CN206179016U - Three -dimensional on -vehicle removal image acquisition device who builds pattern - Google Patents
Three -dimensional on -vehicle removal image acquisition device who builds pattern Download PDFInfo
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- CN206179016U CN206179016U CN201621119804.4U CN201621119804U CN206179016U CN 206179016 U CN206179016 U CN 206179016U CN 201621119804 U CN201621119804 U CN 201621119804U CN 206179016 U CN206179016 U CN 206179016U
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- satellite positioning
- positioning receiver
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Abstract
The utility model relates to a three -dimensional on -vehicle removal image acquisition device who builds pattern. The device is including satellite positioning receiver, single lens reflex, panoramic camera, synchronising controller unit and data processing center, single lens reflex, panoramic camera and satellite positioning receiver are connected to synchronising controller unit warp way, single lens reflex, panoramic camera and satellite positioning receiver are connected with data processing center. Because because the moving vehicle movement track including the ground elevation can accurately be acquireed, topographic relief's change data when obtaining three -dimensional the modeling to the existence of the satellite positioning receiver of big dipper reinforcing samsung CORS system, while synchronising controller unit synchro control single lens reflex and panoramic camera to be convenient for acquire urban road and view high resolution streetscape and panorama image data, thereby satisfy the needs of the three -dimensional modeling in city to the high quality texture.
Description
Technical field
This utility model is related to three-dimensional modeling texture collection technical field, more particularly to a kind of vehicle-mounted mobile of three-dimensional modeling
Image acquisition device.
Background technology
A kind of method of the three-dimensional map modeling based on streetscape is disclosed in existing Chinese patent database, its is special
Sharp Application No.：201310474049.6, the applying date is：2013.10.11, notification number is：CN 103544734A, the day for announcing
For：2014.01.29, its method includes following step：Step S1：Choose the key position of destination object in street view image；Step
Rapid S2：Using the key position as Image Control Point, and described image control point is numbered；Step S3：Based on three-dimensional
City Vector object module, it is artificial to choose the position corresponding with the key position as target control point；Step S4：With with
Described image control point is identically numbered and the target control point is numbered；Step S5：Control point with identical numbering is
Basis, by street view image geometric correction is carried out, then is projected, is added on the three-dimensional city vector target model, completes multimode
Type composite paster；And step S6：Other angles are converted, other same targets, the street view image of different angles is selected, repetition is above-mentioned
Step, until the three-dimensional city vector target model is all covered by 360 degree.It is disadvantageous in that：This is found a view and models
It is excessively coarse, it is impossible to which that high accuracy, high-quality image information, so as to can not completely restore the true face in street or city are provided
Looks.
Utility model content
The purpose of this utility model is in view of the shortcomings of the prior art, there is provided a kind of less investment, practical three
The vehicle-mounted mobile image acquisition device of dimension modeling.
To achieve these goals, the technology that the vehicle-mounted mobile image acquisition device of this utility model three-dimensional modeling is taken
Scheme：
A kind of vehicle-mounted mobile image acquisition device of three-dimensional modeling, include install on the rolling stock based on the Big Dipper increase
The satellite positioning receiver of strong Samsung CORS systems, slr camera, panorama camera, isochronous controller unit and Data processing
The heart, the isochronous controller unit via line connection slr camera, panorama camera and satellite positioning receiver, the list is anti-phase
Machine, panorama camera and satellite positioning receiver are connected with data processing centre.
During utility model works, vehicle setting in motion while first the device is powered, satellite positioning receiver is real-time
Vehicle mobile positioning information is obtained, isochronous controller unit control slr camera and panorama camera carry out the shooting of regularity, so
The photo of specified place is filtered out according to a certain moment or a certain place afterwards, by its classified finishing.Compared with prior art, this reality
Had the beneficial effect that with new：Presence due to strengthening the satellite positioning receiver of Samsung CORS systems based on the Big Dipper, can be with essence
Ground elevation is really obtained in interior mobile vehicle movement locus, the delta data of hypsography during three-dimensional modeling is obtained；It is simultaneously same
Step controller unit Synchronization Control slr camera and panorama camera, consequently facilitating obtaining urban road and landscape high-resolution streetscape
With full-view image data, so as to meet needs of the cybercity construction to high-quality texture.The vehicle-mounted mobile image of three-dimensional modeling
Harvester uses less investment, safe and reliable.
For more accurate recording road and road surrounding enviroment, the slr camera is provided with four, slr camera
Camera lens is respectively facing the front, rear, left and right four direction of vehicle.
In order to obtain the information such as mileage, speed for travelling, while being easy to control slr camera and panorama camera to carry out rule
Property shooting, the device also includes the Hall element for perceiving vehicle wheel rotation, Hall element and isochronous controller unit phase
Connection.
Further, the hand-held satellite positioning receiver control unit being engaged with satellite positioning receiver is also included,
Hand-held satellite positioning receiver control unit is portable computer or smart mobile phone.
A kind of vehicle-mounted mobile image collecting method of three-dimensional modeling, the vehicle-mounted mobile image collecting method of three-dimensional modeling includes
The following steps：
Step one：In the data collection stage, collecting the project needs to build the region data of three-dimensional scenic and carry out total score
Analysis；
Step 2：In the field survey stage, tissue outdoor collector detect to scene, records the surrounding geographical of tested region
Environmental information, it is intended that be adapted to the scheme of vehicle-mounted mobile image collection；
Step 3：Judge whether to meet the vehicle-mounted mobile image collection condition stage, obtained according to reconnaissance at criminal scene in step 2
Data, judge whether this project possesses the condition for carrying out installed video data acquisition, if it is judged that be "Yes", then carry out
Step 4；Otherwise, illustrate that the project is not suitable for the vehicle-mounted mobile image collecting method of three-dimensional modeling and is shot, terminate flow process；
Step 4：Vehicle-mounted mobile image collecting method photographic schemes formulate the stage, according to collected by step one, step 2
The project data, it is determined that the time that outdoor collection shoots, traffic route, road speed parameter, scheme is specified after finishing, walked
Rapid five；
Step 5：Data acquisition phase, according to the outdoor acquisition scheme for making, the control of isochronous controller unit is single anti-phase
The work of machine, panorama camera and satellite positioning receiver, satellite positioning receiver obtains in real time dynamic location information, so as to accurately obtain
Ground elevation is taken in interior mobile vehicle movement locus, the delta data of hypsography during three-dimensional modeling is obtained, while single anti-phase
Machine and panorama camera are shot, and the list is anti-and panorama camera is exposed by isochronous controller unit Synchronization Control, on wheel
The Hall element for perceiving vehicle wheel rotation is installed, wheel every revolution, Hall element just detects a magnetic signal, Hall
Sensor sends interruption pulse, and isochronous controller unit responds this signal, and pulse signals are counted, and by corresponding conversion, obtains
The information such as mileage, the speed of traveling, so as to trigger slr camera and panorama camera again the shooting of regularity is carried out；
Step 6：The data compilation stage, by slr camera and panorama camera while filmed image, coordinates vehicle dynamic fixed
Position information, to streetscape and full-view image locus matching is carried out, and obtains each streetscape image in absolute coordinate space system
Positional information and the traffic route with accurate elevation, for three-dimensional modeling when hypsography matching provides accurate with correction
Landform altitude, and be that urban road and landscape outdoor scene three-dimensional modeling provide texture information, really and accurately restore city
Streetscape；
Step 7：Phase data memory, according to step 6 sort out come data, according to road, time or locus
Carry out building storehouse and management, quick calling when being easy to three-dimensional modeling.
Further, the ground trace elevation of mobile vehicle is H=H '-Ha-ξ-Δ i, the H ' in formula-connect for satellite fix
The geodetic height of receipts machine antenna phase center；Ha is the distance of satellite positioning receiver antenna phase center and ground, and ξ is that elevation is different
Constant value, can be by obtaining in Precision Quasi-geoid Determining Result；Shock-absorbing and squeegee action value when Δ i is vehicle movement, tire becomes
Shape is related to tire pressure, speed and load-carrying, and according to test, its value changes according to speed, and Δ i is within 1~3cm.
Further, the isochronous controller unit includes inside and outside two kinds of triggering modes, and internal trigger mode is by synchronization
The internal clock of controller unit drives, and by the cycle and pulse width of setting continuous impulse, conduct after continuous impulse amplification are produced
Trigger controls slr camera and panorama camera synchronizes shooting, realizes time control；External trigger mode is by wheel
The pulse signal that upper Hall element is obtained controls shooting distance by programming as external drive pulse, and swashs outside
Encourage control slr camera and panorama camera under the driving of pulse and synchronize shooting, realize distance controlling.
Compared with prior art, the beneficial effects of the utility model are：Due to strengthening Samsung CORS systems based on the Big Dipper
The presence of satellite positioning receiver, can accurately obtain ground elevation in interior mobile vehicle movement locus, obtain three-dimensional modeling
When hypsography delta data；While isochronous controller unit Synchronization Control slr camera and panorama camera, consequently facilitating obtaining
Urban road and landscape high-resolution streetscape and full-view image data are taken, is modeled to high-quality stricture of vagina so as to meet city subtle three-dimensional
The needs of reason.The vehicle-mounted mobile image collecting method of the three-dimensional modeling, using less investment, safe and reliable.
Description of the drawings
Fig. 1 is this utility model structural representation.
Wherein, 1 satellite positioning receiver, 2 slr cameras, 3 panorama cameras, 4 isochronous controller units, 5 Data processings
The heart, 6 hand-held satellite positioning receiver control units.
Specific embodiment
As shown in figure 1, for a kind of vehicle-mounted mobile image acquisition device of three-dimensional modeling, including installation on the rolling stock
Based on the Big Dipper strengthen Samsung CORS systems satellite positioning receiver 1, slr camera 2, panorama camera 3, isochronous controller list
Unit 4 and data processing centre 5, further, also include the hand-held satellite fix being engaged with satellite positioning receiver 1 and receive
Machine control unit 6, hand-held satellite positioning receiver control unit 6 is the peripheral hardware such as portable computer or smart mobile phone with being arranged
Standby, it passes through bluetooth and wirelessly connects satellite positioning receiver 1, vehicle location and communication data is controlled, in order to more accurate
Really record road and road surrounding enviroment, slr camera 2 is provided with four, the camera lens of slr camera 2 is respectively facing before vehicle,
Afterwards, left and right four direction, the via line of isochronous controller unit 4 connection slr camera 2, panorama camera 3 and satellite fix are received
Machine 1, slr camera 2, panorama camera 3 and satellite positioning receiver 1 are connected with data processing centre 5, in order to obtain what is travelled
The information such as mileage, speed, while being easy to control slr camera 2 and panorama camera 3 to carry out the shooting of regularity, the device also includes
There is the Hall element for perceiving vehicle wheel rotation, Hall element is connected with isochronous controller unit 4.
During work, first the device is powered while vehicle setting in motion, the acquisition vehicle movement in real time of satellite positioning receiver 1
Location information, the control slr camera 2 of isochronous controller unit 4 and panorama camera 3 carry out the shooting of regularity, then according to a certain
Moment or a certain place filter out the photo of specified place, by its classified finishing.
Corresponding with a kind of vehicle-mounted mobile image acquisition device of above-mentioned three-dimensional modeling, this utility model also provides a kind of three
The vehicle-mounted mobile image collecting method of dimension modeling comprises the following steps：Step one：In the data collection stage, collecting the project needs structure
Build the region data of three-dimensional scenic and carry out comprehensive analysis；Step 2：In the field survey stage, the outdoor collector of tissue is to scene
Detect, record the surrounding geographical environmental information of tested region, it is intended that be adapted to the scheme of vehicle-mounted mobile image collection；Step 3：Sentence
It is disconnected whether to meet the vehicle-mounted mobile image collection condition stage, according to the data that reconnaissance at criminal scene in step 2 is obtained, judge this project
Whether carry out the condition of installed video data acquisition, if it is judged that being "Yes", then carry out step 4 if possessing；Otherwise, explanation
The project is not suitable for the vehicle-mounted mobile image collecting method of three-dimensional modeling and is shot, and terminates flow process；Step 4：Vehicle-mounted mobile shadow
As acquisition method photographic schemes are formulated the stage, project data according to collected by step one, step 2, it is determined that outdoor collection is clapped
The time taken the photograph, traffic route, road speed parameter, scheme is specified after finishing, and carries out step 5；Step 5：Data acquisition phase,
According to the outdoor acquisition scheme for making, the control slr camera 2 of isochronous controller unit 4, panorama camera 3 and satellite fix are received
Machine 1 works, and satellite positioning receiver 1 obtains in real time dynamic location information, so as to accurately obtain ground elevation in interior locomotive
Movement locus, obtain the delta data of hypsography during three-dimensional modeling, while slr camera 2 and panorama camera 3 are shot,
Slr camera 2 and panorama camera 3 are exposed by the Synchronization Control of isochronous controller unit 4, and perception vehicle wheel rotation is provided with wheel
Hall element, wheel every revolution, Hall element just detects a magnetic signal, and Hall element sends interruption arteries and veins
Punching, isochronous controller unit 4 responds this signal, and pulse signals are counted, and by corresponding conversion, obtains mileage, the speed for travelling
Etc. information, so as to trigger slr camera 2 and panorama camera 3 again the shooting of regularity is carried out；Step 6：In the data compilation stage, lead to
The high-quality image that slr camera 2 and panorama camera 3 shoot simultaneously is crossed, coordinates vehicle dynamic location information, to high-resolution
Streetscape and full-view image carry out locus matching, obtain positional information of each streetscape image in absolute coordinate space system
And the traffic route with accurate elevation, for three-dimensional modeling when hypsography matching provides accurate landform height with correction
Journey, really and accurately restores city streetscape；Step 7：Phase data memory, according to step 6 sort out come data, according to
Road, time or locus carry out building storehouse and management, quick calling when being easy to three-dimensional modeling, further, mobile vehicle
Ground trace elevation be H=H '-Ha-ξ-Δ i, the H ' in formula-for the antenna phase center of satellite positioning receiver 1 geodetic height；
Ha is the distance of the antenna phase center of satellite positioning receiver 1 and ground, and ξ is abnormal elevation value, can pass through quasigeoid
Obtain in achievement of refining；Shock-absorbing and squeegee action value when Δ i is vehicle movement, squeegee action is related to tire pressure, speed and load-carrying,
According to test, its value changes according to speed, Δ i be 1~3cm within, further, isochronous controller unit 4 include it is interior,
Outer two kinds of triggering modes, internal trigger mode is driven by the internal clock of isochronous controller unit 4, the cycle and pulse by setting
Width produces continuous impulse, and continuous impulse synchronizes bat after amplifying as trigger control slr camera 2 and panorama camera 3
Take the photograph, realize time control；External trigger mode is that the pulse signal obtained by Hall element on wheel is used as external drive arteries and veins
Punching, shooting distance is controlled by programming, and control slr camera 2 and panorama camera 3 enter under the driving of outside driving pulse
Row sync pulse jamming, realizes distance controlling.
Satellite positioning receiver：It is the satellite positioning receiver for strengthening Samsung CORS systems based on the Big Dipper so that vehicle-mounted shifting
Dynamic image acquisition device can obtain the accurate spatial locations of target under mobile status, improve the elevation essence of mobile object
Degree.It is the Beidou satellite navigation technology voluntarily developed with China as foundation, using the advantage of Beidou satellite navigation system：The Big Dipper
Constellation is distributed in that regional is more reasonable, and satellites in view is more, elevation of satellite is big, based on the enhanced Samsung CORS systems of the Big Dipper
System increasing due to Observable satellite, significantly increases in terms of initialization time, resolving time, its co-located precision and stable
Property is more superior than triangular web.
Isochronous controller unit：By internal trigger and external trigger two ways, to satellite positioning receiver, slr camera and
Panorama camera synchronizes control.Wherein, internal trigger mode is driven by the internal clock of isochronous controller unit, by setting
Cycle and pulse width produce continuous impulse, and continuous impulse enters after amplifying as trigger control slr camera and panorama camera
Row sync pulse jamming, realizes time control；External trigger mode be by wheel Hall element obtain pulse signal be used as it is outer
Portion's driving pulse, shooting distance is controlled by programming, and slr camera and panorama are controlled under the driving of outside driving pulse
Camera synchronizes shooting, realizes distance controlling.
Data processing centre：Running fix data, streetscape image and full-view image data to gathering are stored and located
Reason, realize to the matching of resolution image locus, process, it is integrated and build storehouse.
Hall element：For being monitored to the vehicle wheel rotation of vehicle.It is arranged on wheel, wheel every revolution,
Hall device just detects a magnetic signal, and by pulse-generating circuit interruption pulse is sent, and isochronous controller unit responds this
Signal, pulse signals are counted, and by corresponding conversion, obtain the information such as the mileage, the speed that travel to trigger slr camera and complete
Scape camera carries out regular shooting, realizes the Synchronization Control of slr camera and panorama camera.
Slr camera：For obtaining urban road and landscape streetscape image data, the device contain 4 be placed in it is forward and backward,
The slr camera of left and right 4 different directions, improves the acquisition efficiency of image, is conducive to obtaining Urban Road Landscapes and texture
Taking carries out interpretation.
Panorama camera：For obtaining the full-view image of shift position, the device is using Canada's ash point (POINT GRET)
The Ladybug5 panorama cameras of company's production.Ladybug5 overall view visual systems are combined using 6 digital cameras, can realize figure
As work such as collection, process, splicing and corrections.The camera fundamental characteristics：1) high-resolution：3000W pixels, pixel dimension 3.45
μm, it is ensured that road information collection is clear；2) high picking rate：Up to 10FPS under 2048X2448 resolution；3) data high-speed is passed
It is defeated：USB3.0 high-speed transfers, it is ensured that full resolution high-speed transfer；4) independent image passage：Each CCD being capable of independent control or subordinate
In a CCD；5) with gps data Real-time Collection, image precorrection and plug-and-play feature.
Hand-held satellite positioning receiver control unit：For the peripheral hardware corollary equipment such as portable computer or smart mobile phone, its
Satellite positioning receiver is wirelessly connected by bluetooth, as satellite positioning receiver corollary equipment to vehicle location and communication number
According to carry out real time inspection with control.
This utility model is not limited to above-described embodiment, disclosed in this utility model on the basis of technical scheme, this
The technical staff in field is according to disclosed technology contents, it is not necessary to which performing creative labour just can be special to some of which technology
Levy and make some replacements and deform, these are replaced and deform in protection domain of the present utility model.
Claims (4)
1. the vehicle-mounted mobile image acquisition device of a kind of three-dimensional modeling, it is characterised in that：Include and install on the rolling stock
Satellite positioning receiver, slr camera, panorama camera, the isochronous controller unit sum of Samsung CORS systems are strengthened based on the Big Dipper
According to processing center, the isochronous controller unit via line connection slr camera, panorama camera and satellite positioning receiver, institute
State slr camera, panorama camera and satellite positioning receiver to be connected with data processing centre.
2. the vehicle-mounted mobile image acquisition device of a kind of three-dimensional modeling according to claim 1, it is characterised in that：The list
Anti-phase machine is provided with four, and the camera lens of slr camera is respectively facing the front, rear, left and right four direction of vehicle.
3. the vehicle-mounted mobile image acquisition device of a kind of three-dimensional modeling according to claim 1, it is characterised in that：Also include
There is the hand-held satellite positioning receiver control unit being engaged with satellite positioning receiver, hand-held satellite positioning receiver control is single
Unit is portable computer or smart mobile phone.
4. the vehicle-mounted mobile image acquisition device of a kind of three-dimensional modeling according to claim 1, it is characterised in that：Also include
There is the Hall element for perceiving vehicle wheel rotation, Hall element is connected with isochronous controller unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621119804.4U CN206179016U (en) | 2016-10-13 | 2016-10-13 | Three -dimensional on -vehicle removal image acquisition device who builds pattern |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621119804.4U CN206179016U (en) | 2016-10-13 | 2016-10-13 | Three -dimensional on -vehicle removal image acquisition device who builds pattern |
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| Publication Number | Publication Date |
|---|---|
| CN206179016U true CN206179016U (en) | 2017-05-17 |
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ID=58678596
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621119804.4U Expired - Fee Related CN206179016U (en) | 2016-10-13 | 2016-10-13 | Three -dimensional on -vehicle removal image acquisition device who builds pattern |
Country Status (1)
| Country | Link |
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| CN (1) | CN206179016U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107301677A (en) * | 2016-10-13 | 2017-10-27 | 江苏智途科技股份有限公司 | The vehicle-mounted mobile image acquisition device and acquisition method of a kind of three-dimensional modeling |
| CN107907116A (en) * | 2017-12-07 | 2018-04-13 | 朱明君 | One kind plans accurate Urban Planning System |
-
2016
- 2016-10-13 CN CN201621119804.4U patent/CN206179016U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107301677A (en) * | 2016-10-13 | 2017-10-27 | 江苏智途科技股份有限公司 | The vehicle-mounted mobile image acquisition device and acquisition method of a kind of three-dimensional modeling |
| CN107907116A (en) * | 2017-12-07 | 2018-04-13 | 朱明君 | One kind plans accurate Urban Planning System |
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