CN109269472B - Method and device for extracting characteristic line of oblique photogrammetry building and storage medium - Google Patents
Method and device for extracting characteristic line of oblique photogrammetry building and storage medium Download PDFInfo
- Publication number
- CN109269472B CN109269472B CN201810896609.XA CN201810896609A CN109269472B CN 109269472 B CN109269472 B CN 109269472B CN 201810896609 A CN201810896609 A CN 201810896609A CN 109269472 B CN109269472 B CN 109269472B
- Authority
- CN
- China
- Prior art keywords
- outer vertical
- vertical surfaces
- intersection line
- building
- dimensional model
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Quality & Reliability (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Image Analysis (AREA)
- Image Processing (AREA)
Abstract
The invention discloses a method, a device and a storage medium for extracting a characteristic line of a building by oblique photogrammetry, wherein the method comprises the following steps: constructing a real-scene three-dimensional model of the specified building according to the multi-view oblique image; selecting three points which are not collinear from the outer vertical surfaces of the real three-dimensional model to calculate the optimal plane corresponding to the outer vertical surfaces; and calculating the intersection line of the two adjacent outer vertical surfaces according to the optimal planes corresponding to the two adjacent outer vertical surfaces in the real three-dimensional model. The method can accurately extract the characteristic line of the building according to the multi-view oblique image, and improves the surveying and mapping precision and efficiency of the building.
Description
Technical Field
The invention relates to the technical field of building surveying and mapping, in particular to a method and a device for extracting a characteristic line of a building through oblique photogrammetry and a storage medium.
Background
Oblique photogrammetry is a high and new technology which is started in recent years in the field of international photogrammetry, and acquires abundant high-resolution textures of the top surface and side view of a building by acquiring images from different viewing angles. The method can truly reflect the ground and object conditions, acquire object texture information with high precision, and generate an almost real three-dimensional city model through advanced positioning, fusion, modeling and other technologies.
The oblique images can enable a user to observe the ground objects from multiple angles, so that the actual conditions of the ground objects are reflected more truly, and the defects of the traditional orthoscopic image application are greatly overcome. Through the matched application, the point cloud and the live-action three-dimensional model can be directly generated based on the result image, a user can perform point selection and measurement at multiple angles, and the application of the oblique photography measurement technology is expanded.
The live-action three-dimensional model is generally generated by overlaying a mass point cloud based on a triangulation network. With the increasing camera resolution and the increasing lens number of oblique photogrammetry, the data volume of the live-action three-dimensional model is increased in a geometric progression mode, and the efficiency of directly utilizing a triangular network to realize characteristic line search is lower and lower; moreover, due to the restriction of the characteristics of the triangulation network, the fitting effect on the surface is good, but the linear target with a non-smooth outline outside the building is difficult to accurately fit; if the characteristic line is directly recognized manually, a linear target presents a sharp angle in the view, so that a large checking deviation is easy to generate; in addition, many building feature lines cannot be directly represented on the oblique image due to the influence of tree vegetation and other ground features. The above problems can cause insufficient efficiency of extracting the characteristic line of the building, and the efficiency is not high, so that the occasions with higher precision requirements on building measurement in the fields of planning, construction, city management, municipal administration and the like are difficult to meet.
Disclosure of Invention
Based on the method, the device and the storage medium, the method and the device for extracting the characteristic line of the oblique photogrammetry building can accurately extract the characteristic line of the building according to the multi-view oblique image, and improve the surveying and mapping precision and efficiency of the building.
The embodiment of the invention provides a method for extracting a characteristic line of a building through oblique photogrammetry, which comprises the following steps:
constructing a real-scene three-dimensional model of the specified building according to the multi-view oblique image;
selecting three points which are not collinear from the outer vertical surfaces of the real three-dimensional model to calculate the optimal plane corresponding to the outer vertical surfaces;
and calculating the intersection line of the two adjacent outer vertical surfaces according to the optimal planes corresponding to the two adjacent outer vertical surfaces in the real three-dimensional model.
Preferably, the selecting three points that are not collinear from the facades of the live-action three-dimensional model to calculate the optimal plane corresponding to the facades specifically includes:
wherein, P1(x1,y1,z1)、P2(x2,y2,z2)、P3(x3,y3,z3) And coordinates corresponding to the three points of the outer vertical surfaces which are not collinear.
Preferably, the calculating an intersection line of two adjacent outer vertical surfaces according to the optimal plane corresponding to the two adjacent outer vertical surfaces in the live-action three-dimensional model specifically includes:
calculating a direction vector of the intersection line and an appointed coordinate passing through the intersection line according to a normal vector of an optimal plane corresponding to two adjacent outer vertical surfaces;
and obtaining the intersection line of the two adjacent outer vertical surfaces according to the direction vector of the intersection line and the designated coordinate passing through the intersection line.
Preferably, the calculating, according to a normal vector of an optimal plane corresponding to two adjacent facades, a direction vector of the intersection line and the designated coordinates passing through the intersection line includes:
according to the formula
Calculating a direction vector of the intersection line;
according to the formula
Calculating the designated coordinates of the intersection line;
wherein the content of the first and second substances,
respectively are normal vectors of the optimal planes corresponding to the two adjacent outer vertical surfaces.
Preferably, the obtaining the intersection line of the two adjacent external vertical surfaces according to the direction vector of the intersection line and the designated coordinate passing through the intersection line specifically includes:
according to the formula
Calculating an equation of the intersection line to obtain an intersection line of the two adjacent facades;
wherein, (0, y)0，z0) And t is a parameter for the designated coordinate passing through the intersection line.
Preferably, before constructing the realistic three-dimensional model of the specified building according to the multi-view oblique image, the method further comprises:
and according to the position data and the attitude data of the multi-view oblique image, performing aerial triangulation, geometric correction, coordinate conversion and image splicing on the multi-view oblique image.
The embodiment of the invention also provides a device for extracting the characteristic line of the oblique photogrammetry building, which comprises the following components:
the model construction module is used for constructing a real-scene three-dimensional model of the specified building according to the multi-view oblique image;
the plane calculation module is used for selecting three non-collinear points from the outer vertical surfaces of the real three-dimensional model so as to calculate the optimal plane corresponding to the outer vertical surfaces;
and the intersection line calculation module is used for calculating the intersection line of the two adjacent outer vertical surfaces according to the optimal planes corresponding to the two adjacent outer vertical surfaces in the real three-dimensional model.
The embodiment of the present invention also provides an oblique photogrammetry building feature line extraction apparatus, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the oblique photogrammetry building feature line extraction method as described above is implemented.
The embodiment of the invention also provides a computer-readable storage medium, which comprises a stored computer program, wherein when the computer program runs, a device where the computer-readable storage medium is located is controlled to execute the oblique photogrammetry building feature line extraction method.
Compared with the prior art, the oblique photogrammetry building characteristic line extraction method provided by the embodiment of the invention has the beneficial effects that: the oblique photogrammetry building characteristic line extraction method comprises the following steps: constructing a real-scene three-dimensional model of the specified building according to the multi-view oblique image; selecting three points which are not collinear from the outer vertical surfaces of the real three-dimensional model to calculate the optimal plane corresponding to the outer vertical surfaces; and calculating the intersection line of the two adjacent outer vertical surfaces according to the optimal planes corresponding to the two adjacent outer vertical surfaces in the real three-dimensional model. The method can accurately extract the characteristic line of the building according to the multi-view oblique image, and improves the surveying and mapping precision and efficiency of the building.
Drawings
FIG. 1 is a flow chart of a method for extracting a building feature line by oblique photogrammetry according to an embodiment of the present invention;
FIG. 2 is a schematic representation of a portion of a representative feature line of an exemplary building;
FIG. 3 is a schematic diagram of a corresponding plane defined by three point component vectors;
FIG. 4 is a schematic diagram of solving for the direction vector of the intersection line based on the normal vectors of the sums of two adjacent planes;
fig. 5 is a schematic diagram of an oblique photogrammetry building feature line extraction device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Please refer to fig. 1, which is a flowchart illustrating a method for extracting a feature line of an oblique photogrammetry building according to an embodiment of the present invention, the method comprising:
s100: constructing a real-scene three-dimensional model of the specified building according to the multi-view oblique image;
the building feature line to be extracted is an intersection line formed by the intersection of two adjacent facades. The building characteristic line is a straight line reflecting various sidelines, intersection lines and the like of the outer contour of the building, including but not limited to the intersection line between building faces, an edge line formed by a building facade and a top face, a slope side line, a slope foot line and the like, and can be determined according to the complexity of the building and the fine requirement degree of modeling; see, for example, FIG. 2 for a schematic representation of a portion of a representative feature line of an exemplary building.
S200: selecting three points which are not collinear from the outer vertical surfaces of the real three-dimensional model to calculate the optimal plane corresponding to the outer vertical surfaces;
in this embodiment, since the three non-collinear points can uniquely determine a plane, the determination of the plane can directly designate three feature positions on any one of the facades of the real three-dimensional model, and can also directly acquire and input point location coordinates through a design drawing, field measurement and other manners. The point location selection principle is that the point location selection principle is located on a corresponding building surface, and the point location selection principle has high image identification degree and is convenient to select. Meanwhile, in order to improve the calculation accuracy of the vertical face, the distance between two points is recommended to be as far as possible.
Referring to FIG. 3, three points P which are not collinear in the outer vertical plane1(x1,y1,z1)、P2(x2,y2,z2)、P3(x3,y3,z3) For example, the optimal plane M is obtained by solving1. The present invention uses a vector P1P2Sum vector P1P3The determined normal vector
And plane M1And solving the vertical relation.
S300: and calculating the intersection line of the two adjacent outer vertical surfaces according to the optimal planes corresponding to the two adjacent outer vertical surfaces in the real three-dimensional model.
And sequentially processing all the characteristic lines to be extracted in the live-action three-dimensional model according to the steps. The generated intersection lines can be directly presented to a user device or used for high-precision modeling of buildings. And can be converted into different coordinate systems for other display purposes. In addition, if necessary, the specific coordinate value of the characteristic line at the specified position can be directly given by using a straight line equation.
The invention realizes automatic construction and extraction of the characteristic line aiming at the multi-view oblique image in an interactive process, generates the corresponding characteristic line based on constructing the adjacent outer facade and ensures the accuracy, the tightness and the robustness of the characteristic line through the constraint of a plurality of surfaces. The invention improves the defects of the traditional method in the aspects of operation efficiency, convenience, accuracy and the like. Moreover, even for the characteristic lines of the building which cannot be directly seen on the image due to the problems of shielding, visual angle and the like, the method can be used for accurately extracting the characteristic lines of the building, thereby realizing the accurate extraction of the characteristic lines of the building and improving the surveying and mapping precision and efficiency of the building. The method has wide application prospect in the related fields of low-altitude aerial survey of unmanned aerial vehicles, ground or aerial oblique photogrammetry, rapid survey and control of large-scale topographic maps and the like.
In an alternative embodiment, S200: selecting three points which are not collinear from the outer vertical surfaces of the live-action three-dimensional model to calculate the optimal plane corresponding to the outer vertical surfaces, and the method specifically comprises the following steps:
according to the formula
Calculating an optimal plane corresponding to the outer vertical face;
wherein, P1(x1,y1,z1)、P2(x2,y2,z2)、P3(x3,y3,z3) And coordinates corresponding to the three points of the outer vertical surfaces which are not collinear.
In an optional embodiment, the calculating, according to the optimal plane corresponding to two adjacent facades in the realistic three-dimensional model, an intersection line of the two adjacent facades specifically includes:
calculating a direction vector of the intersection line and an appointed coordinate passing through the intersection line according to a normal vector of an optimal plane corresponding to two adjacent outer vertical surfaces;
and obtaining the intersection line of the two adjacent outer vertical surfaces according to the direction vector of the intersection line and the designated coordinate passing through the intersection line.
In an optional embodiment, calculating, according to a normal vector of an optimal plane corresponding to two adjacent facades, a direction vector of the intersection line and a designated coordinate passing through the intersection line, specifically include:
according to the formula
Calculating a direction vector of the intersection line;
according to the formula
Calculating the designated coordinates of the intersection line;
let x be 0 in the designated coordinates of the intersection line, and the above formula can solve that the designated coordinates of the intersection line are (0, y)0，z0)。
Wherein the content of the first and second substances,
respectively are normal vectors of the optimal planes corresponding to the two adjacent outer vertical surfaces.
Referring to FIG. 4, two adjacent outer vertical surfaces M are shown1And M2The normal vector of (2) is solved by orthogonality to obtain the direction vector of the intersection line L
In an optional embodiment, the obtaining the intersection line of the two adjacent facades according to the direction vector of the intersection line and the designated coordinate passing through the intersection line specifically includes:
according to the formula
Calculating an equation of the intersection line to obtain an intersection line of the two adjacent facades;
wherein, (0, y)0，z0) And t is a parameter for the designated coordinate passing through the intersection line.
In an alternative embodiment, S100: according to the multi-view oblique image, before constructing the real-scene three-dimensional model of the specified building, the method further comprises the following steps:
and according to the position data and the attitude data of the multi-view oblique image, performing aerial triangulation, geometric correction, coordinate conversion and image splicing on the multi-view oblique image.
Because the unmanned aerial vehicle has low flight height and high resolution ratio and is limited by a visual angle, surveying and mapping of large buildings such as houses can be completely covered only by multi-angle image acquisition of a plurality of survey stations, multi-view oblique images of specified buildings need to be acquired, preprocessing such as aerial triangulation, geometric correction, coordinate conversion, image splicing and the like is carried out according to position (GPS) data and attitude (POS) data of the multi-view oblique images by adopting a general method, and image data with the characteristics of large data volume, high overlapping degree and rich visual angles is generated, so that constructed point cloud and live-action three-dimensional models are positioned in the same space rectangular coordinate system with a measured projection plane, and subsequent unified processing is facilitated.
If the multi-view oblique image adopts geodetic longitude and latitude coordinates or other coordinate systems such as instrument coordinates and image coordinates, the multi-view oblique image can be completely converted into a space rectangular coordinate system in advance.
Further, the process of constructing the live-action three-dimensional model is as follows:
(1) according to the position data and the attitude data, the multi-view oblique image is subjected to aerial triangulation to obtain high-precision external orientation elements of all images,
(2) based on the multi-view oblique image after distortion correction and the exterior orientation elements, obtaining high-density three-dimensional point cloud through multi-view image dense matching, and constructing a 3D TIN model;
the multi-view image dense matching can obtain high-density digital point cloud, a digital table is constructed by optimizing a network construction algorithm, and a model (DSM) can be used for later-stage model construction and orthoimage generation. And after the multi-view oblique images are combined with space and three, the external orientation elements of the images are calculated, the optimal image matching unit is analyzed and selected to perform feature matching and pixel-by-pixel matching, and a parallel algorithm is introduced, so that the calculation efficiency can be improved. After the high-density DSM data is acquired, filtering processing can be performed, i.e. different matching units are fused to form a uniform DSM. The high-density point cloud data obtained through dense matching is large in size and needs to be cut and partitioned. Irregular triangulation network construction can be performed on the point cloud data of the blocks according to the performance of the computer and the set priority level. The method specifically comprises the following steps: (1) matching pixel by using multi-view oblique image information of the same ground object at different angles and adopting a matching strategy of referring to the multi-view oblique image unfixed; (2) based on redundant information of multi-view matching, the influence of shielding on the matching is avoided, and then a parallel algorithm is introduced to improve the calculation efficiency so as to quickly and accurately obtain coordinates of homonymous points on a multi-view oblique image and further obtain high-density three-dimensional point cloud data of a ground object; (3) and constructing a triangulation network (TIN) model under different Levels of Detail (Levels of Detail) based on the point cloud. By optimizing the triangulation network, the size of the internal triangle is adjusted to be matched with the resolution of the original multi-view oblique image, and meanwhile, the triangulation network in a relatively flat area is simplified by analyzing the change of the continuous curve, so that the data redundancy is reduced, and the TIN model vector architecture is obtained.
(3) Selecting corresponding optimal texture information according to an included angle between a normal equation of each triangular patch in the 3D TIN model and the two-dimensional image (namely the multi-view oblique image), and realizing automatic correlation of textures;
the automatic texture mapping is mainly based on the tile technology, namely, a whole modeling area is divided into a plurality of sub-areas (tiles) with certain sizes, each tile is packaged and established into a task based on a parallel processing mechanism of a cluster processing system and automatically distributed to each computing node to carry out registration and texture attachment of a model and a texture image, and meanwhile, a multi-detail and multi-level LOD is established for the model with the texture, so that the corresponding file organization structure is optimized conveniently, the efficiency of model layered browsing is improved, and the final live-action three-dimensional model is generated.
(4) And outputting and obtaining the real three-dimensional model.
The embodiment of the present invention also provides an oblique photogrammetry building feature point extraction apparatus, which includes a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the oblique photogrammetry building feature point extraction method as described above is implemented.
Please refer to fig. 5, which is a schematic diagram of an oblique photogrammetry building feature line extraction apparatus according to an embodiment of the present invention, the oblique photogrammetry building feature line extraction apparatus includes:
the model building module 1 is used for building a real-scene three-dimensional model of the specified building according to the multi-view oblique image;
the building feature line to be extracted is an intersection line formed by the intersection of two adjacent facades. The building characteristic line is a straight line reflecting various sidelines, intersection lines and the like of the outer contour of the building, including but not limited to the intersection line between building faces, an edge line formed by a building facade and a top face, a slope side line, a slope foot line and the like, and can be determined according to the complexity of the building and the fine requirement degree of modeling; see, for example, FIG. 2 for a schematic representation of a portion of a representative feature line of an exemplary building.
The plane calculation module 2 is used for selecting three non-collinear points from the outer vertical surfaces of the real three-dimensional model so as to calculate the optimal plane corresponding to the outer vertical surfaces;
in this embodiment, since the three non-collinear points can uniquely determine a plane, the determination of the plane can directly designate three feature positions on any one of the facades of the real three-dimensional model, and can also directly acquire and input point location coordinates through a design drawing, field measurement and other manners. The point location selection principle is that the point location selection principle is located on a corresponding building surface, and the point location selection principle has high image identification degree and is convenient to select. Meanwhile, in order to improve the calculation accuracy of the vertical face, the distance between two points is recommended to be as far as possible.
Referring to FIG. 3, three points P which are not collinear in the outer vertical plane1(x1,y1,z1)、P2(x2,y2,z2)、P3(x3,y3,z3) For example, the optimal plane M is obtained by solving1. The present invention uses a vector P1P2Sum vector P1P3The determined normal vector
And plane M1And solving the vertical relation.
And the intersection line calculating module 3 is used for calculating the intersection line of the two adjacent outer vertical surfaces according to the optimal planes corresponding to the two adjacent outer vertical surfaces in the real three-dimensional model.
And sequentially processing all the characteristic lines to be extracted in the live-action three-dimensional model according to the steps. The generated intersection lines can be directly presented to a user device or used for high-precision modeling of buildings. And can be converted into different coordinate systems for other display purposes. In addition, if necessary, the specific coordinate value of the characteristic line at the specified position can be directly given by using a straight line equation.
The invention realizes automatic construction and extraction of the characteristic line aiming at the multi-view oblique image in an interactive process, generates the corresponding characteristic line based on constructing the adjacent outer facade and ensures the accuracy, the tightness and the robustness of the characteristic line through the constraint of a plurality of surfaces. The invention improves the defects of the traditional method in the aspects of operation efficiency, convenience, accuracy and the like. Moreover, even for the characteristic lines of the building which cannot be directly seen on the image due to the problems of shielding, visual angle and the like, the method can be used for accurately extracting the characteristic lines of the building, thereby realizing the accurate extraction of the characteristic lines of the building and improving the surveying and mapping precision and efficiency of the building. The method has wide application prospect in the related fields of low-altitude aerial survey of unmanned aerial vehicles, ground or aerial oblique photogrammetry, rapid survey and control of large-scale topographic maps and the like.
In an alternative embodiment, the plane calculation module 2 is specifically configured to calculate the plane according to a formula
wherein, P1(x1,y1,z1)、P2(x2,y2,z2)、P3(x3,y3,z3) Is that it isAnd coordinates corresponding to three points with non-collinear outer vertical surfaces.
In an optional embodiment, the intersection line calculating module 3 specifically includes:
the intersection line feature calculation unit is used for calculating a direction vector of the intersection line and an appointed coordinate passing through the intersection line according to a normal vector of an optimal plane corresponding to two adjacent outer vertical surfaces;
and the intersecting line obtaining unit is used for obtaining the intersecting line of the two adjacent outer vertical surfaces according to the direction vector of the intersecting line and the designated coordinate passing through the intersecting line.
In an alternative embodiment, the intersection feature calculating unit includes:
a direction vector calculation unit for calculating a direction vector according to a formula
Calculating a direction vector of the intersection line;
a coordinate calculation unit for calculating a coordinate according to a formula
Calculating the designated coordinates of the intersection line;
let x be 0 in the designated coordinates of the intersection line, and the above formula can solve that the designated coordinates of the intersection line are (0, y)0，z0)。
Wherein the content of the first and second substances,
respectively are normal vectors of the optimal planes corresponding to the two adjacent outer vertical surfaces.
Referring to FIG. 4, two adjacent outer vertical surfaces M are shown1And M2The normal vector of (2) is solved by orthogonality to obtain the direction vector of the intersection line L
In an optional embodiment, the intersection line obtaining unit is specifically configured to obtain the intersection line according to a formula
Calculating an equation of the intersection line to obtain an intersection line of the two adjacent facades;
wherein, (0, y)0，z0) And t is a parameter for the designated coordinate passing through the intersection line.
In an optional embodiment, the oblique photogrammetry building feature line extraction apparatus further comprises:
and the data preprocessing module is used for carrying out aerial triangulation, geometric correction, coordinate conversion and image splicing on the multi-view oblique image according to the position data and the attitude data of the multi-view oblique image.
Because the unmanned aerial vehicle has low flight height and high resolution ratio and is limited by a visual angle, surveying and mapping of large buildings such as houses can be completely covered only by multi-angle image acquisition of a plurality of survey stations, multi-view oblique images of specified buildings need to be acquired, preprocessing such as aerial triangulation, geometric correction, coordinate conversion, image splicing and the like is carried out according to position (GPS) data and attitude (POS) data of the multi-view oblique images by adopting a general method, and image data with the characteristics of large data volume, high overlapping degree and rich visual angles is generated, so that constructed point cloud and live-action three-dimensional models are positioned in the same space rectangular coordinate system with a measured projection plane, and subsequent unified processing is facilitated.
If the multi-view oblique image adopts geodetic longitude and latitude coordinates or other coordinate systems such as instrument coordinates and image coordinates, the multi-view oblique image can be completely converted into a space rectangular coordinate system in advance.
Further, the process of constructing the live-action three-dimensional model is as follows:
(1) according to the position data and the attitude data, the multi-view oblique image is subjected to aerial triangulation to obtain high-precision external orientation elements of all images,
(2) based on the multi-view oblique image after distortion correction and the exterior orientation elements, obtaining high-density three-dimensional point cloud through multi-view image dense matching, and constructing a 3D TIN model;
the multi-view image dense matching can obtain high-density digital point cloud, a digital table is constructed by optimizing a network construction algorithm, and a model (DSM) can be used for later-stage model construction and orthoimage generation. And after the multi-view oblique images are combined with space and three, the external orientation elements of the images are calculated, the optimal image matching unit is analyzed and selected to perform feature matching and pixel-by-pixel matching, and a parallel algorithm is introduced, so that the calculation efficiency can be improved. After the high-density DSM data is acquired, filtering processing can be performed, i.e. different matching units are fused to form a uniform DSM. The high-density point cloud data obtained through dense matching is large in size and needs to be cut and partitioned. Irregular triangulation network construction can be performed on the point cloud data of the blocks according to the performance of the computer and the set priority level. The method specifically comprises the following steps: (1) matching pixel by using multi-view oblique image information of the same ground object at different angles and adopting a matching strategy of referring to the multi-view oblique image unfixed; (2) based on redundant information of multi-view matching, the influence of shielding on the matching is avoided, and then a parallel algorithm is introduced to improve the calculation efficiency so as to quickly and accurately obtain coordinates of homonymous points on a multi-view oblique image and further obtain high-density three-dimensional point cloud data of a ground object; (3) and constructing a triangulation network (TIN) model under different Levels of Detail (Levels of Detail) based on the point cloud. By optimizing the triangulation network, the size of the internal triangle is adjusted to be matched with the resolution of the original multi-view oblique image, and meanwhile, the triangulation network in a relatively flat area is simplified by analyzing the change of the continuous curve, so that the data redundancy is reduced, and the TIN model vector architecture is obtained.
(3) Selecting corresponding optimal texture information according to an included angle between a normal equation of each triangular patch in the 3D TIN model and the two-dimensional image (namely the multi-view oblique image), and realizing automatic correlation of textures;
the automatic texture mapping is mainly based on the tile technology, namely, a whole modeling area is divided into a plurality of sub-areas (tiles) with certain sizes, each tile is packaged and established into a task based on a parallel processing mechanism of a cluster processing system and automatically distributed to each computing node to carry out registration and texture attachment of a model and a texture image, and meanwhile, a multi-detail and multi-level LOD is established for the model with the texture, so that the corresponding file organization structure is optimized conveniently, the efficiency of model layered browsing is improved, and the final live-action three-dimensional model is generated.
(4) And outputting and obtaining the real three-dimensional model.
The embodiment of the present invention also provides an oblique photogrammetry building feature point extraction apparatus, which includes a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the oblique photogrammetry building feature point extraction method as described above is implemented.
The embodiment of the present invention also provides an oblique photogrammetry building feature line extraction apparatus, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the oblique photogrammetry building feature line extraction method as described above is implemented.
Illustratively, the computer program may be partitioned into one or more modules/units that are stored in the memory and executed by the processor to implement the invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program in the oblique photogrammetric building feature line extraction apparatus. For example, the computer program may be divided into functional blocks of the oblique photogrammetry building feature line extraction apparatus of fig. 5.
The oblique photogrammetry building characteristic line extraction device can be a mobile phone, a desktop computer, a notebook computer, a palm computer, a cloud server and other computing equipment. The oblique photogrammetry building feature line extraction device can include, but is not limited to, a processor, a memory. For example, the oblique photogrammetry building feature line extraction device can also comprise an input and output device, a network access device, a bus and the like.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, said processor being the control centre of the oblique photogrammetric building feature line extraction means, the various parts of the entire oblique photogrammetric building feature line extraction means being connected by various interfaces and lines.
The memory may be used to store the computer programs and/or modules, and the processor may implement the various functions of the oblique photogrammetric building feature line extraction apparatus by running or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Wherein, the module/unit integrated with the oblique photogrammetry building characteristic line extraction device can be stored in a computer readable storage medium if the module/unit is realized in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The embodiment of the invention also provides a computer-readable storage medium, which comprises a stored computer program, wherein when the computer program runs, a device where the computer-readable storage medium is located is controlled to execute the oblique photogrammetry building feature line extraction method.
Compared with the prior art, the oblique photogrammetry building characteristic line extraction method provided by the embodiment of the invention has the beneficial effects that: the oblique photogrammetry building characteristic line extraction method comprises the following steps: constructing a real-scene three-dimensional model of the specified building according to the multi-view oblique image; selecting three points which are not collinear from the outer vertical surfaces of the real three-dimensional model to calculate the optimal plane corresponding to the outer vertical surfaces; and calculating the intersection line of the two adjacent outer vertical surfaces according to the optimal planes corresponding to the two adjacent outer vertical surfaces in the real three-dimensional model. The method can accurately extract the characteristic line of the building according to the multi-view oblique image, and improves the surveying and mapping precision and efficiency of the building.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
The foregoing is a preferred embodiment of the present invention, and it should be noted that it would be apparent to those skilled in the art that various modifications and enhancements can be made without departing from the principles of the invention, and such modifications and enhancements are also considered to be within the scope of the invention.
Claims (5)
1. A method for extracting a building characteristic line through oblique photogrammetry is characterized by comprising the following steps:
constructing a real-scene three-dimensional model of the specified building according to the multi-view oblique image;
selecting three points which are not collinear from the outer vertical surfaces of the real three-dimensional model to calculate the optimal plane corresponding to the outer vertical surfaces;
calculating the intersection line of two adjacent outer vertical surfaces according to the optimal planes corresponding to the two adjacent outer vertical surfaces in the real three-dimensional model;
selecting three points which are not collinear from the outer vertical surfaces of the live-action three-dimensional model to calculate the optimal plane corresponding to the outer vertical surfaces, wherein the method specifically comprises the following steps:
according to the formula
Calculating an optimal plane corresponding to the outer vertical face;
wherein, P1(x1,y1,z1)、P2(x2,y2,z2)、P3(x3,y3,z3) Is that it isCoordinates corresponding to three points with non-collinear outer vertical surfaces;
the calculating an intersection line of two adjacent outer vertical surfaces according to the optimal planes corresponding to the two adjacent outer vertical surfaces in the live-action three-dimensional model specifically comprises:
according to the formula
Calculating a direction vector of the intersection line;
according to the formula
Calculating the designated coordinates of the intersection line;
wherein the content of the first and second substances,
respectively are normal vectors of optimal planes corresponding to two adjacent outer vertical surfaces;
according to the formula
Calculating an equation of the intersection line to obtain an intersection line of the two adjacent facades;
wherein, (0, y)0，z0) And t is a parameter for the designated coordinate passing through the intersection line.
2. The oblique photogrammetry building feature line extraction method of claim 1, wherein before constructing the live-action three-dimensional model of the specified building from the multi-view oblique images, further comprising:
and according to the position data and the attitude data of the multi-view oblique image, performing aerial triangulation, geometric correction, coordinate conversion and image splicing on the multi-view oblique image.
3. An oblique photogrammetry building feature line extraction device, comprising:
the model construction module is used for constructing a real-scene three-dimensional model of the specified building according to the multi-view oblique image;
the plane calculation module is used for selecting three non-collinear points from the outer vertical surfaces of the real three-dimensional model so as to calculate the optimal plane corresponding to the outer vertical surfaces;
the intersection line calculation module is used for calculating the intersection line of two adjacent outer vertical surfaces according to the optimal planes corresponding to the two adjacent outer vertical surfaces in the real three-dimensional model;
the plane calculation module is specifically used for calculating the plane according to a formula
Calculating an optimal plane corresponding to the outer vertical face;
wherein, P1(x1,y1,z1)、P2(x2,y2,z2)、P3(x3,y3,z3) Coordinates corresponding to three points of the outer vertical surfaces which are not collinear;
the intersection line calculation module is specifically used for calculating the intersection line according to a formula
Calculating a direction vector of the intersection line;
according to the formula
Calculating the designated coordinates of the intersection line;
wherein the content of the first and second substances,
respectively are normal vectors of optimal planes corresponding to two adjacent outer vertical surfaces;
according to the formula
Calculating an equation of the intersection line to obtain an intersection line of the two adjacent facades;
wherein the content of (0,y0，z0) And t is a parameter for the designated coordinate passing through the intersection line.
4. An oblique photogrammetry building feature line extraction apparatus comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the oblique photogrammetry building feature line extraction method of any one of claims 1 to 2 when executing the computer program.
5. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the oblique photogrammetric building feature line extraction method of any of claims 1 to 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810896609.XA CN109269472B (en) | 2018-08-08 | 2018-08-08 | Method and device for extracting characteristic line of oblique photogrammetry building and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810896609.XA CN109269472B (en) | 2018-08-08 | 2018-08-08 | Method and device for extracting characteristic line of oblique photogrammetry building and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109269472A CN109269472A (en) | 2019-01-25 |
| CN109269472B true CN109269472B (en) | 2020-12-22 |
Family
ID=65153205
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810896609.XA Active CN109269472B (en) | 2018-08-08 | 2018-08-08 | Method and device for extracting characteristic line of oblique photogrammetry building and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109269472B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110838129A (en) * | 2019-11-18 | 2020-02-25 | 四川视慧智图空间信息技术有限公司 | Three-dimensional building model contour characteristic line extraction method based on oblique photogrammetry |
| CN111951402B (en) * | 2020-08-18 | 2024-02-23 | 北京市测绘设计研究院 | Three-dimensional model generation method, three-dimensional model generation device, computer equipment and storage medium |
| CN112632681B (en) * | 2020-12-30 | 2024-04-19 | 苏州美舫科技股份有限公司 | Digital twin city model data individuation realization method and device based on illusion engine and storage medium |
| CN112907724B (en) * | 2020-12-31 | 2023-08-04 | 河南工程学院 | Building interactive automatic imaging method utilizing unmanned aerial vehicle oblique photography |
| CN115641401A (en) * | 2021-07-05 | 2023-01-24 | 华为技术有限公司 | Construction method and related device of three-dimensional live-action model |
| CN113232880B (en) * | 2021-07-08 | 2021-10-29 | 深圳市勘察研究院有限公司 | Method for automatic extraction of oblique photography suspension arm and features |
| CN114896679B (en) * | 2022-07-13 | 2022-10-04 | 深圳大学 | Three-dimensional model optimization method of building, intelligent terminal and storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1151651A (en) * | 1997-08-06 | 1999-02-26 | Nippon Steel Corp | Method for measuring tilt angle of surface of sight mark, three-dimensional coordinate measuring method, and sight mark |
| CN104361628A (en) * | 2014-11-27 | 2015-02-18 | 南宁市界围工程咨询有限公司 | Three-dimensional real scene modeling system based on aviation oblique photograph measurement |
| CN107607090A (en) * | 2017-09-12 | 2018-01-19 | 中煤航测遥感集团有限公司 | Building projects method and device for correcting |
| CN107633504A (en) * | 2017-08-07 | 2018-01-26 | 广东电网有限责任公司机巡作业中心 | Shaft tower inclined degree detection method and device |
-
2018
- 2018-08-08 CN CN201810896609.XA patent/CN109269472B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1151651A (en) * | 1997-08-06 | 1999-02-26 | Nippon Steel Corp | Method for measuring tilt angle of surface of sight mark, three-dimensional coordinate measuring method, and sight mark |
| CN104361628A (en) * | 2014-11-27 | 2015-02-18 | 南宁市界围工程咨询有限公司 | Three-dimensional real scene modeling system based on aviation oblique photograph measurement |
| CN107633504A (en) * | 2017-08-07 | 2018-01-26 | 广东电网有限责任公司机巡作业中心 | Shaft tower inclined degree detection method and device |
| CN107607090A (en) * | 2017-09-12 | 2018-01-19 | 中煤航测遥感集团有限公司 | Building projects method and device for correcting |
Non-Patent Citations (1)
| Title |
|---|
| 《倾斜影像应用于建筑物三维建模研究》;李卉;《测绘与空间地理信息》;20170531;第40卷(第5期);第130-132,136 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109269472A (en) | 2019-01-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109186551B (en) | Method and device for extracting characteristic points of oblique photogrammetry building and storage medium | |
| CN109269472B (en) | Method and device for extracting characteristic line of oblique photogrammetry building and storage medium | |
| US9092899B1 (en) | Automatic method for photo texturing geolocated 3D models from geolocated imagery | |
| CN109238239B (en) | Digital measurement three-dimensional modeling method based on aerial photography | |
| Strecha et al. | Dynamic and scalable large scale image reconstruction | |
| US8422825B1 (en) | Method and system for geometry extraction, 3D visualization and analysis using arbitrary oblique imagery | |
| EP3368859B1 (en) | Method of solving initial azimuth for survey instruments, cameras, and other devices with position and tilt information | |
| US20090154793A1 (en) | Digital photogrammetric method and apparatus using intergrated modeling of different types of sensors | |
| US20140320488A1 (en) | 3d building model construction tools | |
| US8749580B1 (en) | System and method of texturing a 3D model from video | |
| US8463024B1 (en) | Combining narrow-baseline and wide-baseline stereo for three-dimensional modeling | |
| CN107481321B (en) | Three-dimensional model generation method and three-dimensional model generation system | |
| CN114998536A (en) | Model generation method and device based on novel basic mapping and storage medium | |
| CN113048980B (en) | Pose optimization method and device, electronic equipment and storage medium | |
| AU2011362799A1 (en) | 3D streets | |
| US10235800B2 (en) | Smoothing 3D models of objects to mitigate artifacts | |
| Javadnejad et al. | Dense point cloud quality factor as proxy for accuracy assessment of image-based 3D reconstruction | |
| CN109163708B (en) | Optimization method, device and medium for unmanned aerial vehicle large-scale topographic map house line | |
| US8509522B2 (en) | Camera translation using rotation from device | |
| CN113177974A (en) | Point cloud registration method and device, electronic equipment and storage medium | |
| CN116086411A (en) | Digital topography generation method, device, equipment and readable storage medium | |
| CN108253942B (en) | Method for improving oblique photography measurement space-three quality | |
| CN116883604A (en) | Three-dimensional modeling technical method based on space, air and ground images | |
| Deng et al. | Automatic true orthophoto generation based on three-dimensional building model using multiview urban aerial images | |
| Wojciechowska et al. | Use of close-range photogrammetry and UAV in documentation of architecture monuments |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |