CN113650783A - Fixed wing oblique photography cadastral mapping method, system and equipment - Google Patents
Fixed wing oblique photography cadastral mapping method, system and equipment Download PDFInfo
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Abstract
The invention provides a fixed wing oblique photography cadastral mapping method, a system and equipment, wherein the fixed wing oblique photography cadastral mapping method comprises a mapping device, the device comprises an unmanned aerial vehicle and an oblique photography camera, and the method comprises the following steps: laying a target; acquiring image data by aerial photography; then obtaining a resolving result, carrying out live-action modeling based on the resolving result, generating a live-action three-dimensional image, and measuring the height, the length, the area and the width to obtain three-dimensional data; collecting the live-action three-dimensional image from different angles such as vertical angle, inclination angle and the like to form an inclination model and obtain vector data; and acquiring mapping data based on the stereo data and the vector data. According to the method, the high-definition three-dimensional image data are obtained by utilizing the oblique photography technology of the fixed-wing unmanned aerial vehicle, the live-action three-dimensional model is generated according to the encrypted point data for cadastral mapping, the defects of the rotor unmanned aerial vehicle are effectively overcome, the form of the cadastral is truly restored, the manpower and material resources of field work are greatly reduced, the time is saved, the working efficiency is improved, and meanwhile, the mapping quality and precision can be improved.
Description
Technical Field
The invention relates to a digital mapping technology, in particular to a fixed-wing oblique photography cadastral mapping method, a system and equipment.
Background
The cadastral map refers to a map obtained by mapping cadastral elements and related land features and relief on a plane drawing according to a specific projection method, a proportional relation and a special symbol.
Traditional cadastral mapping, not only manpower input is big, and the time cycle is long.
With the development of unmanned aerial vehicle photography technology, the technology for realizing three-dimensional live-action modeling has become a trend. However, the adoption of the rotor unmanned aerial vehicle to carry the oblique camera for the production of cadastral mapping causes the cadastral mapping to be insufficient in the aspects of efficiency, precision, cost, construction period and the like due to the fact that the rotor unmanned aerial vehicle has the disadvantages of short effective flight time, more stations, small flight coverage area for one time, low field operation flight efficiency and the like.
Disclosure of Invention
The embodiment of the invention provides a fixed wing oblique photography cadastral mapping method, a system and equipment. According to the method, the high-definition three-dimensional image data are obtained by utilizing the oblique photography technology of the fixed-wing unmanned aerial vehicle, the live-action three-dimensional model is generated according to the encrypted point data for cadastral mapping, the defects of the rotor unmanned aerial vehicle are effectively overcome, the form of the cadastral is truly restored, the manpower and material resources of field work are greatly reduced, the time is saved, the working efficiency is improved, and meanwhile, the mapping quality and precision can be improved.
In a first aspect of the embodiments of the present invention, a fixed-wing oblique photography cadastral mapping method is provided, including a mapping apparatus, where the apparatus includes an unmanned aerial vehicle and an oblique photography camera; the method comprises the following steps:
laying a target; acquiring image data by aerial photography according to a preset planning route based on the device;
after the aerial photography is finished, importing the image data into a ContextCapture model for air-to-three solution to obtain a solution result;
performing live-action modeling based on the resolving result to generate a live-action three-dimensional image, and measuring the height, the length, the area and the width based on the live-action three-dimensional image to obtain three-dimensional data;
acquiring the live-action three-dimensional image from different angles such as vertical angle and inclination angle to form an inclination model, and acquiring vector data by utilizing a TSD 3 DMaper inclination photography mapping system based on OSGB inclination model data after the inclination model is formed to obtain the vector data;
and acquiring mapping data based on the stereo data and the vector data.
Optionally, in one possible implementation manner of the first aspect, the layout target includes:
arranging a red paint target with the length of 30cm and the width of 10cm in a test area, wherein a white circular mark with the diameter of 3cm is arranged at the center of the red paint target;
wherein, the target layout distance is controlled within 100m, and the targets are arranged in pairs.
Optionally, in a possible implementation manner of the first aspect, after the laying out target, the method further includes:
the first target coordinates are measured at least twice based on the GPS in a preset time period, and the second target coordinates are obtained based on the average value of the first target coordinates.
Optionally, in a possible implementation manner of the first aspect, in the process of performing live-action modeling based on the solution result to generate a live-action three-dimensional image, the method further includes:
and receiving the second target coordinate input by the user, and correcting the live-action three-dimensional image based on the second target coordinate.
Optionally, in a possible implementation manner of the first aspect, the importing the image data into a ContextCapture model for space-three solution includes:
and importing the image data into a ContextCapture model to obtain the relative positions of the oblique image and the camera, the feature point cloud of the ground object and the image control points.
Optionally, in one possible implementation of the first aspect, the wing of the drone includes a fixed wing and a quad-rotor.
Optionally, in a possible implementation manner of the first aspect, the acquiring image data by aerial photography according to a preset planned route based on the device further includes:
carrying out outward expansion on the aerial photography area;
the extent of the external expansion was confirmed by the line height, which was 180 m.
Optionally, in a possible implementation manner of the first aspect, the ground resolution is not greater than 0.025cm, the photographing interval is not less than 30m, or the photographing frequency is 1.5s when the oblique photographing camera performs large-scale oblique photographing.
Optionally, in a possible implementation manner of the first aspect, the oblique photography camera is an RIY-DG3 five-lens camera.
In a second aspect of the embodiments of the present invention, a fixed-wing oblique photography cadastral mapping system is provided, which includes a mapping apparatus, where the apparatus includes an unmanned aerial vehicle and an oblique photography camera; the system comprises:
the layout module is used for laying targets;
the acquisition module is used for acquiring image data based on the device according to preset planning route aerial photography;
the analysis module is used for importing the image data into a ContextCapture model for space-three solution after the aerial photography is finished, and obtaining a solution result;
the modeling module is used for carrying out live-action modeling based on the resolving result to generate a live-action three-dimensional image, and measuring the height, the length, the area and the width based on the live-action three-dimensional image to obtain three-dimensional data;
the acquisition module is used for acquiring the live-action three-dimensional image from different angles such as vertical angle, inclination angle and the like to form an inclination model, and after the inclination model is formed, vector data acquisition is carried out by utilizing a TSD 3 DMaper oblique photography mapping system based on OSGB inclination model data to acquire vector data;
and the mapping module is used for acquiring mapping data based on the stereo data and the vector data.
In a third aspect of the embodiments of the present invention, there is provided a fixed-wing oblique radiography cadastral mapping apparatus, including: memory, a processor and a computer program, the computer program being stored in the memory, the processor running the computer program to perform the method of the first aspect of the invention as well as various possible aspects of the first aspect.
A fourth aspect of the embodiments of the present invention provides a readable storage medium, in which a computer program is stored, the computer program being, when executed by a processor, configured to implement the method according to the first aspect of the present invention and various possible aspects of the first aspect.
The invention provides a fixed wing oblique photography cadastral mapping method, a system and equipment, which comprise a mapping device, wherein the device comprises an unmanned aerial vehicle and an oblique photography camera, and the method comprises the following steps: laying a target; acquiring image data by aerial photography according to a preset planning route based on the device; after the aerial photography is finished, importing the image data into a ContextCapture model for air-to-three solution to obtain a solution result; performing live-action modeling based on the resolving result to generate a live-action three-dimensional image, and measuring the height, the length, the area and the width based on the live-action three-dimensional image to obtain three-dimensional data; acquiring the live-action three-dimensional image from different angles such as vertical angle and inclination angle to form an inclination model, and acquiring vector data by utilizing a TSD 3 DMaper inclination photography mapping system based on OSGB inclination model data after the inclination model is formed to obtain the vector data; and acquiring mapping data based on the stereo data and the vector data. According to the method, the high-definition three-dimensional image data are obtained by utilizing the oblique photography technology of the fixed-wing unmanned aerial vehicle, the live-action three-dimensional model is generated according to the encrypted point data for cadastral mapping, the defects of the rotor unmanned aerial vehicle are effectively overcome, the form of the cadastral is truly restored, the manpower and material resources of field work are greatly reduced, the time is saved, the working efficiency is improved, and meanwhile, the mapping quality and precision can be improved.
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Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present invention;
FIG. 2 is a flow chart of a fixed wing oblique photography cadastral mapping method provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a fixed-wing oblique photography cadastral mapping system according to an embodiment of the present invention;
fig. 4 is a hardware structure diagram of a fixed-wing oblique photography cadastral mapping device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
It should be understood that, in various embodiments of the present invention, the sequence numbers of the processes do not mean the execution sequence, and the execution sequence of the processes should be determined by the functions and the internal logic of the processes, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
It should be understood that in the present application, "comprising" and "having" and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that, in the present invention, "a plurality" means two or more. "and/or" is merely an association describing an associated object, meaning that three relationships may exist, for example, and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "comprises A, B and C" and "comprises A, B, C" means that all three of A, B, C comprise, "comprises A, B or C" means that one of A, B, C comprises, "comprises A, B and/or C" means that any 1 or any 2 or 3 of A, B, C comprises.
It should be understood that in the present invention, "B corresponding to a", "a corresponds to B", or "B corresponds to a" means that B is associated with a, and B can be determined from a. Determining B from a does not mean determining B from a alone, but may be determined from a and/or other information. And the matching of A and B means that the similarity of A and B is greater than or equal to a preset threshold value.
As used herein, "if" may be interpreted as "at … …" or "when … …" or "in response to a determination" or "in response to a detection", depending on the context.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present invention. As shown in fig. 1, the present invention employs drones and oblique photography cameras, such as fixed wing drones and RIY-DG3 five-lens camera 01, to map a test house through the arrangement of targets to obtain mapping data 02. Specifically, after the targets are laid, acquiring image data based on the device according to preset planning routes by aerial photography; after the aerial photography is finished, importing the image data into a ContextCapture model for air-to-three solution to obtain a solution result; performing live-action modeling based on the resolving result to generate a live-action three-dimensional image, and measuring the height, the length, the area and the degree based on the live-action three-dimensional image to obtain three-dimensional data; acquiring the live-action three-dimensional image from different angles such as vertical angle and inclination angle to form an inclination model, and acquiring vector data by utilizing a TSD 3 DMaper inclination photography mapping system based on OSGB inclination model data after the inclination model is formed to obtain the vector data; and acquiring mapping data based on the stereo data and the vector data. According to the method, the high-definition three-dimensional image data are obtained by utilizing the oblique photography technology of the fixed-wing unmanned aerial vehicle, the live-action three-dimensional model is generated according to the encrypted point data for cadastral mapping, the defects of the rotor unmanned aerial vehicle are effectively overcome, the form of the cadastral is truly restored, the manpower and material resources of field work are greatly reduced, the time is saved, the working efficiency is improved, and meanwhile, the mapping quality and precision can be improved.
Fig. 2 is a flowchart of a fixed-wing oblique photography cadastral mapping method provided by an embodiment of the present invention, and an execution subject of the method shown in fig. 2 may be a software and/or hardware system, which includes a mapping apparatus, and the apparatus may include a drone and an oblique photography camera. The fixed-wing oblique photography cadastral mapping method of the present embodiment may include steps S101 to S106, which are as follows:
and S101, laying targets.
The method for mapping the cadastral by fixed-wing oblique photography firstly constructs a cadastral mapping device of a fixed-wing oblique photography unmanned aerial vehicle, such as a vertical take-off and landing fixed-wing unmanned aerial vehicle and an oblique photography camera.
The cadastral map is a map drawn by cadastral survey, and is a large scale map for dividing the boundary of land ownership (ownership or right of use) in detail, and is used for explaining or proving the position, area and the like of the land of the ownership. The cadastral map is a real picture of the land ownership status and the utilization status, on which the categories of investigation units such as administrative boundaries, ownership boundaries, land categories and land parcel boundaries, the names, numbers and areas of land owners or land users, linear land features, the conditions of residential points and other items are shown in detail, which accurately represent the land ownership boundary lines, in particular mark the boundary lines, numbers and land ownership status of independent ownership sections.
Therefore, land targets need to be laid before acquiring and collecting image data, the targets are laid according to the actual situation of a test area, in the embodiment, the test mainly collects houses and auxiliary facilities thereof, therefore, map root control points exist in the target laying selection area as the targets, red paint with the length of 30cm and the width of 10cm is sprayed on the spot, the contrast ratio of the red paint can be increased, the targets can be conveniently judged by subsequent space-three resolving, and the white circular mark with the diameter of 3cm sprayed in the center can be more prominent. The target layout distance is controlled within 100m, and the targets are arranged in pairs, so that the targets are prevented from being damaged during aviation flight. According to the embodiment, the shooting precision is improved by arranging the target with the increased contrast, and then the three-dimensional live-action model of the real restored terrain is generated.
On the basis of the foregoing embodiment, a specific implementation manner of the step S101 of laying out the targets may be:
arranging a red paint target with the length of 30cm and the width of 10cm in a test area, wherein a white circular mark with the diameter of 3cm is arranged at the center of the red paint target;
wherein, the target layout distance is controlled within 100m, and the targets are arranged in pairs.
In the embodiment, the test mainly collects houses and accessory facilities thereof, so that map root control points are used as targets in a target arrangement selection area, red paint with the length of 30cm and the width of 10cm is sprayed on the spot, the contrast can be increased by the red paint, the targets can be conveniently judged by subsequent air-three resolving, and white round marks with the diameter of 3cm are sprayed in the center of the targets, so that the targets are more prominent. The target layout distance is controlled within 100m, and the targets are arranged in pairs, so that the targets are prevented from being damaged and the whole area cannot be controlled when flight occurs.
In some embodiments, the wings of the drone include fixed wings and quad rotors.
Adopt VTOL fixed wing unmanned aerial vehicle in this embodiment, adopt the compound wing overall arrangement that the fixed wing combines four rotors, the difficult problem of fixed wing unmanned aerial vehicle VTOL has not only been solved, it is long still to have the fixed wing unmanned aerial vehicle navigation concurrently, high speed, the characteristics and the function of rotor unmanned aerial vehicle VTOL far away, not only effectively solve rotor unmanned aerial vehicle time length, coverage is little, it flies many to erect the number, unfavorable factors such as field flight efficiency, and then improve the quality and the precision of mapping.
In some embodiments, the oblique photography camera is an RIY-DG3 five-lens camera.
Specifically, adopt RIY-DG3 Rui platinum complete series oblique photography camera, not only have light in weight, small, focus is reasonable, the compatibility is high, maintenance cost low grade a series of advantages, industrial unmanned aerial vehicle carries, can also carry on small-size electronic fixed wing and do the large face slope data acquisition, also can install and do the high accuracy slope data acquisition on various many rotor unmanned aerial vehicles. Therefore, popularization and use of cadastral mapping and photography are achieved, and mapping quality and accuracy are improved.
And S102, acquiring image data by aerial photography according to a preset planning route based on the device.
The embodiment carries out aerial photography according to a preset planning route, mainly collects houses and auxiliary facilities thereof, and the target layout selected area has a map root control point as a target. The preset planning route can be determined according to the actual tendency of the land house, such as from south to north, and then the image data is acquired by aerial photography according to the planning route from east to west. The preset rules in this embodiment are only examples, and may be specifically defined according to actual situations.
In some embodiments, the oblique photography camera performs large-scale oblique photography with a temporal resolution of not more than 0.025cm, a photographing interval of not less than 30cm or a photographing frequency of 1.5 s.
In the embodiment, when the fixed-wing unmanned aerial vehicle is used for carrying the oblique camera to carry out oblique photogrammetry, the influence of factors such as precision requirement, unmanned flight attitude during aerial photography, flight speed of the fixed-wing unmanned aerial vehicle, camera shutter, storage speed and the like is considered. According to the difference of the oblique cameras, the time resolution ratio of large-scale oblique photography is not more than 2.5cm, the photographing interval is not less than 30m or the timing is 1.5s, and the phenomenon that oblique images are lost due to the fact that the fixed speed is too high is prevented. Therefore, the accuracy of cadastral mapping is improved, and the quality and the precision of mapping are improved.
In some embodiments, the acquiring image data by aerial photography according to a preset planned route based on the device further includes:
carrying out outward expansion on the aerial photography area;
the extent of the external expansion was confirmed by the line height, which was 180 m.
In the embodiment, the fixed-wing unmanned aerial vehicle is used for carrying the oblique camera to carry out oblique photography measurement, so that the oblique camera is set, and an aerial photography area needs to be expanded; the extent of the external expansion was confirmed by the line height, which was 180 m. Meanwhile, the route planning needs to meet the coverage of the aerial photography area, the modeling requirement of the inclined model is considered, the aerial photography area is expanded, the expansion range is confirmed according to the relative height, the line height is about 180m in the embodiment, the expansion range 180m serves as the aerial photography range, and the quality and the precision of mapping are further improved.
In some embodiments, during the aerial photography, the flying attitude, the main power supply capacity, the wind speed, the weather change and other conditions of the airplane need to be concerned, and when an emergency situation which cannot meet the normal aerial photography requirement is met, the airplane should be taken to terminate the flight immediately and if the emergency situation cannot meet the normal aerial photography requirement. Especially, in the fixed wing oblique photography process, the requirements on the above items are higher, and the aerial photography process should pay attention to the parameters of the ground control software all the time. Meanwhile, records such as weather conditions, flight time, flight distance, number of collected pictures and the like need to be recorded among aerial photography racks, so that smooth proceeding of oblique photography of the fixed wing is ensured. After the flight is finished, the ground base station and the pos data of the unmanned aerial vehicle are downloaded and stored respectively, the requirement of recording is solved for the convenience of later-period air-to-air data, namely the image data shot by the unmanned aerial vehicle and the pos data of the unmanned aerial vehicle are processed in a one-to-one correspondence mode.
And S103, after the aerial photography is finished, importing the image data into a ContextCapture model to perform space-time-three-resolution, and acquiring a resolution result.
In the embodiment, after the target is laid, the GPS with stable precision is adopted, a favorable observation time period is selected, at least the fixed solution of the target is observed twice repeatedly in a lock losing mode, and then the average value of the fixed solution is taken as the coordinate of the target to carry out space-time solution.
Combine above-mentioned embodiment, after the flight photography finishes, download ground basic station and unmanned aerial vehicle pos data respectively and save, for the convenience of the empty three data in later stage solve the needs of typing, and do the one-to-one with the image data that unmanned aerial vehicle shot and unmanned aerial vehicle pos data and handle.
And after the aerial photography of the unmanned aerial vehicle is finished, importing the downloaded data into ContextCapture for air-to-three solution, and performing one-time estimation and one-time actuarial calculation. The most important point in the air-to-air three-dimensional solution is the pricking point work, and the control point arranged at this time is red cross paint with the length of 30cm and the width of 10cm, and the ground resolution is 0.025m, so that the control point is displayed to be 12 pixels long and 4 pixels wide in the photo; wherein the control points in the downward view lens are clearest and the distortion is also minimal.
Specifically, importing the image data into a ContextCapture model for space-time-three-solution, including:
and importing the image data into a ContextCapture model to obtain the relative positions of the oblique image and the camera, the feature point cloud of the ground object and the image control points. In some embodiments, the image is initially blank for three, the relative positions of the oblique image and the camera are obtained, and the feature point cloud of the ground feature is obtained. Checking the ground feature point cloud to ensure that no obvious layering phenomenon exists; checking whether the image has cross and layering phenomena. And further acquiring the image control points, namely selecting a corresponding space reference coordinate system before importing the image control points, and if the image control points use a local coordinate system, suggesting to use a local coordinate system Cartesian coordinate system.
The control points distributed in the embodiment are red cross-shaped paint with the length of 30cm and the width of 10cm, the ground resolution is 0.025m, the image is 12 pixels long and 4 pixels wide, the control points in the downward-looking lens are clearest and the deformation is minimum, and therefore the pricking point acquisition precision is higher.
And after the calculation of the air-fuel ratio, selecting input image control point coordinates, inputting the image control point coordinates measured on site in advance for correction, and viewing a calculation result after the calculation of the air-fuel ratio is finished, wherein the error in the model is 0.0248m (namely the error in one pixel). Because the model is corrected by the control point, the error in the control point plane is only 0.006m, and the subsequent operation can be carried out, otherwise, the image control point condition is rechecked, and the puncture point condition is adjusted. Therefore, the method not only improves the obtaining precision of the puncture points through one-time estimation and one-time precise calculation, but also has simple algorithm steps without repeated operation and the like, thereby realizing the construction of a real-scene three-dimensional model and indirectly improving the efficiency and the using effect of cadastral mapping.
In some embodiments, after the disposing the target, further comprising:
the first target coordinates are measured at least twice based on the GPS in a preset time period, and the second target coordinates are obtained based on the average value of the first target coordinates. The preset time period is a favorable observation time period, and the embodiment is not limited, and can be specifically limited according to actual situations.
In the embodiment, after the target is laid, the first target coordinates of the measuring target are obtained based on the GPS within a preset time period, and the first target coordinates of the two-time measurement are generally obtained, so that the first target coordinates of the two-time measurement need to be subjected to mean value processing, and the second target coordinates are obtained, so that the accuracy of data is improved. Of course, the second target coordinate can also be obtained by obtaining the first target coordinate of the measuring target more than twice and further calculating the average value.
S104, performing live-action modeling based on the resolving result to generate a live-action three-dimensional image, and measuring the height, the length, the area and the degree based on the live-action three-dimensional image to obtain three-dimensional data;
in this embodiment, the computer processor used for hollow three-model modeling is Intel (R) core (TM) i7-7860X CPU @3.60GHz, the memory is 128G, and the display card is two NVIDIA GeForce GTX 1080Ti game display cards. The tile blocks are set according to the performance of the computer by setting the range of the modeling area. And selecting a model output format and a texture mapping, and automatically generating the three-dimensional model after submitting. For example, based on the solution result, an OSGB product is selected, and a real three-dimensional model is generated. And each ground feature in the model has clear texture and accurate position coordinates, the form of the ground feature is really restored, and the height, the length, the area and the width are measured based on the live-action three-dimensional image to obtain three-dimensional data, wherein the three-dimensional data can comprise the height, the length, the area, the width and the like.
In the embodiment, the RIY-DG3 five-lens camera is used for acquiring all-dimensional data of a ground object, the data are processed to generate an image which is a real-scene three-dimensional image, the height, the length, the area and the degree are measured directly based on a result image, and the data are acquired in real time.
On the basis of the above embodiment, the real-scene modeling is performed based on the calculation result in step S104 to generate a real-scene three-dimensional image, and the specific implementation manner further includes: and receiving the second target coordinate input by the user, and correcting the live-action three-dimensional image based on the second target coordinate.
The embodiment corrects the live-action three-dimensional image based on the second target coordinate by receiving the second target coordinate about the target input by the user to obtain the corrected second target coordinate. Therefore, more accurate real-scene modeling can be realized, and the accuracy of cadastral mapping is further improved.
S105, collecting the live-action three-dimensional image from different angles such as vertical angle and inclination angle to form an inclination model, and after the inclination model is formed, utilizing a TSD 3 DMaper inclination photography mapping system to collect vector data based on OSGB inclination model data to obtain vector data; the vector data is used for representing the position and the shape of a map graph or a geographic test question in a coordinate system, and the spatial position of a geographic entity is accurately represented in a coordinate recording mode.
In the embodiment, images are acquired from different angles such as vertical and inclined angles, and after an inclined model is formed, vector data acquisition is performed on the basis of OSGB inclined model data by using a TSD 3D mapper (naked eye 3D mapping) inclined photography mapping system. Compared with traditional mapping, the TSD 3DMapper oblique photography mapping system has the following advantages: 1. the method has the advantages that the live-action three-dimensional acquisition is realized, the data acquisition is richer, and the live-action three-dimensional and fine three-dimensional models are acquired based on oblique photography. Compared with the traditional surveying and mapping mode, more than 80 percent of field collection and mapping work is saved, the mapping period is shortened, and the production cost is greatly reduced. 2. Production efficiency maximize, realized real bore hole 3D mapping through outdoor scene 3D mapping, it is more directly perceived relatively traditional three-dimensional mapping, the hardware threshold is lower, let ordinary notebook just can satisfy the mapping demand, and software operation is simpler. 3. The working environment safety is humanized, and bore hole 3D mapping has avoided dangerous operation through the outdoor scene model mapping, surveying personnel. The user does not need to climb up a high building; does not need to walk on the highway; the user does not need to climb high mountains and high mountains; reducing and avoiding dangerous areas such as inflammable, explosive, high pressure and the like; therefore, the system can work normally even in windy and rainy days, cold weather and frozen places and the like, and moves the real scene home to realize mapping as required. The manpower and material resources of the field industry that significantly reduces, save time improves work efficiency, can also improve mapping quality and precision simultaneously.
The OSGB tilt model Data supports the OSGB organization mode of smart3d format, and the Data directory must have a general entry of a Data directory, and a metadata. And under each tile directory, an osgb file with the same name as the directory name must exist, otherwise the root node cannot be identified. This embodiment is right from different angles such as perpendicular, slope the three-dimensional image of outdoor scene is gathered, forms the slope model, and then utilizes TSD 3DMapper oblique photography mapping system to carry out vector data collection based on OSGB slope model data, acquires vector data, and ground feature form is really restoreed, and the manpower and materials of the field of significantly reducing, save time improve work efficiency, can also improve mapping quality and precision simultaneously.
And S106, acquiring mapping data based on the stereo data and the vector data.
In combination with the embodiment, the mapping data is obtained by obtaining the height, length, width, area and other stereo data based on the live-action three-dimensional image and the vector data representing the spatial position of the geographic entity in a coordinate recording manner.
According to the method, the high-definition three-dimensional image data are obtained by utilizing the oblique photography technology of the fixed-wing unmanned aerial vehicle, the live-action three-dimensional model is generated according to the encrypted point data for cadastral mapping, the defects of the rotor unmanned aerial vehicle are effectively overcome, the form of the cadastral is truly restored, the manpower and material resources of field work are greatly reduced, the time is saved, the working efficiency is improved, and meanwhile, the mapping quality and precision can be improved.
In some embodiments, after the mapping data is obtained, through the verified mapping method, the foundation soil can be ensured to meet the requirement of cadastral mapping for 5cm, and the mapping quality and accuracy are greatly improved. The problem of among the prior art adverse factor such as unmanned aerial vehicle inconvenience, the manpower and materials of the field that significantly reduce simultaneously, save time improves work efficiency.
Specifically, after all the results of the test point areas are completed, according to the requirement of precision statistics, 50 parcel lands are randomly selected from the test point areas, and the room corner points are collected on the spot for precision analysis. By means of comparison and analysis of field actual measurement data and graphic data collected on the basis of the oblique photography three-dimensional model, the quality of mapping results in a test area is detected in a mode of combining manual inspection and check with human-computer interaction inspection by means of data sampling inspection. The verification precision detection extracts 50 land parcels and 115 boundary points, wherein the number of the gross error points is 6, and the error in the gross error is eliminated by 0.045 m. According to the result of the precision analysis, the result of the method can meet the requirement of 5cm in the cadastral map.
Fig. 3 is a schematic structural diagram of a fixed-wing oblique photography cadastral mapping system according to an embodiment of the present invention, and as shown in fig. 3, the system 10 of this embodiment may include:
a layout module 11 for laying out targets;
the acquisition module 12 is used for acquiring image data based on the device according to preset planning route aerial photography;
the analysis module 13 is configured to, after the aerial photography is finished, import the image data into a ContextCapture model to perform space-time-three solution, and obtain a solution result;
the modeling module 14 is used for performing live-action modeling based on the resolving result to generate a live-action three-dimensional image, and measuring the height, the length, the area and the width based on the live-action three-dimensional image to acquire three-dimensional data;
the acquisition module 15 is configured to acquire the live-action three-dimensional image from different angles such as vertical and oblique angles to form an oblique model, and after the oblique model is formed, acquire vector data based on OSGB oblique model data by using a TSD 3d mapper oblique photography mapping system to acquire the vector data;
and the mapping module 16 is used for acquiring mapping data based on the stereo data and the vector data.
The system of the embodiment shown in fig. 3 can be correspondingly used to execute the steps in the method embodiment shown in fig. 2, and the implementation principle and technical effect are similar, which are not described herein again.
Fig. 4 is a schematic hardware configuration diagram of a fixed-wing oblique photography cadastral mapping apparatus according to an embodiment of the present invention, and as shown in fig. 4, the apparatus 20 includes: a processor 21, a memory 22 and a computer program; wherein
A memory 22 for storing the computer program, which may also be a flash memory (flash). The computer program is, for example, an application program, a functional module, or the like that implements the above method.
A processor 21 for executing the computer program stored in the memory to implement the steps performed by the apparatus in the above method. Reference may be made in particular to the description relating to the preceding method embodiment.
Alternatively, the memory 22 may be separate or integrated with the processor 21.
When the memory 22 is a device independent of the processor 21, the apparatus may further include:
a bus 23 for connecting the memory 22 and the processor 21.
The present invention also provides a readable storage medium, in which a computer program is stored, which, when being executed by a processor, is adapted to implement the methods provided by the various embodiments described above.
The readable storage medium may be a computer storage medium or a communication medium. Communication media includes any medium that facilitates transfer of a computer program from one place to another. Computer storage media may be any available media that can be accessed by a general purpose or special purpose computer. For example, a readable storage medium is coupled to the processor such that the processor can read information from, and write information to, the readable storage medium. Of course, the readable storage medium may also be an integral part of the processor. The processor and the readable storage medium may reside in an Application Specific Integrated Circuits (ASIC). Additionally, the ASIC may reside in user equipment. Of course, the processor and the readable storage medium may also reside as discrete components in a communication device. The readable storage medium may be a read-only memory (ROM), a random-access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
The present invention also provides a program product comprising execution instructions stored in a readable storage medium. The at least one processor of the device may read the execution instructions from the readable storage medium, and the execution of the execution instructions by the at least one processor causes the device to implement the methods provided by the various embodiments described above.
In the above embodiments of the apparatus, it should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose processors, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A fixed-wing oblique photography cadastral mapping method is characterized by comprising a mapping device, wherein the device comprises an unmanned aerial vehicle and an oblique photography camera;
the method comprises the following steps:
laying a target;
acquiring image data by aerial photography according to a preset planning route based on the device;
after the aerial photography is finished, importing the image data into a ContextCapture model for air-to-three solution to obtain a solution result;
performing live-action modeling based on the resolving result to generate a live-action three-dimensional image, and measuring the height, the length, the area and the width based on the live-action three-dimensional image to obtain three-dimensional data;
acquiring the live-action three-dimensional image from different angles such as vertical angle and inclination angle to form an inclination model, and acquiring vector data by utilizing a TSD 3 DMaper inclination photography mapping system based on OSGB inclination model data after the inclination model is formed to obtain the vector data;
and acquiring mapping data based on the stereo data and the vector data.
2. The method of claim 1, wherein the routing targets comprise:
arranging a red paint target with the length of 30cm and the width of 10cm in a test area, wherein a white circular mark with the diameter of 3cm is arranged at the center of the red paint target;
wherein, the target layout distance is controlled within 100m, and the targets are arranged in pairs.
3. The method of claim 1 or 2, further comprising, after the laying out of targets:
the first target coordinates are measured at least twice based on the GPS in a preset time period, and the second target coordinates are obtained based on the average value of the first target coordinates.
4. The method according to claim 3, wherein in the process of performing live-action modeling based on the solution result to generate a live-action three-dimensional image, the method further comprises:
and receiving the second target coordinate input by the user, and correcting the live-action three-dimensional image based on the second target coordinate.
5. The method according to claim 2, wherein the importing the image data into a ContextCapture model for space-three solution comprises:
and importing the image data into a ContextCapture model to obtain the relative positions of the oblique image and the camera, the feature point cloud of the ground object and the image control points.
6. The method of claim 3, wherein the wings of the drone include fixed wings and quad rotors.
7. The method of claim 1, wherein said acquiring image data based on said device by aerial photography in accordance with a predetermined planned route further comprises:
carrying out outward expansion on the aerial photography area;
the extent of the external expansion was confirmed by the line height, which was 180 m.
8. The method of claim 1, wherein the oblique photography camera performs large scale oblique photography with a temporal resolution of not more than 0.025cm, a photographing interval of not less than 30m, or a photographing frequency of 1.5 s.
9. The method of claim 1 or 8, wherein the oblique photography camera is an RIY-DG3 five-lens camera.
10. A fixed-wing oblique photography cadastral mapping system comprising a memory and a processor, the memory having stored therein executable instructions of the processor; wherein the processor is configured to perform the fixed-wing oblique photography cadaveric mapping method of any of claims 1-9 via execution of the executable instructions.
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