CN106296821A - Multi-view angle three-dimensional method for reconstructing based on unmanned plane and system - Google Patents
Multi-view angle three-dimensional method for reconstructing based on unmanned plane and system Download PDFInfo
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Abstract
The present invention relates to a kind of multi-view angle three-dimensional method for reconstructing based on unmanned plane and system, described method includes: image collecting device is carry the two dimensional image gathering several described target structures from multiple pre-configured orientation of target structures respectively with multiple default visual angles by described unmanned plane；Image processor, according to several described two dimensional images of described image acquisition device, utilizes pre-set image to process the threedimensional model of target structures described in Software Create.The multi-view angle three-dimensional method for reconstructing based on unmanned plane of the present invention and system, the image according to target structures various visual angles can be realized and generate the threedimensional model of described target structures, can be with the surface data of Overall Acquisition target structures historical relic, it is little that method implements difficulty, equipment price is cheap, the working cycle is short in use, reduce input, and the reconstruction accuracy set up is high, effective.
Description
Technical field
The present invention relates to 3-dimensional reconstruction technical field, a kind of multi-view angle three-dimensional reconstruction side based on unmanned plane
Method and system.
Background technology
Three-dimensional reconstruction refers to set up three-dimensional body be suitable for computer representation and the mathematical model of process, is at computer ring
It processes under border, operates and analyzes the basis of its character, is also to set up in a computer to express the virtual of objective world
The key technology of reality.Historical relic's protection work often refers to high-rise brick tower class landmark is carried out three-dimensional reconstruction, obtain comprehensively
Take the spatial information of this landmark.
The three-dimensional reconstruction of traditional high-rise brick tower class landmark, it usually needs build around brick tower class landmark
Scaffold, and use three-dimensional laser scanner from different azimuth, differing heights, brick tower class landmark to be taken multiple scan, so
Rear splicing scan data, and then reproducing image connection with production of structures threedimensional model, finally derive the orthograph picture figure of different facade, be used for
Draw line layout figure.
But, above-mentioned 3 D laser scanning carries out the method for three-dimensional reconstruction and implements difficulty very greatly, uses apparatus expensive, work
Make the cycle long, need substantial amounts of input, and reconstruction accuracy is low, weak effect.
Summary of the invention
The method carrying out three-dimensional reconstruction for existing 3 D laser scanning implements difficulty very greatly, uses apparatus expensive, work
Cycle is long, needs substantial amounts of input, and reconstruction accuracy is low, the defect of weak effect, and one aspect of the present invention proposes one
Plant multi-view angle three-dimensional method for reconstructing based on unmanned plane, including:
Image collecting device is carry by described unmanned plane and presets with multiple respectively from multiple pre-configured orientation of target structures
Visual angle gathers the two dimensional image of several described target structures；Image processor is according to several institutes of described image acquisition device
State two dimensional image, utilize pre-set image to process the threedimensional model of target structures described in Software Create.
Alternatively, described image processor, according to several described two dimensional images of described image acquisition device, utilizes
Pre-set image processes the threedimensional model of target structures described in Software Create, including:
The target structures threedimensional model of vegetarian noodles is generated according to two dimensional image several described；
The superficial makings of described target structures is obtained according to two dimensional image several described；
Target structures threedimensional model and the superficial makings of described target structures according to described vegetarian noodles generate and have surface
The target structures threedimensional model of texture.
Alternatively, described method also includes:
Described image processor obtains the central point three of the multiple ground control point device for marking around described target structures
Dimension coordinate, determines the threedimensional model of described target structures with the central point three-dimensional coordinate according to described ground control point device for marking
Scale coordinate.
Alternatively, described target structures includes brick tower building；
Correspondingly, described image collecting device is carry from multiple pre-configured orientation of target structures respectively by described unmanned plane
The two dimensional image of several described target structures is gathered with multiple default visual angles, including:
Described image collecting device by just to one jiao of described brick tower building from bottom to top, while with described unmanned
Machine rising edge shoots the two dimensional image at corresponding visual angle；
After shooting to described brick tower top of building, move the phase to described brick tower building with described unmanned plane
Adjacent one jiao, and limit is with the two dimensional image at the corresponding visual angle of described unmanned plane trailing edge shooting.
Alternatively, the bottom of described brick tower building is more roomy than each layer top, and described each layer top gradually interior receipts；
Correspondingly, described method also includes:
Described image collecting device gradually moves near described brick tower building direction in rising shooting process；
Described image collecting device gradually moves to away from described brick tower building direction in declining shooting process.
Alternatively, described method also includes:
Two dimensional image in the bottom of target structures described in ground acquisition.
Alternatively, the two dimensional image of the described bottom at target structures described in ground acquisition, including:
Use the two dimensional image of the bottom of the zoom lens described target structures of collection.
Alternatively, described method also includes:
Described target structures phototropic face light is selected to carry out light-metering.
On the other hand, present invention also offers the system of a kind of multi-view angle three-dimensional method for reconstructing based on unmanned plane, be used for
Implementing any of the above-described kind of method, described system includes unmanned plane, image collecting device and image processor；
Wherein, described image collector is setting on described unmanned plane；
Described image collecting device for by described unmanned plane carry from multiple pre-configured orientation of target structures respectively with
Multiple default visual angles gather the two dimensional image of several described target structures；
Described image processor, for several the described two dimensional images according to described image acquisition device, utilizes and presets
Image processing software generates the threedimensional model of described target structures.
Alternatively, the image collecting device that described unmanned plane carries includes camera lens, and the downward-sloping preset angle of described camera lens
Degree.
The multi-view angle three-dimensional method for reconstructing based on unmanned plane of the present invention and system, by carry by described unmanned plane
Image collecting device gathers several described target structures with multiple default visual angles respectively from multiple pre-configured orientation of target structures
Two dimensional image, and by image processor according to several described two dimensional images of described image acquisition device, utilize and preset
Image processing software generates the threedimensional model of described target structures, it is achieved that generate described according to the image of target structures various visual angles
The threedimensional model of target structures, can be with the surface data of Overall Acquisition target structures historical relic, and it is little that method implements difficulty, uses
Equipment price is cheap, the working cycle is short, reduces input, and the reconstruction accuracy set up is high, effective.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is the present invention
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to
These accompanying drawings obtain other accompanying drawing.
Fig. 1 is the schematic flow sheet of the multi-view angle three-dimensional method for reconstructing based on unmanned plane of one embodiment of the invention；
Fig. 2 is the structural representation of the multi-view angle three-dimensional reconstructing system based on unmanned plane of one embodiment of the invention；
Fig. 3 is the multi-view image collection position view of the longevity sage temple tower of one embodiment of the invention；
Fig. 4 is the vegetarian noodles threedimensional model schematic diagram of the longevity sage temple tower of one embodiment of the invention；
Fig. 5 is the longevity sage temple tower threedimensional model schematic diagram with real-texture of one embodiment of the invention.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is explicitly described, it is clear that described embodiment is the present invention
A part of embodiment rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not having
Make the every other embodiment obtained under creative work premise, broadly fall into the scope of protection of the invention.
Fig. 1 is the schematic flow sheet of the multi-view angle three-dimensional method for reconstructing based on unmanned plane of one embodiment of the invention, as
Shown in Fig. 1, the method includes:
S1: image collecting device is carry from multiple pre-configured orientation of target structures respectively with multiple pre-by described unmanned plane
If visual angle gathers the two dimensional image of several described target structures；
It is understood that the two dimensional image of the various visual angles captured by above-mentioned image collecting device should all cover described mesh
The surface of mark building, and ensure that adjacent image has more than 70% degree of overlapping.
S2: image processor, according to several described two dimensional images of described image acquisition device, utilizes pre-set image
Process the threedimensional model of target structures described in Software Create.
It is understood that the threedimensional model of the described target structures that image processing software generates is vegetarian noodles in step S2
Threedimensional model, although the surface data of described target structures historical relic can be to a certain degree provided, but can not real embodiment target build
Build the surface character of historical relic.
Thus, preferred as the present embodiment, step S2 also can farther include:
S21: generate the target structures threedimensional model of vegetarian noodles according to two dimensional image several described；
S22: obtain the superficial makings of described target structures according to two dimensional image several described；
S23: generate have according to the target structures threedimensional model of described vegetarian noodles and the superficial makings of described target structures
The target structures threedimensional model of superficial makings.
From such scheme, described image processing software is according to the two dimensional image of various visual angles and described target structures
The target structures threedimensional model with superficial makings that superficial makings generates can be on the surface providing described target structures historical relic
On the basis of data, the superficial makings of real embodiment target structures historical relic.
Preferred as the present embodiment, described image processing software can include but not limited to Agisoft Photoscan
Software.
It should be noted that the image processing software of above-mentioned employing can select according to practical situation and user's request,
This is not limited by the embodiment of the present invention.
Further, preferred as above-described embodiment, described method can also include:
Described image processor obtains the central point three of the multiple ground control point device for marking around described target structures
Dimension coordinate, determines the threedimensional model of described target structures with the central point three-dimensional coordinate according to described ground control point device for marking
Scale coordinate.
It is understood that the measurement accuracy at above-mentioned control point, the coordinate data of follow-up threedimensional model can be directly affected
, so that control point is accurately measured, and accurate recording coordinate data.
Further, limited as each embodiment of the method above-mentioned, described target structures can include that brick tower is built
Thing；
Correspondingly, image collecting device described in step S1 is carry the multiple default side from target structures by described unmanned plane
Position gathers the two dimensional image of several described target structures respectively with multiple default visual angles, may include that
S11: described image collecting device by just to one jiao of described brick tower building from bottom to top, while with described
Unmanned plane rising edge shoots the two dimensional image at corresponding visual angle；
S12: after shooting to described brick tower top of building, move to described brick tower building with described unmanned plane
Adjacent one jiao, and limit with described unmanned plane trailing edge shoot corresponding visual angle two dimensional image.
Further, preferred as each embodiment above-mentioned, the bottom of described brick tower building is wider than each layer top
Greatly, and described each layer top gradually in receive；
Correspondingly, described method also includes:
Described image collecting device gradually moves near described brick tower building direction in rising shooting process；
Described image collecting device gradually moves to away from described brick tower building direction in declining shooting process.
On the basis of each embodiment of the method above-mentioned, described method can also include:
Two dimensional image in the bottom of target structures described in ground acquisition.
Further, as the present embodiment one preferred embodiment, described at target structures described in ground acquisition
The two dimensional image of bottom, may include that
Use the two dimensional image of the bottom of the zoom lens described target structures of collection.
Further, preferred as said method embodiment, described method also includes:
Described target structures phototropic face light is selected to carry out light-metering, so that the image exposure of shooting is suitable, shady face
Image exposure can be the most weak.
Fig. 2 is the structural representation of the multi-view angle three-dimensional reconstructing system based on unmanned plane of one embodiment of the invention, institute
System of stating is for implementing any of the above-described kind of multi-view angle three-dimensional method for reconstructing embodiment based on unmanned plane, as in figure 2 it is shown, this system
Including unmanned plane 10, image collecting device 20 and image processor 30；
Wherein, image collecting device 20 is positioned on described unmanned plane 10；
Image collecting device 20 is for being carry from multiple pre-configured orientation of target structures respectively with multiple by unmanned plane 10
Default visual angle gathers the two dimensional image of several described target structures；
Image processor 30, for several the described two dimensional images gathered according to image collecting device 20, utilizes pre-set image
Process the threedimensional model of target structures described in Software Create.
Further, preferred as the present embodiment, the image collecting device 20 that unmanned plane 10 carries includes camera lens, and mirror
Downward-sloping predetermined angle, such as 30 °.
With the reconstruction embodiment of the threedimensional model of Shou Sheng temple, Nanyang village, Li Wang township, Wanrong County, Shanxi Province tower, this is described below
Invention, but do not limit protection scope of the present invention.
First, putting 4 ground control point marks (such as mark plate) around Shou Shengsi tower, the big I of this mark plate is excellent
Elect 20 cm x 20 centimetres as, use electronic total station to measure the three-dimensional coordinate at mark center, each control point；
The image collecting device (such as photographing unit) that unmanned plane carries including: Sony α 6000 fuselage, Fu Lunda 15 millimeters focus
Camera lens.
Need before shooting photographing unit is arranged: use manual (M shelves) to shoot comprehensively, select tower body phototropic face to become clear portion
Divide and carry out light-metering so that it is the image exposure of shooting is suitable, and the image exposure of shady face can be the most weak；Aperture is 8, exposure
Time is 1/800 second, and light sensitivitys selects 200, and white balance is daylight type；Suitable focal distance is set, it is ensured that at 3～6 meters of models
Can blur-free imaging in enclosing.
Dispose under unmanned plane and set photographing unit, make downward-sloping about 30 ° of camera lens, the most just a jiao to longevity sage temple tower
Start from bottom to top, and make photographing unit increase with unmanned plane to shoot；
Shoot to top of tower, adjacent a jiao of this unmanned plane mobile to tower, and make photographing unit decline with unmanned plane
While shooting；
Owing to the bottom of this tower is roomy, top is gradually interior receives, and when rising shooting, photographing unit can be made in tower with unmanned plane
The heart (near tower body direction) gradually moves；And slowly move to tower peripheral (away from tower body direction) when declining shooting；
Owing to longevity sage temple is the structure with 8 angles, eight angles of tower, longevity sage temple can be photographed thus through four liftings
Image；
Specifically, when using unmanned plane shooting, the camera lens that can make photographing unit is downward-sloping, to shoot tower body facade and tower eaves
The image on top.
It is understood that be the electric energy saving unmanned plane, the image of tower eaves bottom can shoot on ground, now
Changeable camera camera lens is Zeiss 16～the zoom lens of 70 millimeters.
Specifically, short focus bottom tower body, can be used to shoot, be then gradually increased focal length and shoot toward tower body top, every width
Image taking tower eaves bottom and neighbouring tower body facade etc. thereof.
Wherein, Fig. 3 shows the multi-view image collection position of longevity sage temple tower of one embodiment of the invention.
After digital image capture completes, it is possible to use the softwares such as Agisoft Photoscan carry out image procossing.
It is understood that the three-dimensional of the described target structures of this image processing software Agisoft Photoscan generation
Model is the threedimensional model (seeing Fig. 4) of vegetarian noodles, although can to a certain degree provide the surface data of described target structures historical relic, but
Can not the superficial makings of real embodiment target structures historical relic.
Thus, by the surface stricture of vagina of image processing software Agisoft Photoscan Image Acquisition tower body based on shooting
Reason, and longevity sage temple tower threedimensional model (seeing Fig. 5) with real-texture is generated according to this superficial makings, and mark control point mark
Note center, carries out coordinate control with each control point coordinate of input measurement to longevity sage temple tower model, completes described Three-dimensional Gravity
Build work.
The present invention uses multi-view angle three-dimensional reconstruction technique to make the threedimensional model of brick tower class historical relic, with low cost, operation letter
Just, angle is the highest, and effect is true to nature.
It should be noted that in this article, the relational terms of such as first and second or the like is used merely to a reality
Body or operation separate with another entity or operating space, and open between not necessarily requiring or imply these entities or operating
The relation of dynamic any this reality or order.And, term " includes ", " comprising " or its any other variant are intended to
Comprising of nonexcludability, so that include that the process of a series of key element, method, article or equipment not only include that those are wanted
Element, but also include other key elements being not expressly set out, or also include for this process, method, article or equipment
Intrinsic key element.In the case of there is no more restriction, statement " including ... " key element limited, it is not excluded that
Including process, method, article or the equipment of key element also start other identical element.Term " on ", the instruction such as D score
Orientation or position relationship are based on orientation shown in the drawings or position relationship, be for only for ease of the description present invention and simplification is retouched
State rather than indicate or imply the device of indication or element must have specific orientation, with specific azimuth configuration and operation,
Therefore it is not considered as limiting the invention.Unless otherwise clearly defined and limited, term " install ", " being connected ", " even
Connect " should be interpreted broadly, connect for example, it may be fixing, it is also possible to be to removably connect, or be integrally connected；It can be machine
Tool connects, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, can be two units
Connection within part.For the ordinary skill in the art, can understand that above-mentioned term is at this as the case may be
Concrete meaning in bright.
In the description of the present invention, illustrate a large amount of detail.Although it is understood that, embodiments of the invention can
To put into practice in the case of there is no these details.In some instances, it is not shown specifically known method, structure and skill
Art, in order to do not obscure the understanding of this description.Similarly, it will be appreciated that disclose to simplify the present invention and help to understand respectively
One or more in individual inventive aspect, above in the description of the exemplary embodiment of the present invention, each of the present invention is special
Levy and be sometimes grouped together in single embodiment, figure or descriptions thereof.But, should be by the method solution of the disclosure
Release in reflecting an intention that i.e. the present invention for required protection requires than the feature being expressly recited in each claim more
Many features.More precisely, as the following claims reflect, inventive aspect is less than single reality disclosed above
Execute all features of example.Therefore, it then follows claims of detailed description of the invention are thus expressly incorporated in this detailed description of the invention,
The most each claim itself is as the independent embodiment of the present invention.It should be noted that in the case of not conflicting, this
Embodiment in application and the feature in embodiment can be mutually combined.The invention is not limited in any single aspect, also
It is not limited to any single embodiment, is also not limited to these aspects and/or the combination in any of embodiment and/or displacement.And
And, can be used alone each aspect of the present invention and/or embodiment or with other aspects one or more and/or its implement
Example is used in combination.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit；To the greatest extent
The present invention has been described in detail by pipe with reference to foregoing embodiments, it will be understood by those within the art that: it depends on
So the technical scheme described in foregoing embodiments can be modified, or the most some or all of technical characteristic is entered
Row equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology
The scope of scheme, it all should be contained in the middle of the claim of the present invention and the scope of description.
Claims (10)
1. a multi-view angle three-dimensional method for reconstructing based on unmanned plane, it is characterised in that including:
Image collecting device is carry from multiple pre-configured orientation of target structures respectively with multiple default visual angles by described unmanned plane
Gather the two dimensional image of several described target structures；Image processor according to described image acquisition device several described two
Dimension image, utilizes pre-set image to process the threedimensional model of target structures described in Software Create.
Method the most according to claim 1, it is characterised in that described image processor is adopted according to described image collecting device
Several described two dimensional images of collection, utilize pre-set image to process the threedimensional model of target structures described in Software Create, including:
The target structures threedimensional model of vegetarian noodles is generated according to two dimensional image several described；
The superficial makings of described target structures is obtained according to two dimensional image several described；
Target structures threedimensional model and the superficial makings of described target structures according to described vegetarian noodles generate and have superficial makings
Target structures threedimensional model.
Method the most according to claim 1, it is characterised in that described method also includes:
Described image processor obtains the central point three-dimensional of the multiple ground control point device for marking around described target structures and sits
Mark, determines the chi of the threedimensional model of described target structures with the central point three-dimensional coordinate according to described ground control point device for marking
Very little coordinate.
Method the most according to claim 1, it is characterised in that described target structures includes brick tower building；
Correspondingly, described image collecting device is carry from multiple pre-configured orientation of target structures respectively with many by described unmanned plane
Individual default visual angle gathers the two dimensional image of several described target structures, including:
Described image collecting device by just to one jiao of described brick tower building from bottom to top, while with on described unmanned plane
Rise limit and shoot the two dimensional image at corresponding visual angle；
After shooting to described brick tower top of building, move adjacent to described brick tower building with described unmanned plane
Angle, and limit is with the two dimensional image at the corresponding visual angle of described unmanned plane trailing edge shooting.
Method the most according to claim 4, it is characterised in that the bottom of described brick tower building is wider than each layer top
Greatly, and described each layer top gradually in receive；
Correspondingly, described method also includes:
Described image collecting device gradually moves near described brick tower building direction in rising shooting process；
Described image collecting device gradually moves to away from described brick tower building direction in declining shooting process.
Method the most according to claim 4, it is characterised in that described method also includes:
Two dimensional image in the bottom of target structures described in ground acquisition.
Method the most according to claim 6, it is characterised in that the two of the described bottom at target structures described in ground acquisition
Dimension image, including:
Use the two dimensional image of the bottom of the zoom lens described target structures of collection.
Method the most according to claim 1, it is characterised in that described method also includes:
Described target structures phototropic face light is selected to carry out light-metering.
9. the system of a multi-view angle three-dimensional method for reconstructing based on unmanned plane, it is characterised in that be used for implementing claim 1-8
Method described in any one, described system includes unmanned plane, image collecting device and image processor；
Wherein, described image collector is setting on described unmanned plane；
Described image collecting device is for being carry from multiple pre-configured orientation of target structures respectively with multiple by described unmanned plane
Default visual angle gathers the two dimensional image of several described target structures；
Described image processor, for several the described two dimensional images according to described image acquisition device, utilizes pre-set image
Process the threedimensional model of target structures described in Software Create.
System the most according to claim 9, it is characterised in that the image collecting device that described unmanned plane carries includes mirror
Head, and the downward-sloping predetermined angle of described camera lens.
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