CN104486584A - City video map method based on augmented reality - Google Patents
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Abstract
The invention provides a city video map system based on augmented reality, and a city video map method based on augmented reality. Through spatial orientation of city videos, the space-time locations, semantic attributes and vector features of the oriented videos are extracted and stereoscopically projected on an electronic map, so as to create a city video map; the augmented reality technology is further adopted to achieve the stereoscopic replay of city monitoring videos in real happening spaces thereof, on the basis of which interactive inquiry and analysis are carried out. The invention has the advantage that a novel application method of the monitoring videos is created.
Description
Technical field
The present invention relates to GIS-Geographic Information System (GIS), particularly relate to a kind of city video map method and system based on augmented reality.
Background technology
Augmented reality (Augmented Reality is called for short AR) is the new technology grown up on the basis of virtual reality.That the information adding users that provided by computer system is to the technology of real world perception, by virtual Information application to real world, and by the dummy object of Practical computer teaching, scene or system prompt information superposition in real scene, thus realize the enhancing to reality.The form that AR normally combines with through mode helmet-mounted display system and the registration location of the dummy object of user's point of observation and Practical computer teaching (in the AR system) system realizes.
Application number 201310675740.0 provides a kind of location based on video surveillance network and method for tracing;
Positioner and method are monitored in many video associations that application number 201310105427.3 provides based on spatial information,
Application number 201310443078.6 provides and a kind ofly in video file, adds geographical location information and set up the method for index,
Application number 201410115063.1 provides a kind of video semanteme retrieval camera system synchronous with compression and method,
Application number 201310695141.5 provides a kind of video abstraction generating method based on GIS,
Application number 201310589220.8 provides a kind of stereo street scene video projection method and system,
Application number 201310676340.1 provides a kind of Kinematic Positioning video electronic map projection system and method.
The application, just based on above-mentioned patent, in conjunction with augmented reality, further provides a kind of city video map system based on augmented reality.
Summary of the invention
This patent provides a kind of city video map system based on augmented reality, based on positioning video and GIS, by augmented reality, sets up city realistic video map.
For achieving the above object, the present invention adopts following technical proposals:
Based on a city video map method for augmented reality, comprise the steps:
Locate each video monitoring equipment, to obtain the spatial data of described watch-dog;
Based on described spatial data, form the integrated of the video data between many watch-dogs and associate;
In described video data, increase spatial positional information, form positioning video;
Extract key frame and semantic information thereof in described positioning video;
Extract the vector locus of target in described positioning video;
By the fixing monitor video stereoprojection in described positioning video to electronic chart, form city video map;
By the dynamic monitoring video stereoprojection in described positioning video to electronic chart, form city video map;
By augmented reality system, be superimposed on by described city video map to form augmented reality view in three-dimensional reality scene, the solid realizing described city video map is play and is inquired about, analyzes.
City video map system and method based on augmented reality provided by the invention, by carrying out space orientation to city video, extract the space-time position of city video behind location, semantic attribute and vector characteristic and solid projects to electronic chart, form city video map, in conjunction with augmented reality, realize the three-dimensional playback that space truly occurs at it supervision of the cities video, carry out interactive inquiry and analysis on this basis, create monitor video new application mode.
Accompanying drawing explanation
Fig. 1 is the flow chart of steps of the city video map method based on augmented reality provided by the invention.
Fig. 2 is each video monitoring equipment in location provided by the invention, to obtain the flow chart of steps of the spatial data of described watch-dog.
Fig. 3 is provided by the invention based on described spatial data, forms the integrated of the video data between many watch-dogs and the principle schematic associated.
Fig. 4 provided by the inventionly increases spatial positional information in described video data, forms the flow chart of steps of positioning video.
Fig. 5 is the flow chart of steps of key frame and semantic information thereof in the described positioning video of extraction provided by the invention.
Fig. 6 is the flow chart of steps of the vector locus of target in the described positioning video of extraction provided by the invention.
Fig. 7 be provided by the invention by the semantic information of the fixing monitor video in described positioning video and key frame thereof, vector data stereoprojection to electronic chart, form the flow chart of steps of city video map.
Fig. 8 is provided by the invention by augmented reality system, is superimposed on by city video map to form augmented reality view in three-dimensional reality scene, the flow chart of steps that the solid realizing described city video map is play and inquired about, analyzes.
Embodiment
In order to make object of the present invention, technical scheme and beneficial effect clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Refer to Fig. 1, be the flow chart of steps of the city video map method 100 based on augmented reality provided by the invention, comprise the steps:
Step S110: locate each video monitoring equipment, to obtain the spatial data of described watch-dog;
Refer to Fig. 2, locate each video monitoring equipment, to obtain the spatial data of described watch-dog, comprise the steps:
Step S111: the geographical coordinate obtaining each video monitoring equipment;
Step S112: centered by each video monitoring equipment, according to monitoring range, sets up the space coordinates of video surveillance network;
Step S113: select characteristic point to survey and draw, obtain the geographical coordinate of characteristic point, and the pixel value of character pair point in the imaging array of video monitoring equipment;
Step S114: with above-mentioned characteristic point for control point, carries out projective transformation and Coordinate Conversion, makes other ground pixels in imaging array have corresponding geographic coordinate values;
Step S115: when target appears at monitoring range, by obtaining target place pixel coordinate, and combining environmental surround relationship, converse the geographical coordinate of target;
Step S116: by transferring the geographical coordinate of target different frame in video surveillance network, forms the motion track of target.
Be appreciated that through above-mentioned steps S111 to step S116, the location to each video monitoring equipment can be realized, obtain the spatial data of described watch-dog.
Step S120: based on described spatial data, forms the integrated of the video data between many watch-dogs and associates;
Refer to Fig. 3, for provided by the invention based on described spatial data, form the integrated of the video data between many watch-dogs and the principle schematic associated, comprise some camera heads and data server, described data server comprises data processing module 121b, memory module 122b, separation module 123b, characteristic extracting module 124b, discrimination module 125b and control module 126b, wherein
Described camera head is connected with described data server, and described some camera heads comprise some Mobile photographic device 127b and fixing camera head 128b;
Described Mobile photographic device 127b obtains positional information during video capture, and this positional information is attached in the video data of its shooting, and described memory module 122b storage comprises the video data of this positional information;
Described memory module 122b also stores the positional information of described fixing camera head 128b, this positional information is attached in the video data of described fixing camera head 128b shooting by described data processing module 121b, and described memory module 122b storage comprises the video data of this positional information;
Described memory module 122b stores monitoring radius R, described data processing module 121b obtains the positional information attached by video data comprising described target, described control module 126b by centered by this position, R is set to monitor state for the camera head in radius;
Described separation module 123b is by the prospect in described video data and background separation, described prospect comprises described target, described characteristic extracting module 124b extracts the characteristic information of described background, described discrimination module 125b differentiates the location type of described background according to this characteristic information, the camera head being positioned at this location type is set to monitor state by described control module 126b.
Step S130: increase spatial positional information in described video data, forms positioning video;
Refer to Fig. 4, wherein, in described video data, increase spatial positional information, form positioning video, comprise the steps:
Step S131: the geographical location information data obtaining described video data acquiring point;
Step S132: described geographical location information data is inserted in the file header reserved field of described video data;
Step S133: with described geographical location information data for index, sets up the video file database based on locus inquiry, cluster and association analysis.
Be appreciated that to achieve through above-mentioned steps S131 to step S133 and increase spatial positional information in described video data, form positioning video.
Step S140: extract key frame and semantic information thereof in described positioning video;
Refer to Fig. 5, extract key frame and semantic information thereof in described positioning video, comprise the steps:
Step S141: personal settings:
Described personal settings comprise:
Step S141a: the set selecting specific objective;
Step S141b: the video features semantic base setting up described positioning video;
Step S141c: carry out sample training to Sample video under offline environment, in order to obtain training parameter collection;
Step S141d: training parameter is configured in grader;
Step S142: application:
Described application comprises:
Step S142a: obtain video, starts compression;
Step S142b: extract key frame in the compressed domain;
Step S142c: at described key-frame extraction Moving Objects;
Step S142d: extract semantic feature in key frame or Moving Objects;
Step S142e: read the training parameter collection in grader;
Step S142f: the semantic feature of extraction mated with training parameter collection, obtains the index of video semanteme.
Step S150: the vector locus extracting target in described positioning video;
Refer to Fig. 6, extract the vector locus of target in described positioning video, comprise the steps:
Step S151: the geographical coordinate obtaining target in described positioning video;
Step S152: by the pixel coordinate of target in described positioning video key frame and geographical coordinate one_to_one corresponding;
Step S153: by carrying out rim detection to the target in described positioning video frame by frame, obtain the pixel coordinate of its Edge Feature Points;
Step S154: the pixel coordinate of described target, geographical coordinate, shooting time and frame number are recorded in tables of data;
Step S155: by superposing frame by frame, forms one group of time dependent vector current tables of data, former video monitoring data is converted into the set of coordinate values of [pixel coordinate+longitude and latitude+shooting time], stored in GIS, is formed and makes a summary to the continuous videos of destination object.
Step S160: by the fixing monitor video stereoprojection in described positioning video to electronic chart, forms city video map;
Refer to Fig. 7, by the fixing monitor video stereoprojection in described positioning video to electronic chart, form city video map, comprise the steps:
Step S161: the panorama or the half scape video flowing that obtain streetscape according to described positioning video;
Step S162: described panorama or half scape video flowing are decomposed into multiframe Streetscape picture, and project to spherical coordinate and fasten;
Step S163: described multiframe Streetscape picture is superposed, and video flowing passage is set up between described multiframe Streetscape picture;
Step S164: fasten in described spherical coordinate, according to multiframe Streetscape picture described in described video flowing passage Continuous Play.
Wherein, " panorama " video i.e. 360 degree of monitor videos, and common angle video monitoring then can be considered " half scape ", by its monitoring orientation, project on the relevant portion position of spherical coordinate.
Step S170: by the dynamic monitoring video in described positioning video and key frame semantic information thereof, vector data stereoprojection to electronic chart, forms city video map;
Particularly, by the semanteme of the dynamic monitoring video in described positioning video and key frame thereof, vector data stereoprojection to electronic chart, form city video map, comprising:
Coordinate centered by the shooting point of described positioning video, projects on the three-dimensional spherical coordinate system of electronic chart relevant position by panorama or half scape video and additional information framing thereof, forms city video map.
Be appreciated that by above-mentioned steps S110 to step S170, monitor video can be realized and play with three-dimensional based on the GIS integrated management of coordinatograph, summaryization (key frame), semantization, vector quantization information, form city video map.
Step S180: by augmented reality system, be superimposed on by described city video map to form augmented reality view in three-dimensional reality scene, the solid realizing described city video map is play and is inquired about, analyzes.
Particularly, refer to Fig. 8, step S180 comprises the steps:
Step S181: catch reality scene by camera;
Step S182: the transformational relation setting up Virtual Space coordinate system and realistic space coordinate system, dummy object is made to be merged on the tram of real world, and the position of person constantly changes according to the observation, rebuild the transformational relation of Virtual Space coordinate system and realistic space coordinate system;
Step S183: by described city video map with longitude and latitude and elevation for coordinate is superimposed in three-dimensional reality scene to form augmented reality view;
Step S184: realize observer and described augmented reality view natural interaction by interactive tool, show the real position of described city video map.
City video map method based on augmented reality provided by the invention, by carrying out space orientation to city video, extract the space-time position of positioning video, semantic attribute and vector characteristic and solid projects to electronic chart, form city video map, in conjunction with augmented reality, realize the three-dimensional playback that space truly occurs at it supervision of the cities video, carry out interactive inquiry and analysis on this basis, create monitor video new application mode.
It should be noted that: in the various embodiments described above, the description of each embodiment is all given priority to, and does not have the part described in detail in each embodiment, with reference to specification detailed description in full, can repeat no more herein.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (9)
1., based on a method for the city video map of augmented reality, it is characterized in that, comprise the steps:
Locate each video monitoring equipment, to obtain the spatial data of described watch-dog;
Based on described spatial data, form the integrated of the video data between many watch-dogs and associate;
In described video data, increase spatial positional information, form positioning video;
Extract key frame and semantic information thereof in described positioning video;
Extract the vector locus of target in described positioning video;
By the semantic information of the fixing monitor video in described positioning video and key frame thereof, vector data stereoprojection to electronic chart, form city video map;
By the semantic information of the dynamic monitoring video in described positioning video and key frame thereof, vector data stereoprojection to electronic chart, form city video map;
By augmented reality system, be superimposed on by described city video map to form augmented reality view in three-dimensional reality scene, the solid realizing described city video map is play and is inquired about, analyzes.
2., as claimed in claim 1 based on the method for the city video map of augmented reality, it is characterized in that, wherein, locate each video monitoring equipment, to obtain the spatial data of described watch-dog, comprising:
Obtain the geographical coordinate of each video monitoring equipment;
Centered by each video monitoring equipment, according to monitoring range, set up the space coordinates of video surveillance network;
Select characteristic point to survey and draw, obtain the geographical coordinate of characteristic point, and the pixel value of character pair point in the imaging array of video monitoring equipment;
With above-mentioned characteristic point for control point, carry out projective transformation and Coordinate Conversion, make other ground pixels in imaging array have corresponding geographic coordinate values;
When target appears at monitoring range, by obtaining target place pixel coordinate, and combining environmental surround relationship, converse the geographical coordinate of target;
By transferring the geographical coordinate of target different frame in video surveillance network, form the motion track of target.
3. as claimed in claim 1 based on the method for the city video map of augmented reality, it is characterized in that, wherein, based on described spatial data, form the integrated of the video data between many watch-dogs and associate, comprise: video relating module, described video relating module comprises: some camera heads and data server, and described data server comprises data processing module, memory module, separation module, characteristic extracting module, discrimination module and control module;
Described camera head is connected with described data server, and described some camera heads comprise some Mobile photographic devices and fixing camera head;
Described Mobile photographic device obtains positional information during video capture, and this positional information is attached in the video data of its shooting, and described memory module storage comprises the video data of this positional information;
Described memory module also stores the positional information of described fixing camera head, and this positional information is attached in the video data of described fixing camera head shooting by described data processing module, and described memory module storage comprises the video data of this positional information;
Described memory module stores monitoring radius R, and described data processing module obtains the positional information attached by video data comprising described target, described control module by centered by this position, R is set to monitor state for the camera head in radius;
Described separation module is by the prospect in described video data and background separation, described prospect comprises described target, described characteristic extracting module extracts the characteristic information of described background, described discrimination module differentiates the location type of described background according to this characteristic information, and the camera head being positioned at this location type is set to monitor state by described control module.
4. as claimed in claim 1 based on the method for the city video map of augmented reality, it is characterized in that, wherein, in described video data, increase spatial positional information, form positioning video, comprising:
Obtain the geographical location information data of described video data acquiring point;
Described geographical location information data is inserted in the file header reserved field of described video data;
With described geographical location information data for index, set up the video file database based on locus inquiry, cluster and association analysis.
5., as claimed in claim 1 based on the method for the city video map of augmented reality, it is characterized in that, wherein, extract key frame and semantic information thereof in described positioning video, comprising:
Comprise personal settings and two stages of application, wherein:
Described personal settings comprise: the set selecting specific objective; Set up the video features semantic base of described positioning video; Under offline environment, sample training is carried out to Sample video, in order to obtain training parameter collection; Training parameter is configured in grader;
Described application comprises: obtain video, starts compression; Extract key frame in the compressed domain; At described key-frame extraction Moving Objects; Semantic feature is extracted in key frame or Moving Objects; Read the training parameter collection in grader; The semantic feature of extraction is mated with training parameter collection, obtains the index of video semanteme.
6., as claimed in claim 1 based on the method for the city video map of augmented reality, it is characterized in that, wherein, extract the vector locus of target in described positioning video, comprising:
Obtain the geographical coordinate of target in described positioning video;
By the pixel coordinate of target in described positioning video key frame and geographical coordinate one_to_one corresponding;
By carrying out rim detection to the target in described positioning video frame by frame, obtain the pixel coordinate of its Edge Feature Points;
The pixel coordinate of described target, geographical coordinate, shooting time and frame number are recorded in tables of data;
By superposing frame by frame, forming one group of time dependent vector current tables of data, former video monitoring data being converted into the set of coordinate values of [pixel coordinate+longitude and latitude+shooting time], stored in GIS, formed and the continuous videos of destination object is made a summary.
7. as claimed in claim 1 based on the method for the city video map of augmented reality, it is characterized in that, wherein, by the fixing monitor video stereoprojection in described positioning video to electronic chart, form city video map, comprising:
Panorama or the half scape video flowing of streetscape is obtained according to described positioning video; Described panorama or half scape video flowing are decomposed into multiframe Streetscape picture, and project to spherical coordinate and fasten; Described multiframe Streetscape picture is superposed, and set up video flowing passage between described multiframe Streetscape picture; Fasten in described spherical coordinate, according to multiframe Streetscape picture described in described video flowing passage Continuous Play.
8. as claimed in claim 1 based on the method for the city video map of augmented reality, it is characterized in that, wherein, by the dynamic monitoring video stereoprojection in described positioning video to electronic chart, form city video map, comprising:
Coordinate centered by the shooting point of described positioning video, projects to video framing on the three-dimensional spherical coordinate system of electronic chart relevant position, forms city video map.
9. as claimed in claim 1 based on the method for the city video map of augmented reality, it is characterized in that, wherein, by augmented reality system, described city video map is superimposed in three-dimensional reality scene to form augmented reality view, the solid realizing described city video map is play and is inquired about, analyzes, and comprising:
Reality scene is caught by camera;
Set up the transformational relation of Virtual Space coordinate system and realistic space coordinate system, dummy object is merged on the tram of real world, and the position of person constantly changes according to the observation, rebuild the transformational relation of Virtual Space coordinate system and realistic space coordinate system;
By described city video map with longitude and latitude and elevation for coordinate is superimposed in three-dimensional reality scene to form augmented reality view;
Realize observer and described augmented reality view natural interaction by interactive tool, show the real position of described city video map.
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| CN111651050A (en) * | 2020-06-09 | 2020-09-11 | 浙江商汤科技开发有限公司 | Method and device for displaying urban virtual sand table, computer equipment and storage medium |
| CN111857132A (en) * | 2020-06-19 | 2020-10-30 | 深圳宏芯宇电子股份有限公司 | Central control type automatic driving method and system and central control system |
| CN111857132B (en) * | 2020-06-19 | 2024-04-19 | 深圳宏芯宇电子股份有限公司 | Central control type automatic driving method and system and central control system |
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