CN113610869A - Panoramic monitoring display method based on GIS system - Google Patents
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Abstract
The invention discloses a GIS (geographic information system) -based panoramic monitoring display method, which relates to the field of monitoring and comprises the following steps: acquiring a panoramic image of a site to be monitored through panoramic monitoring equipment; the method comprises the following steps that a panoramic scanning device collects a field image according to a set flight route, wherein a plurality of fixed collection points are set in the flight route; processing the acquired image data, and generating point cloud data by combining the position relation of the acquisition points; performing three-dimensional reconstruction on the point cloud data to obtain a three-dimensional model; and performing animation display on the panoramic image and the three-dimensional model through a GIS system. The invention combines the panoramic monitoring with the GIS system, can bring all-around monitoring without dead angles to consumers, and brings visual feeling of spatial characteristics of the monitored area to the consumers.
Description
Technical Field
The invention relates to the field of monitoring, in particular to a GIS (geographic information system) -based panoramic monitoring display method.
Background
In the current video monitoring field, most of the monitoring systems are built by using common cameras, the display of real-time videos is relatively monotonous and flat, and the video monitoring without all-round dead angles and the three-dimensional stereo feeling of a monitored area cannot be brought to consumers. In the current market, although panoramic display based on GIS is available, the panoramic display is based on static off-line images, and the function of real-time monitoring without dead angles cannot be realized, so that the practical application value is very low. With the rapid development of the panoramic monitoring technology and the wide popularization of the GIS technology, the display method combining the panoramic view with the GIS has become a development trend.
Disclosure of Invention
In view of the technical defects, the invention provides a GIS system-based panoramic monitoring display method.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the panoramic monitoring display method based on the GIS system comprises the following steps:
s1, acquiring a panoramic image of the site to be monitored through the panoramic monitoring equipment;
s2, collecting the field image by the panoramic scanning equipment according to a set flight route, wherein a plurality of fixed collection points are set in the flight route;
s3, processing the collected image data, and generating point cloud data by combining the position relation of the collection points;
s4, performing three-dimensional reconstruction on the point cloud data to obtain a three-dimensional model;
and S5, performing animation display on the panoramic image and the three-dimensional model through a GIS system.
Preferably, the panoramic image acquisition method in step S1 is: and installing the panoramic monitoring equipment in the center of each area according to the size of the site and the effective acquisition area of the panoramic monitoring equipment.
Preferably, the panoramic monitoring device is further provided with a positioning module, and the positioning module is used for reporting the geographic position coordinates of installation of the panoramic monitoring device.
Preferably, the panoramic scanning device in step S2 is embodied as a drone module, and the drone module is mounted with a plurality of lenses supporting oblique photography.
Preferably, the method for collecting the site by the drone module in step S2 includes:
s51, adjusting the unmanned aerial vehicle module to fly to a set height;
s52, the unmanned aerial vehicle module performs overlook shooting on the site from a plurality of visual angles, and the flight route of the unmanned aerial vehicle module reciprocates according to the set coincidence rate and direction to complete full-coverage shooting on the site;
and S53, obtaining orderly arranged picture data through full-coverage shooting of the site, wherein the picture data comprise longitude and latitude, altitude and shooting posture information.
Preferably, the three-dimensional reconstruction process of the point cloud data described in step S4 includes point cloud registration, data fusion, and surface reconstruction, where the point cloud registration is:
s61, extracting feature point data among the picture data, and obtaining QUOTE according to the feature point data
、 QUOTE 
A matrix;
s62, QUOTE by ICP Algorithm
、 QUOTE 
Optimizing the matrix to obtain optimized QUOTE
、 QUOTE 
A matrix;
s63, transforming the optimized R, T matrix and the point cloud data to obtain registered point cloud data, wherein the mathematical expression is as follows:
in the formula: QUOTE
For registered point cloud data, QUOTE
For source cloud data, QUOTE
For rotating matrices, QUOTE
Is a translation matrix.
Preferably, the process of data fusion and surface reconstruction is as follows:
s71, constructing a volume grid by taking the point cloud data center after registration as an origin;
s72, segmenting the registered point cloud data through the volume grids to obtain a plurality of cubes;
and S73, constructing the isosurface of the cube through a voxel-level reconstruction algorithm, and combining the isosurfaces of all cubes to generate a three-dimensional model.
The invention has the beneficial effects that: through the combination of panoramic monitoring and a GIS system, the system can bring all-around dead-angle-free monitoring to consumers and bring visual feeling of spatial characteristics of a monitored area to the consumers.
Drawings
Fig. 1 is provided by the present invention: a panoramic equipment installation schematic diagram;
fig. 2 is provided by the present invention: schematic diagram of data grid data acquisition method of unmanned aerial vehicle;
fig. 3 is provided by the present invention: a model point cloud data schematic;
fig. 4 is provided by the present invention: reconstructing a three-dimensional model schematic diagram according to the point cloud data;
fig. 5 is provided by the present invention: the GIS is combined with a panoramic display schematic diagram;
fig. 6 is provided by the present invention: the flow chart is schematic.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the accompanying drawings, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. 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.
Examples
As shown in fig. 1-6, the panoramic monitoring display method based on the GIS system includes the following steps:
s1, acquiring a panoramic image of the site to be monitored through the panoramic monitoring equipment;
s2, collecting the field image by the panoramic scanning equipment according to a set flight route, wherein a plurality of fixed collection points are set in the flight route;
s3, processing the collected image data, and generating point cloud data by combining the position relation of the collection points;
s4, performing three-dimensional reconstruction on the point cloud data to obtain a three-dimensional model;
and S5, performing animation display on the panoramic image and the three-dimensional model through a GIS system.
Preferably, the panoramic image acquisition method in step S1 is: and installing the panoramic monitoring equipment in the center of each area according to the size of the site and the effective acquisition area of the panoramic monitoring equipment.
The method specifically comprises the following steps: according to every panoramic camera can clearly effectively gather 100 square meters space size as the basis, select equipment quantity and mounted position according to actual place space size, every panoramic equipment installation here equipment the regional space center of monitoring can to ensure that the maximum limit utilizes panoramic equipment's full field monitoring effect.
Preferably, the panoramic monitoring device is further provided with a positioning module, and the positioning module is used for reporting the geographic position coordinates of installation of the panoramic monitoring device.
Preferably, the panoramic scanning device in step S2 is embodied as a drone module, and the drone module is mounted with a plurality of lenses supporting oblique photography.
Preferably, the method for collecting the site by the drone module in step S2 includes:
s51, adjusting the unmanned aerial vehicle module to fly to a set height;
s52, the unmanned aerial vehicle module performs overlook shooting on the site from a plurality of visual angles, and the flight route of the unmanned aerial vehicle module reciprocates according to the set coincidence rate and direction to complete full-coverage shooting on the site;
and S53, obtaining orderly arranged picture data through full-coverage shooting of the site, wherein the picture data comprise longitude and latitude, altitude and shooting posture information.
Preferably, the three-dimensional reconstruction process of the point cloud data described in step S4 includes point cloud registration, data fusion, and surface reconstruction, where the point cloud registration is:
s61, extracting feature point data among the picture data, and obtaining QUOTE according to the feature point data
、 QUOTE 
A matrix;
s62, QUOTE by ICP Algorithm
、 QUOTE 
Optimizing the matrix to obtain optimized QUOTE
、 QUOTE 
A matrix;
s63, transforming the optimized R, T matrix and the source point cloud data to obtain registered point cloud data, wherein the mathematical expression is as follows:
in the formula: QUOTE
After being registeredPoint cloud data of, QUOTE
For source cloud data, QUOTE
For rotating matrices, QUOTE
Is a translation matrix.
Preferably, the process of data fusion and surface reconstruction is as follows:
s71, constructing a volume grid by taking the point cloud data center after registration as an origin;
s72, segmenting the registered point cloud data through the volume grids to obtain a plurality of cubes;
and S73, constructing the isosurface of the cube through a voxel-level reconstruction algorithm, and combining the isosurfaces of all cubes to generate a three-dimensional model.
The installation method of panoramic equipment monitoring comprises the following steps:
s1: the installation is installed in the center of a local area of a monitoring scene as much as possible so as to fully utilize the characteristic of no panoramic dead angle.
S2: and each panoramic camera monitoring effective area is controlled within 100 square meters.
S3: no object is required to be shielded in 3m around the panoramic camera.
The method for acquiring the geographic model data comprises the following steps:
s1: data acquisition
S11: the unmanned aerial vehicle supporting multi-lens oblique photography is adjusted to fly to a proper height.
S12: the unmanned aerial vehicle photography system shoots the ground from a plurality of visual angles.
S13: the aerial route returns along a certain direction with the overlapping rate of about 70 percent, and covers all the fields in sequence so as to achieve full-coverage aerial photography of the target terrain.
S14: and finally, orderly arranged picture data containing information such as longitude and latitude, altitude, shooting posture and the like are obtained.
S2: data processing
S21: and carrying out distortion correction on each picture according to the shot posture information of each picture.
S22: and generating point cloud data by combining the relation between each point according to the point data (longitude and latitude height information) obtained by shooting.
S23: and extracting characteristic points of the adjacent shot photos, and fusing image data according to the characteristic information.
S3: output model
And performing three-dimensional reconstruction on the point cloud data to obtain a three-dimensional model.
The three-dimensional modeling method of the monitoring area comprises the following steps:
s1: and (5) acquiring the panoramic image, wherein the distance between two adjacent acquisition points is controlled within 1 m.
S2: and processing the acquired panoramic image through the visual SLAM to acquire three-dimensional point cloud data.
S3: and performing three-dimensional reconstruction on the point cloud data to obtain a three-dimensional model.
Point cloud data modeling process:
s1: point cloud registration
S11: and (4) coarse registration. And extracting feature point data among the images, wherein the features comprise explicit features such as straight lines, inflection points, curve curvatures and the like, and self-defined features such as symbols, rotation graphs, axes and the like. And according to the characteristic data, preliminarily obtaining a rotation and translation matrix.
S12: and (6) accurate registration. The mode of fine registration has been largely fixed to use of the ICP algorithm and its various variants (the ICP algorithm is not described in detail here). And obtaining a R, T matrix after accurate optimization through an ICP algorithm.
S13: after registration, a transformation matrix for transforming the source point cloud data to the target point cloud is obtained, and can be expressed as: pt = R × Ps + T.
(Pt is target point cloud data, Ps is source point cloud data, R is a rotation matrix, and T is a translation matrix)
S2: data fusion
S21: the point cloud data after registration is scattered and disordered data in space, the scene information is not fully displayed, and fusion processing is needed to obtain a fine reconstruction model.
S22: and constructing a volume grid by taking each point cloud data center as an origin, and dividing the point cloud data into independent small cubes (voxels) by the grid.
S23: the surface is simulated by assigning SDF (effective distance field) values to the voxels. The SDF value is equal to the minimum distance value of this voxel to the reconstructed surface. When the SDF value is larger than zero, the voxel is in front of the surface; when the SDF is less than zero, it indicates that the voxel is behind the surface; as the SDF value approaches zero, it indicates that the voxel is closer to the real surface of the scene.
S3: surface reconstruction
S31: the purpose of surface reconstruction is to directly process raw gray-scale volume data using a voxel-level method in order to construct a visual iso-surface of an object.
S32: voxel level reconstruction algorithm: MC (Marching Cube) method. The marching cubes method first stores eight adjacently located data in a data field at eight vertices of a tetrahedral voxel, respectively. For two end points of an edge on a boundary voxel, when one of the values is greater than a given constant T and the other is less than T, there must be a vertex of the iso-surface on the edge. And then calculating the intersection points of twelve edges in the voxel and the isosurface, and constructing triangular patches in the voxel, wherein all the triangular patches divide the voxel into two areas, namely an isosurface area and an isosurface area. And finally, connecting the triangular patches of all voxels in the data field to form an isosurface. Merging the iso-surfaces of all cubes results in a complete three-dimensional surface.
The foregoing is illustrative of the preferred embodiments of this invention, and it is to be understood that the invention is not limited to the precise form disclosed herein and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the concept as disclosed herein, either as described above or as apparent to those skilled in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The GIS system-based panoramic monitoring display method is characterized by comprising the following steps of:
s1, acquiring a panoramic image of the site to be monitored through the panoramic monitoring equipment;
s2, collecting the field image by the panoramic scanning equipment according to a set flight route, wherein a plurality of fixed collection points are set in the flight route;
s3, processing the collected image data, and generating point cloud data by combining the position relation of the collection points;
s4, performing three-dimensional reconstruction on the point cloud data to obtain a three-dimensional model;
and S5, performing animation display on the panoramic image and the three-dimensional model through a GIS system.
2. The GIS system based panoramic monitoring display method of claim 1, wherein the panoramic image acquisition method in step S1 is as follows: and installing the panoramic monitoring equipment in the center of each area according to the size of the site and the effective acquisition area of the panoramic monitoring equipment.
3. The GIS system-based panoramic monitoring display method according to claim 2, wherein the panoramic monitoring device is further provided with a positioning module, and the positioning module is used for reporting geographic position coordinates of installation of the panoramic monitoring device.
4. The GIS system-based panoramic monitoring display method according to claim 1, wherein the panoramic scanning device in step S2 is an unmanned aerial vehicle module, and the unmanned aerial vehicle module is provided with a plurality of lenses supporting oblique photography.
5. The GIS system-based panoramic monitoring display method of claim 4, wherein the method for collecting the site by the UAV module in step S2 is as follows:
s51, adjusting the unmanned aerial vehicle module to fly to a set height;
s52, the unmanned aerial vehicle module performs overlook shooting on the site from a plurality of visual angles, and the flight route of the unmanned aerial vehicle module reciprocates according to the set coincidence rate and direction to complete full-coverage shooting on the site;
and S53, obtaining orderly arranged picture data through full-coverage shooting of the site, wherein the picture data comprise longitude and latitude, altitude and shooting posture information.
6. The GIS system based panoramic monitoring and displaying method according to claim 1, wherein the three-dimensional reconstruction process of the point cloud data in step S4 includes point cloud registration, data fusion and surface reconstruction, wherein the point cloud registration is:
s61, extracting feature point data among the picture data, and obtaining the feature point data according to the feature point data
、
A matrix;
s62, by ICP algorithm
、
Optimizing the matrix to obtain the optimized matrix
、
A matrix;
s63, transforming the optimized R, T matrix and the point cloud data to obtain registered point cloud data, wherein the mathematical expression is as follows:
in the formula:
for the point cloud data after the registration, the point cloud data,
in the form of source point cloud data,
in order to be a matrix of rotations,
is a translation matrix.
7. The GIS system-based panoramic monitoring and displaying method according to claim 6, wherein the data fusion and surface reconstruction processes are as follows:
s71, constructing a volume grid by taking the point cloud data center after registration as an origin;
s72, segmenting the registered point cloud data through the volume grids to obtain a plurality of cubes;
and S73, constructing the isosurface of the cube through a voxel-level reconstruction algorithm, and combining the isosurfaces of all cubes to generate a three-dimensional model.
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