CN113758438B - Oblique aerial photography and three-dimensional reconstruction method for special building - Google Patents
Oblique aerial photography and three-dimensional reconstruction method for special building Download PDFInfo
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- CN113758438B CN113758438B CN202110773152.5A CN202110773152A CN113758438B CN 113758438 B CN113758438 B CN 113758438B CN 202110773152 A CN202110773152 A CN 202110773152A CN 113758438 B CN113758438 B CN 113758438B
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Classifications
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
Abstract
The invention discloses a special building oblique aerial photography and three-dimensional reconstruction method, which comprises the following steps: firstly, constructing an outer contour of a special building according to outer contour feature simulation, then determining the central axis of the outer contour, carrying out equiangular division on the outer contour according to a set division angle by taking the central axis as a reference, then determining a normal vector of each pre-projection according to an equiangular division result, determining a aerial photographing reference plane according to the normal vector, finally planning a photographic route according to an intersection line formed by the aerial photographing reference plane around the outer contour, and after the route planning is completed, enabling an aircraft to fly according to the photographic route to acquire an oblique aerial photographic image of the special building. And performing field photo control measurement on the inclined aerial photographic image, performing field aerial triangulation by using the measured control point data to obtain photo azimuth element data, constructing a three-dimensional model by using the photo azimuth element, 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 of the position, travel, height or 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 three-dimensional reconstruction by acquiring target object images from different angles and oblique aerial photography with high overlapping degree, and is really used for restoring the characteristics of the position, the shape, the texture and the like of the target object, and has important application in the aspects of urban management, cultural relic protection, travel propaganda, security layout and the like. The conventional oblique aerial photography mode is often realized by means of flight carriers such as a large airplane, an unmanned aerial vehicle and the like, a multi-lens camera is used for simultaneously collecting images of the ground under view and the side view angles, and the real world is restored by utilizing the images with large overlapping degree to reconstruct three-dimensionally, so that the real restoration of a building is critical in the process. When oblique aerial photography and three-dimensional reconstruction are carried out on buildings with column type, tower type, ball type and other irregular signs, if a conventional mode is continued, because the aerial altitude and the camera inclination angle of a flight carrier are fixed, observation blind areas are very easy to cause, the acquisition of textures on the side face and the bottom of the building is not completed, the three-dimensional reconstruction quality of images is limited, and the application of achievements is limited.
Disclosure of Invention
Aiming at the defects existing 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, a method of oblique aerial photography of a particular building is provided, comprising:
simulating the outline of a special building according to the outline characteristics of the building;
equiangular division is carried out on the outer contour according to the dividing angle by taking the central axis of the outer contour as a reference;
determining normal vectors of each pre-projection according to the equiangular division result, and determining aerial shooting reference surfaces according to the normal vectors;
and planning a photographing route of oblique aerial photography through the aerial photography reference plane.
With reference to the first aspect, in a first implementation manner of the first aspect, the simulating the outer contour of the special building according to the outer contour feature of the building includes:
analyzing the outline 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 form;
and carrying out digital thinning simulation based on the key points, and constructing the outline of the special building.
With reference to the first aspect, in a second implementation manner of the first aspect, the central axis is a mathematical central axis of the outer contour.
With reference to the first aspect, in a third implementation manner of the first aspect, the value range of the dividing angle is θ e (10 ° -30 °), and θ is the dividing angle.
With reference to the first aspect, in a fourth implementation manner of the first aspect, the planning, by the aerial reference plane, a photography route of oblique aerial photography includes:
determining the position coordinates of intersecting lines between each aerial shooting reference plane and the outer contour;
and planning the photographic route according to the position coordinates of the intersecting line.
In a second aspect, a storage medium is provided, storing a computer program which, when run, performs any one of the special building oblique aerial photography route planning methods of the first aspect, the first to fourth realizations of the first aspect.
In a third aspect, a method for three-dimensional reconstruction of a particular building is provided, comprising:
planning a photographic route by adopting any one special building oblique aerial photographic route planning method in the first aspect and the first to the fourth realizable modes of the first aspect;
performing oblique aerial photography according to the planned photography route to obtain oblique aerial photography images of special buildings;
and carrying out three-dimensional reconstruction through the oblique aerial photography image to obtain a live-action three-dimensional model of the special building.
With reference to the third aspect, in a first possible implementation manner of the third aspect, the side lap and the heading lap of the oblique aerial photographic image are both 70% -80%.
With reference to the third aspect, in a second implementation manner of the third aspect, the three-dimensional reconstruction by the oblique aerial photography image includes:
performing field photo control measurement based on the inclined aerial photographic image to obtain control point data;
performing in-industry aerial triangulation according to the control point data to obtain photo azimuth element data of the inclined aerial photographic image;
carrying out three-dimensional reconstruction according to the obtained photo azimuth 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 carrying out texture mapping on the three-dimensional model.
In a fourth aspect, a storage medium is provided, storing a computer program which, when run, performs the special building three-dimensional reconstruction method of the second implementable form of the third aspect.
The beneficial effects are that: by adopting the special building oblique aerial photography and three-dimensional reconstruction method, the method can further determine the oblique aerial photography mode by identifying the signs of the building, accurately acquire the texture information of each elevation of the building, and further realize high-precision three-dimensional reconstruction and restoration of the special building.
Drawings
In order to more clearly illustrate the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described. Throughout the drawings, the elements or portions are not necessarily drawn to actual scale.
FIG. 1 is a flow chart of a route planning method according to an embodiment of the present invention;
FIG. 2 is a flow chart of the construction of the outer contours of a particular building in the route planning method shown in FIG. 1;
FIG. 3 is a flow chart of a method for three-dimensional reconstruction of a particular building according to one embodiment of the present invention;
FIG. 4 is an isometric view of the outer profile of the present invention;
FIG. 5 is a schematic illustration of a special building tilt aerial photograph of the present invention;
fig. 6 is a schematic view of a real three-dimensional model of a particular building constructed in accordance with the present invention.
Detailed Description
Embodiments of the technical scheme of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and thus are merely examples, and are not intended to limit the scope of the present invention.
A flowchart of a special building oblique aerial photography route planning method as shown in fig. 1, the route planning method comprising:
step 1, simulating the outline of a special building according to the outline characteristics of the building;
step 2, taking the central axis of the outer contour as a reference, and carrying out equiangular division on the outer contour according to division angles;
step 3, determining a normal vector of each pre-projection according to the equiangular division result, and determining a aerial photographing reference plane according to the normal vector;
and 4, planning a photographing route of oblique aerial photography through the aerial photography reference plane.
Specifically, firstly, the outline of a special building can be simulated and constructed according to the outline characteristics of the building, the outline characteristics of the special building can be extracted by acquiring the elevation image of the special building or utilizing the historical image data and the existing image outline characteristic extraction method. And finally, the intersecting line formed by the aerial reference surface around the outer contour body is used as a planning navigation line, and the photographing navigation line is formed by combining all intersecting lines of the aerial reference surface and the outer contour.
The aircraft can perform oblique aerial photography according to the planned photography route, accurately acquire texture information of each elevation of the building, acquire oblique aerial photography images of the special building, construct a fine live-action three-dimensional model of the special building, and realize high-precision three-dimensional reconstruction and restoration of the special sign building.
In this embodiment, preferably, as shown in fig. 2, the simulating the outer contour of the special building according to the outer contour features of the building includes:
step 1-1, analyzing outline characteristics of a building to determine physical sign forms of the special building;
step 1-2, selecting key points of a special building according to the physical sign form;
and 1-3, performing digital thinning simulation based on the key points, and constructing the outer contour of the special building.
Specifically, firstly, the physical sign shape of a special building can be determined to be a cylinder, a triangle or other irregular shapes through the external contour feature of the building, then, key points in the external contour are selected according to the physical sign shape of the special building, such as top surface edge points can be selected as key points by the cylinder, then, the selected key points are thinned to remove repeated key points, the external contour of the special building is simulated and constructed according to the thinned key point data, the key point data comprise the position coordinates of the key points, and the external contour feature of the building can be accurately expressed through the position coordinates of the key points.
In this embodiment, it is preferable that the central axis is the mathematical center line of the outer contour, that is, the mathematical first passing through the geometric center of gravity and the center line point of the top surface.
In this embodiment, it is preferable that the value range of the dividing angle is θ e (10 ° to 30 °), and θ is the dividing angle. The dividing angle is determined by the fineness degree of the three-dimensional reconstruction expression, and the higher the fineness degree requirement is, the smaller the dividing angle is, and the larger the conversely is. According to typical buildings such as column type, tower type and ball type, the empirical value of the dividing angle is theta epsilon (10-30 degrees).
In this embodiment, preferably, the planning of the photography route of the oblique aerial photography by the aerial photography reference plane includes:
determining the position coordinates of intersecting lines between each aerial shooting reference plane and the outer contour;
and planning the photographic route according to the position coordinates of the intersecting line.
Specifically, as shown in FIG. 4, the equiangular dividing line of the outer contour can be taken as the normal vector of each pre-projectionWhere N ε N, N is the number of equal-angle divisions, N=180°/θ. As shown in FIG. 5, will be +.>The vertical plane serves as a aerial reference plane for oblique aerial photography, eachThe aerial reference surfaces all form an intersecting line around the outer contour, and the photographic route can be planned through the position coordinates of the intersecting line formed by all the aerial reference surfaces around the outer contour, namely, the position coordinates of the intersecting line are determined through the position coordinates of the aerial reference surfaces and the outer contour features.
A storage medium storing a computer program which, when run, performs the above-described special building oblique aerial photography route planning method.
In a second embodiment, as shown in fig. 3, a flow chart of a three-dimensional reconstruction method of a special building, the three-dimensional reconstruction method includes:
step one, planning a photographic route by adopting the method;
step two, performing oblique aerial photography according to the planned photography route to obtain oblique aerial photography images of the special building;
and thirdly, performing three-dimensional reconstruction through the oblique aerial photography image to obtain a live-action three-dimensional model of the special building.
Specifically, firstly, the above-mentioned route planning method can be adopted to plan the photography route of the aircraft for the special building, then the aircraft flies around the special building according to the photography route, and in the flying process, the special building is subjected to oblique aerial photography in real time, and the oblique aerial photography images of the special building are accurately acquired. And finally, carrying out three-dimensional reconstruction according to the acquired oblique aerial photography images, and realizing high-precision three-dimensional reconstruction and restoration of the special building. By carrying out targeted oblique photography on different characteristic buildings, gao Gongfu aerial photography and ineffective black line are avoided, the cost is saved and the efficiency is improved while the special application is satisfied.
In this embodiment, it is preferable that the side overlapping degree and the heading overlapping degree of the oblique aerial photography image are both 70% -80%, the requirements of the conventional oblique aerial photography heading and Pang Xiang overlapping degree are met, and the ground resolution is set to be 4 cm.
In this embodiment, preferably, the three-dimensional reconstruction by the oblique aerial photography image includes:
performing field photo control measurement based on the inclined aerial photographic image to obtain control point data;
performing in-industry aerial triangulation according to the control point data to obtain photo azimuth element data of the inclined aerial photographic image;
carrying out three-dimensional reconstruction according to the obtained photo azimuth 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 carrying out texture mapping on the three-dimensional model.
Specifically, first, field photograph control measurement can be performed on an oblique aerial photograph image obtained by photographing, and control point data in the image can be obtained. Then, the control point data is used for carrying out in-flight triangulation on the oblique aerial photographic images, photo azimuth element data of each oblique aerial photographic image can be obtained, then a three-dimensional model of a special building can be constructed through photo azimuth elements, finally, materials of the three-dimensional model are set according to the existing texture mapping step, and the three-dimensional model is subjected to model modification, so that a real-scene three-dimensional model of the special building as shown in fig. 6 is finally obtained.
The real three-dimensional model of each special building can be integrated, built and managed, the space and semantic mapping relation of the model is marked from a plurality of detail level models, the space and semantic mapping relation is displayed and stored in a certain mode, a flexible three-dimensional data loading and scheduling strategy is formulated for the three-dimensional graphic engine, the advantages of the fine real three-dimensional model are fully exerted, and a data foundation is provided for city fine management, homeland space planning construction management and the like.
A storage medium storing a computer program which, when run, performs the above-described method of three-dimensional reconstruction of a particular building.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention, and are intended to be included within the scope of the appended claims and description.
Claims (9)
1. A method for planning a tilted aerial photography route for a particular building, comprising:
simulating the outline of a special building according to the outline characteristics of the building;
equiangular division is carried out on the outer contour according to the dividing angle by taking the central axis of the outer contour as a reference;
determining normal vectors of each pre-projection according to the equiangular division result, and determining aerial shooting reference surfaces according to the normal vectors;
and determining the position coordinates of intersecting lines between each aerial photographing datum plane and the outer contour, and planning the photographing route according to the position coordinates of the intersecting lines.
2. The method of oblique aerial photography route planning for a particular building according to claim 1, wherein simulating the outer profile of the particular building based on the outer profile features of the building comprises:
analyzing the outline 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 form;
and carrying out digital thinning simulation based on the key points, and constructing the outline of the special building.
3. The method of claim 1, wherein the central axis is a mathematical central axis of the outer contour.
4. The method for planning oblique aerial photography routes of special buildings according to claim 1, wherein the value range of the dividing angle is theta epsilon (10-30 degrees), and theta is the dividing angle.
5. A storage medium storing a computer program which, when run, performs the special building oblique aerial photography route planning method according to any one of claims 1 to 4.
6. A method for three-dimensional reconstruction of a particular building, comprising:
planning a photographic course using the special building oblique aerial photographic course planning method as claimed in any one of claims 1 to 4;
performing oblique aerial photography according to the planned photography route to obtain oblique aerial photography images of special buildings;
and carrying out three-dimensional reconstruction through the oblique aerial photography image to obtain a live-action three-dimensional model of the special building.
7. The method of three-dimensional reconstruction of a particular building of claim 6, wherein the oblique aerial photography images have a side lap and a heading lap of 70% to 80%.
8. The method of three-dimensional reconstruction of a particular building according to claim 6, wherein said three-dimensional reconstruction by said oblique aerial photography images comprises:
performing field photo control measurement based on the inclined aerial photographic image to obtain control point data;
performing in-industry aerial triangulation according to the control point data to obtain photo azimuth element data of the inclined aerial photographic image;
carrying out three-dimensional reconstruction according to the obtained photo azimuth 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 carrying out texture mapping on the three-dimensional model.
9. A storage medium storing a computer program which, when run, performs the method of three-dimensional reconstruction of a particular building as claimed in claim 8.
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| 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 |
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