, the three-dimensional model is subjected to model modification, and finally, the realistic three-dimensional model of the special building shown in fig. 6 is obtained.
The real-scene three-dimensional models of each special building can be integrated, built and managed, the space and semantic mapping relations of the models are marked from a plurality of detail level models, the models are displayed and stored in a certain mode, flexible three-dimensional data loading and scheduling strategies are made for a three-dimensional graphic engine, the advantages of the fine real-scene three-dimensional models are fully played, and a data basis is provided for fine city management, national space planning, construction management and the like.
A storage medium stores a computer program which, when running, executes the above-described method for three-dimensional reconstruction of a particular building.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (10)
1. A method for planning an inclined aerial photography route of a special building is characterized by comprising the following steps:
simulating the outer contour of a special building according to the outer contour characteristics of the building;
carrying out equiangular division on the outer contour according to a division angle by taking a central axis of the outer contour as a reference;
determining a normal vector of each pre-projection according to the equiangular division result, and determining an aerial photography reference surface according to the normal vector;
and planning a photographing route of oblique aerial photography through the aerial photography reference surface.
2. The method for planning tilted aerial photography routes for special buildings according to claim 1, wherein the simulating the outer contour of a special building according to the outer contour features of the building comprises:
analyzing the outer contour characteristics of the building to determine the physical sign form of the special building;
selecting key points of a special building according to the physical sign forms;
and performing digital rarefaction simulation based on the key points to construct the outer contour of the special building.
3. The method for planning the inclined aerial photographic route of a special building according to claim 1, wherein the central axis is a mathematical center line of the outer contour.
4. The method for planning the inclined aerial photography route of a special building according to claim 1, wherein the dividing angle ranges from a value of
θ is the dividing angle.
5. The special building inclined aerial photography route planning method according to claim 1, wherein planning the inclined aerial photography route through the aerial photography reference plane comprises:
determining the position coordinates of the intersection line between each aerial photography datum plane and the outer contour;
and planning the photographing route according to the position coordinates of the intersecting line.
6. A storage medium storing a computer program which, when executed, performs a method of planning inclined aerial photographic routes for special buildings according to any one of claims 1 to 5.
7. A three-dimensional reconstruction method for a special building is characterized by comprising the following steps:
planning a photography route by using the special building inclined aerial photography route planning method according to any one of claims 1 to 5;
performing oblique aerial photography according to the planned photography route to obtain an oblique aerial photography image of the special building;
and performing three-dimensional reconstruction through the oblique aerial photography image to obtain a real-scene three-dimensional model of the special building.
8. The special building three-dimensional reconstruction method according to claim 7, wherein the lateral overlap and the heading overlap of the oblique aerial photographic image are both 70% to 80%.
9. The special building three-dimensional reconstruction method according to claim 7, wherein said three-dimensional reconstruction by said oblique aerial photographic image comprises:
performing field photo control measurement based on the oblique aerial photography image to obtain control point data;
carrying out interior industry aerial triangulation according to the control point data to obtain photo orientation element data of the oblique aerial photography image;
performing three-dimensional reconstruction according to the obtained photo orientation element data to obtain a three-dimensional model of the special building;
and obtaining the real-scene three-dimensional model of the special building by performing texture mapping on the three-dimensional model.
10. A storage medium, in which a computer program is stored which, when running, performs a method for three-dimensional reconstruction of a special building as claimed in claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110773152.5A CN113758438B (en) | 2021-07-08 | 2021-07-08 | Oblique aerial photography and three-dimensional reconstruction method for special building |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110773152.5A CN113758438B (en) | 2021-07-08 | 2021-07-08 | Oblique aerial photography and three-dimensional reconstruction method for special building |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113758438A true CN113758438A (en) | 2021-12-07 |
| CN113758438B CN113758438B (en) | 2023-07-25 |
Family
ID=78787574
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110773152.5A Active CN113758438B (en) | 2021-07-08 | 2021-07-08 | Oblique aerial photography and three-dimensional reconstruction method for special building |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113758438B (en) |
Citations (38)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006027331A (en) * | 2004-07-13 | 2006-02-02 | Hiroboo Kk | Method for collecting aerial image information by utilizing unmanned flying object |
| US20090163799A1 (en) * | 2007-12-13 | 2009-06-25 | Stephan Erbel | Detection of the position of a moving object and treatment method |
| CN102269593A (en) * | 2010-06-01 | 2011-12-07 | 北京航空航天大学 | Fuzzy virtual force-based unmanned plane route planning method |
| KR101349375B1 (en) * | 2013-02-01 | 2014-01-13 | 주식회사 한국에스지티 | Method of automatic three dimensional plotting of building for three dimensional geographic information system |
| US20140332688A1 (en) * | 2011-10-05 | 2014-11-13 | Siemens Aktiengesellschaft | Method and system for positioning an apparatus for monitoring a parabolic reflector aerially |
| US20150243025A1 (en) * | 2012-09-28 | 2015-08-27 | Brainlab Ag | Isocentric patient rotation for detection of the position of a moving object |
| CN105651780A (en) * | 2015-12-28 | 2016-06-08 | 新疆金风科技股份有限公司 | Method, apparatus and system for detecting state of blower blade through unmanned plane |
| CN205545613U (en) * | 2015-12-31 | 2016-08-31 | 南宁慧视科技有限责任公司 | Rotatory cloud platform of unmanned aerial vehicle oblique photography |
| CN106327573A (en) * | 2016-08-25 | 2017-01-11 | 成都慧途科技有限公司 | Real scene three-dimensional modeling method for urban building |
| CN106444841A (en) * | 2016-11-15 | 2017-02-22 | 航天图景（北京）科技有限公司 | Flight route planting method based on multi-rotor wing unmanned aerial vehicle oblique photography system |
| US20170293216A1 (en) * | 2016-04-11 | 2017-10-12 | As Vision Limited | Aerial panoramic oblique photography apparatus |
| CN107356230A (en) * | 2017-07-12 | 2017-11-17 | 深圳市武测空间信息有限公司 | A kind of digital mapping method and system based on outdoor scene threedimensional model |
| CN107514993A (en) * | 2017-09-25 | 2017-12-26 | 同济大学 | The collecting method and system towards single building modeling based on unmanned plane |
| US20180053336A1 (en) * | 2015-03-11 | 2018-02-22 | James Summerville | Efficient Airborne Oblique Image Collection |
| US20180102057A1 (en) * | 2016-10-06 | 2018-04-12 | GEOSAT Aerospace & Technology | Route planning methods and apparatuses for unmanned aerial vehicles |
| US20180262674A1 (en) * | 2015-10-27 | 2018-09-13 | Mitsubishi Electric Corporation | Image capturing system for shape measurement of structure, method of capturing image of structure for shape measurement of structure, on-board control device, remote control device, program, and storage medium |
| CN108871285A (en) * | 2018-08-22 | 2018-11-23 | 上海华测导航技术股份有限公司 | Unmanned plane oblique photograph measuring system in planing final construction datum |
| CN108931235A (en) * | 2018-08-22 | 2018-12-04 | 上海华测导航技术股份有限公司 | Application method of the unmanned plane oblique photograph measuring technique in planing final construction datum |
| CN109073375A (en) * | 2017-12-18 | 2018-12-21 | 深圳市大疆创新科技有限公司 | The measurement method and equipment of spray area |
| CN109520479A (en) * | 2019-01-15 | 2019-03-26 | 成都建工集团有限公司 | Method based on unmanned plane oblique photograph auxiliary earth excavation construction |
| CN109765927A (en) * | 2018-12-29 | 2019-05-17 | 湖北无垠智探科技发展有限公司 | A kind of unmanned plane aerial photography flight remote control system based on APP |
| WO2019119187A1 (en) * | 2017-12-18 | 2019-06-27 | 深圳市大疆创新科技有限公司 | Route planning method for unmanned aerial vehicle, control device, and storage medium |
| US20190228573A1 (en) * | 2018-01-25 | 2019-07-25 | General Electric Company | Automated and adaptive three-dimensional robotic site surveying |
| CN110189405A (en) * | 2019-05-31 | 2019-08-30 | 重庆市勘测院 | A kind of outdoor scene three-dimensional modeling method for taking building density into account |
| CN110310367A (en) * | 2019-07-03 | 2019-10-08 | 武汉大势智慧科技有限公司 | Based on large scene outdoor scene three-dimensional multi-angle 2.5D image lightweight browsing method |
| CN110779498A (en) * | 2019-09-19 | 2020-02-11 | 中国科学院测量与地球物理研究所 | Shallow river water depth mapping method and system based on unmanned aerial vehicle multi-viewpoint photography |
| CN111006646A (en) * | 2019-12-19 | 2020-04-14 | 内蒙古蒙能建设工程监理有限责任公司 | Method for monitoring construction progress based on unmanned aerial vehicle oblique photography measurement technology |
| CN111044018A (en) * | 2019-12-12 | 2020-04-21 | 王峰 | Method for planning aerial photogrammetry route on opposite surface |
| CN111091613A (en) * | 2019-10-31 | 2020-05-01 | 中国化学工程第六建设有限公司 | Three-dimensional live-action modeling method based on unmanned aerial vehicle aerial survey |
| CN111504273A (en) * | 2020-05-09 | 2020-08-07 | 王军 | Three-dimensional digital sand table engine technology and device based on unmanned aerial vehicle aerial photography |
| CN112097746A (en) * | 2020-09-11 | 2020-12-18 | 浙江雷纹电子科技有限公司 | Oblique photography data acquisition method for three-dimensional visualization |
| CN112146629A (en) * | 2020-09-24 | 2020-12-29 | 武汉大学 | Multi-angle close-up photography track and attitude planning method |
| JP2021002166A (en) * | 2019-06-20 | 2021-01-07 | ソフトバンク株式会社 | Flight route determination device, flight route determination system, flight route determination method, and flight route determination program |
| CN112484717A (en) * | 2020-11-23 | 2021-03-12 | 国网福建省电力有限公司 | Unmanned aerial vehicle oblique photography route planning method and computer readable storage medium |
| CN112700530A (en) * | 2020-12-14 | 2021-04-23 | 中国铁路设计集团有限公司 | Unmanned aerial vehicle rotary multi-angle railway existing line high-precision three-dimensional reconstruction route planning method |
| CN112710311A (en) * | 2020-12-14 | 2021-04-27 | 中国铁路设计集团有限公司 | Automatic planning method for three-dimensional live-action reconstruction aerial camera points of terrain adaptive unmanned aerial vehicle |
| CN112927370A (en) * | 2021-02-25 | 2021-06-08 | 苍穹数码技术股份有限公司 | Three-dimensional building model construction method and device, electronic equipment and storage medium |
| US20220276387A1 (en) * | 2019-12-09 | 2022-09-01 | Fujifilm Corporation | Image processing method, image processing apparatus, and image processing program |
-
2021
- 2021-07-08 CN CN202110773152.5A patent/CN113758438B/en active Active
Patent Citations (38)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006027331A (en) * | 2004-07-13 | 2006-02-02 | Hiroboo Kk | Method for collecting aerial image information by utilizing unmanned flying object |
| US20090163799A1 (en) * | 2007-12-13 | 2009-06-25 | Stephan Erbel | Detection of the position of a moving object and treatment method |
| CN102269593A (en) * | 2010-06-01 | 2011-12-07 | 北京航空航天大学 | Fuzzy virtual force-based unmanned plane route planning method |
| US20140332688A1 (en) * | 2011-10-05 | 2014-11-13 | Siemens Aktiengesellschaft | Method and system for positioning an apparatus for monitoring a parabolic reflector aerially |
| US20150243025A1 (en) * | 2012-09-28 | 2015-08-27 | Brainlab Ag | Isocentric patient rotation for detection of the position of a moving object |
| KR101349375B1 (en) * | 2013-02-01 | 2014-01-13 | 주식회사 한국에스지티 | Method of automatic three dimensional plotting of building for three dimensional geographic information system |
| US20180053336A1 (en) * | 2015-03-11 | 2018-02-22 | James Summerville | Efficient Airborne Oblique Image Collection |
| US20180262674A1 (en) * | 2015-10-27 | 2018-09-13 | Mitsubishi Electric Corporation | Image capturing system for shape measurement of structure, method of capturing image of structure for shape measurement of structure, on-board control device, remote control device, program, and storage medium |
| CN105651780A (en) * | 2015-12-28 | 2016-06-08 | 新疆金风科技股份有限公司 | Method, apparatus and system for detecting state of blower blade through unmanned plane |
| CN205545613U (en) * | 2015-12-31 | 2016-08-31 | 南宁慧视科技有限责任公司 | Rotatory cloud platform of unmanned aerial vehicle oblique photography |
| US20170293216A1 (en) * | 2016-04-11 | 2017-10-12 | As Vision Limited | Aerial panoramic oblique photography apparatus |
| CN106327573A (en) * | 2016-08-25 | 2017-01-11 | 成都慧途科技有限公司 | Real scene three-dimensional modeling method for urban building |
| US20180102057A1 (en) * | 2016-10-06 | 2018-04-12 | GEOSAT Aerospace & Technology | Route planning methods and apparatuses for unmanned aerial vehicles |
| CN106444841A (en) * | 2016-11-15 | 2017-02-22 | 航天图景（北京）科技有限公司 | Flight route planting method based on multi-rotor wing unmanned aerial vehicle oblique photography system |
| CN107356230A (en) * | 2017-07-12 | 2017-11-17 | 深圳市武测空间信息有限公司 | A kind of digital mapping method and system based on outdoor scene threedimensional model |
| CN107514993A (en) * | 2017-09-25 | 2017-12-26 | 同济大学 | The collecting method and system towards single building modeling based on unmanned plane |
| CN109073375A (en) * | 2017-12-18 | 2018-12-21 | 深圳市大疆创新科技有限公司 | The measurement method and equipment of spray area |
| WO2019119187A1 (en) * | 2017-12-18 | 2019-06-27 | 深圳市大疆创新科技有限公司 | Route planning method for unmanned aerial vehicle, control device, and storage medium |
| US20190228573A1 (en) * | 2018-01-25 | 2019-07-25 | General Electric Company | Automated and adaptive three-dimensional robotic site surveying |
| CN108931235A (en) * | 2018-08-22 | 2018-12-04 | 上海华测导航技术股份有限公司 | Application method of the unmanned plane oblique photograph measuring technique in planing final construction datum |
| CN108871285A (en) * | 2018-08-22 | 2018-11-23 | 上海华测导航技术股份有限公司 | Unmanned plane oblique photograph measuring system in planing final construction datum |
| CN109765927A (en) * | 2018-12-29 | 2019-05-17 | 湖北无垠智探科技发展有限公司 | A kind of unmanned plane aerial photography flight remote control system based on APP |
| CN109520479A (en) * | 2019-01-15 | 2019-03-26 | 成都建工集团有限公司 | Method based on unmanned plane oblique photograph auxiliary earth excavation construction |
| CN110189405A (en) * | 2019-05-31 | 2019-08-30 | 重庆市勘测院 | A kind of outdoor scene three-dimensional modeling method for taking building density into account |
| JP2021002166A (en) * | 2019-06-20 | 2021-01-07 | ソフトバンク株式会社 | Flight route determination device, flight route determination system, flight route determination method, and flight route determination program |
| CN110310367A (en) * | 2019-07-03 | 2019-10-08 | 武汉大势智慧科技有限公司 | Based on large scene outdoor scene three-dimensional multi-angle 2.5D image lightweight browsing method |
| CN110779498A (en) * | 2019-09-19 | 2020-02-11 | 中国科学院测量与地球物理研究所 | Shallow river water depth mapping method and system based on unmanned aerial vehicle multi-viewpoint photography |
| CN111091613A (en) * | 2019-10-31 | 2020-05-01 | 中国化学工程第六建设有限公司 | Three-dimensional live-action modeling method based on unmanned aerial vehicle aerial survey |
| US20220276387A1 (en) * | 2019-12-09 | 2022-09-01 | Fujifilm Corporation | Image processing method, image processing apparatus, and image processing program |
| CN111044018A (en) * | 2019-12-12 | 2020-04-21 | 王峰 | Method for planning aerial photogrammetry route on opposite surface |
| CN111006646A (en) * | 2019-12-19 | 2020-04-14 | 内蒙古蒙能建设工程监理有限责任公司 | Method for monitoring construction progress based on unmanned aerial vehicle oblique photography measurement technology |
| CN111504273A (en) * | 2020-05-09 | 2020-08-07 | 王军 | Three-dimensional digital sand table engine technology and device based on unmanned aerial vehicle aerial photography |
| CN112097746A (en) * | 2020-09-11 | 2020-12-18 | 浙江雷纹电子科技有限公司 | Oblique photography data acquisition method for three-dimensional visualization |
| CN112146629A (en) * | 2020-09-24 | 2020-12-29 | 武汉大学 | Multi-angle close-up photography track and attitude planning method |
| CN112484717A (en) * | 2020-11-23 | 2021-03-12 | 国网福建省电力有限公司 | Unmanned aerial vehicle oblique photography route planning method and computer readable storage medium |
| CN112700530A (en) * | 2020-12-14 | 2021-04-23 | 中国铁路设计集团有限公司 | Unmanned aerial vehicle rotary multi-angle railway existing line high-precision three-dimensional reconstruction route planning method |
| CN112710311A (en) * | 2020-12-14 | 2021-04-27 | 中国铁路设计集团有限公司 | Automatic planning method for three-dimensional live-action reconstruction aerial camera points of terrain adaptive unmanned aerial vehicle |
| CN112927370A (en) * | 2021-02-25 | 2021-06-08 | 苍穹数码技术股份有限公司 | Three-dimensional building model construction method and device, electronic equipment and storage medium |
Non-Patent Citations (4)
| Title |
|---|
| 王栋 等: "无人机技术在超高位危岩勘查中的应用", 成都理工大学学报(自然科学版), no. 06, pages 109 - 114 * |
| 苟彦梅 等: "无人机倾斜摄影测量技术在文物保护修复工程的应用", 科技视界, no. 28, pages 33 - 34 * |
| 苟彦梅: "基于无人机倾斜摄影测量的石窟文物三维重建应用研究", 《中国优秀硕士学位论文全文数据库（电子期刊）基础科学辑》, pages 008 - 270 * |
| 陈良超 等: "一种倾斜摄影实景三维模型单体化方法", 《测绘通报》, pages 68 - 72 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113758438B (en) | 2023-07-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110570428B (en) | Method and system for dividing building roof sheet from large-scale image dense matching point cloud | |
| CN110136259A (en) | A kind of dimensional Modeling Technology based on oblique photograph auxiliary BIM and GIS | |
| Pepe et al. | Techniques, tools, platforms and algorithms in close range photogrammetry in building 3D model and 2D representation of objects and complex architectures | |
| CN110189405B (en) | Live-action three-dimensional modeling method considering building density | |
| CN113034347B (en) | Oblique photography image processing method, device, processing equipment and storage medium | |
| CN113284239B (en) | Method and device for manufacturing electronic sand table of smart city | |
| CN115014361B (en) | Air route planning method, device and computer storage medium | |
| EP3376160A1 (en) | Method and system for identifying urban objects | |
| CN113192200A (en) | Method for constructing urban real scene three-dimensional model based on space-three parallel computing algorithm | |
| CN115965790A (en) | Oblique photography point cloud filtering method based on cloth simulation algorithm | |
| CN115855060A (en) | Geometric primitive guided route planning method and device | |
| CN117315146A (en) | Reconstruction method and storage method of three-dimensional model based on trans-scale multi-source data | |
| CN117470246A (en) | Path planning method and device, storage medium and electronic equipment | |
| KR20220150170A (en) | Drone used 3d mapping method | |
| CN111222586A (en) | Inclined image matching method and device based on three-dimensional inclined model visual angle | |
| CN113758438A (en) | Special building oblique aerial photography and three-dimensional reconstruction method | |
| CN114119892B (en) | Three-dimensional digital road network construction method based on BIM and GIS technologies | |
| KR102587445B1 (en) | 3d mapping method with time series information using drone | |
| Gehmlich et al. | Diversity of Flight Strategies in UAV Recording | |
| KR20220163227A (en) | Drone used 3d mapping method | |
| CN113781639A (en) | Rapid construction method of large-scene road infrastructure digital model | |
| CN112734924B (en) | Visual modeling method for roadbed slope live-action three-dimensional model | |
| Radford | Best Practices when Using Multi-Rotor Consumer UAVs for Photogrammetric Mapping: Limitations and Possible Solutions | |
| CN117876222B (en) | Unmanned aerial vehicle image stitching method under weak texture lake water surface scene | |
| Shi et al. | Research on Viewpoint Planning Method for Multi-view Image 3D Reconstruction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240318 Address after: No. 6 Qingzhu East Road, Dazhulin Street, Yubei District, Chongqing, 400000 Patentee after: Chongqing Institute of Surveying and Mapping Science and Technology (Chongqing Map Compilation Center) Country or region after: China Address before: 401121 No. 6, Qingzhu East Road, Yubei District, Chongqing Patentee before: CHONGQING SURVEY INSTITUTE Country or region before: China |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240320 Address after: No. 6 Qingzhu East Road, Dazhulin Street, Yubei District, Chongqing, 400000 Patentee after: Chongqing Institute of Surveying and Mapping Science and Technology (Chongqing Map Compilation Center) Country or region after: China Address before: 401121 No. 6, Qingzhu East Road, Yubei District, Chongqing Patentee before: CHONGQING SURVEY INSTITUTE Country or region before: China |