CN114494625A - High-precision topographic map manufacturing method and device and computer equipment - Google Patents
High-precision topographic map manufacturing method and device and computer equipment Download PDFInfo
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Abstract
The invention provides a high-precision topographic map making method, a high-precision topographic map making device and computer equipment, wherein the high-precision topographic map making method comprises the following steps: the method comprises the steps of obtaining image data and original point cloud data of an operation area, conducting three-dimensional processing on the image data to obtain a three-dimensional model, filtering the original point cloud data to obtain target point cloud data, fusing the target point cloud data and the three-dimensional model to generate a high-precision topographic map, and manufacturing a map meeting precision requirements through the same ground resolution, so that the precision of the topographic map can be improved, the time for manufacturing the map is shortened, the workload is reduced, and the manufacturing cost of the topographic map is reduced.
Description
Technical Field
The invention relates to the field of mapping of surveying and mapping maps, in particular to a high-precision topographic map manufacturing method and device and computer equipment.
Background
In the traditional aerial photogrammetry, aerial photographic image ground resolution and a mapping scale must be matched, and the direct result brought by using a low-resolution image is that elevation precision cannot meet the standard requirement. In the aerial photogrammetry standard, when the ground resolution is 15-25 centimeters, the scale of the survey map is 1: 2000; when the ground resolution is 8-12 centimeters, the scale of the measuring graph is 1: 1000; when the ground resolution is better than 8 cm, the precision requirement of a 1:500 scale can be met. If maps with the same ground resolution are manufactured in different areas of the same project, certain areas may not meet the required precision; when various map-forming proportional-scale topographic maps need to be manufactured, various ground resolutions need to be used, but the map manufacturing with various ground resolutions not only requires a long time and a large workload, but also has a huge manufacturing cost.
Disclosure of Invention
In view of the above problems, the present application provides a high-precision topographic map making method, device and computer equipment.
The application provides a high-precision topographic map manufacturing method, which comprises the following steps:
acquiring image data and original point cloud data of a working area;
performing three-dimensional processing on the image data to obtain a three-dimensional model;
filtering the original point cloud data to obtain target point cloud data;
and fusing the target point cloud data and the three-dimensional model to generate a high-precision topographic map.
The method for manufacturing the high-precision topographic map filters the original point cloud data to obtain target point cloud data, and comprises the following steps:
performing coordinate system conversion and elevation fitting on the original point cloud data to obtain standard point cloud data;
classifying the standard point cloud data by using a classification algorithm to obtain ground point cloud data;
extracting each coordinate elevation of the ground point cloud data, calculating an error in elevation according to each coordinate elevation and an actually measured coordinate elevation of field work, and judging whether the error in elevation is less than or equal to a first error threshold value or not;
if the first error threshold value is less than or equal to the first error threshold value, determining that the elevation precision of the ground point cloud data meets the requirement, and taking the ground point cloud data as target point cloud data;
if the error value is larger than the first error threshold value, the coordinate system conversion and the elevation fitting are carried out on the original point cloud data again to obtain standard point cloud data.
The method for manufacturing the high-precision topographic map, which is implemented by fusing the target point cloud data and the three-dimensional model to generate the high-precision topographic map, comprises the following steps:
using the three-dimensional model to assist in selecting all standard elevation points and all standard contour lines in the target point cloud data;
carrying out three-dimensional mapping by using the three-dimensional model to acquire target information;
and generating a high-precision topographic map based on the all standard elevation points, the all standard contour lines and the target information.
The method for manufacturing the high-precision topographic map, which is provided by the application, uses the three-dimensional model to assist in selecting all standard elevation points in the target point cloud data, and comprises the following steps:
extracting all initial elevation points from the target point cloud data, and importing all the initial elevation points into the three-dimensional model to determine elevation points corresponding to a shielded area and elevation points corresponding to an unshielded area from all the initial elevation points;
selecting an unshielded image pair corresponding to the shielded area from the three-dimensional model so as to supplement the elevation point corresponding to the shielded area through the unshielded image pair;
and taking the elevation point corresponding to the unoccluded area and the supplemented elevation point corresponding to the occluded area as the all standard elevation points.
The method for manufacturing the high-precision topographic map, which is used for assisting in selecting all standard contour lines in the target point cloud data, comprises the following steps:
constructing an irregular triangulation network by using the target point cloud data and extracting all initial contour lines;
importing all the initial contour lines into the stereo model to determine contour lines corresponding to a trench bottom area and contour lines corresponding to a non-trench bottom area from all the initial contour lines so that a user can modify the contour lines corresponding to the trench bottom area;
and taking the contour lines corresponding to the trench bottom areas and the contour lines corresponding to the non-trench bottom areas after manual modification as all standard contour lines.
Before the target point cloud data and the three-dimensional model are fused to generate the high-precision topographic map, the method for manufacturing the high-precision topographic map further comprises the following steps:
carrying out field actual measurement by a vehicle-mounted elevation measurement mode to obtain all vehicle-mounted elevation points;
introducing all the vehicle-mounted elevation points into the three-dimensional model to determine whether errors exist in internal and external orientation elements of the three-dimensional model or not;
under the condition that no error exists, importing the target point cloud data into the three-dimensional model comprising all vehicle-mounted elevation points, calculating the error according to all the vehicle-mounted elevation points and the target point cloud data, and determining whether the error in the second elevation is less than or equal to a second error threshold value;
and if the median error is less than or equal to the second error threshold, executing the fusion of the target point cloud data and the three-dimensional model to generate a high-precision topographic map.
If the median error is larger than the second error threshold, coordinate system conversion and elevation fitting are carried out on the original point cloud data again to obtain standard point cloud data.
The high-precision topographic map manufacturing method further comprises the following steps: and acquiring image data and original point cloud data of the operation area by using an aerial camera in advance.
The application provides a high accuracy topographic map making devices, the device includes:
the acquisition module acquires image data and original point cloud data of the operation area;
the image data processing module is used for carrying out three-dimensional processing on the image data to obtain a three-dimensional model;
the point cloud data processing module is used for filtering the original point cloud data to obtain target point cloud data;
and the generation module is used for fusing the target point cloud data and the three-dimensional model to generate a high-precision topographic map.
The present application provides a computer device comprising a memory and a processor, the memory storing a computer program, the computer program, when executed on the processor, executing the high-precision topographic map making method of the present application.
The present application proposes a readable storage medium storing a computer program which, when run on a processor, performs the high-precision topographical mapping method described herein.
In the application, through acquiring the image data and the original point cloud data of an operation area, the image data is subjected to three-dimensional processing to obtain a three-dimensional model, the original point cloud data is filtered to obtain target point cloud data, the target point cloud data and the three-dimensional model are fused to generate a high-precision topographic map, the map meeting the precision requirement can be manufactured through the same ground resolution, the precision of the topographic map can be improved, the time for manufacturing the map is shortened, the workload can be reduced, and the manufacturing cost of the topographic map can be reduced.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the present invention. Like components are numbered similarly in the various figures.
Fig. 1 is a schematic flow chart illustrating a high-precision topographic map manufacturing method according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart illustrating filtering of point cloud data in a high-precision topographic map making method according to an embodiment of the present disclosure;
fig. 3 is a schematic flow chart illustrating a high-precision topographic map generated in a high-precision topographic map manufacturing method according to an embodiment of the present application;
fig. 4 shows a schematic flow chart of extracting elevation points from point cloud data in a high-precision topographic map making method provided by the embodiment of the present application;
fig. 5 is a schematic flow chart illustrating a process of extracting contour lines from point cloud data in a high-precision topographic map manufacturing method according to an embodiment of the present disclosure;
FIG. 6 is a flow chart illustrating another high-precision topographic map manufacturing method proposed by the present application;
fig. 7 shows a schematic structural diagram of a high-precision topographic map making device according to an embodiment of the present application.
Description of the main element symbols:
10-an acquisition module; 11-a point cloud data processing module; 12-image data processing module; 13-a generating module; 1-high precision topographic map making device.
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.
The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present invention, are only intended to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.
Example 1
In one embodiment of the present application, as shown in fig. 1, a method for making a high-precision topographic map includes the following steps:
step S110: and acquiring image data and original point cloud data of the operation area.
The image data, the original point cloud data and the track file of the operation area can be obtained by an aerial camera in advance, when aerial photography is carried out, a checking field needs to be arranged firstly, the checking field is arranged in the shooting area according to the equipment condition for checking and flying, and in the checking and flying process, two flight heights need to be designed for laser point cloud data checking and image data checking respectively. Or directly acquiring the image data, the original point cloud data and the track file of the operation area which are stored in the past so as to carry out the next step.
Step S120: performing three-dimensional processing on the image data to obtain a three-dimensional model;
after the image data is obtained, combining an IMU/GPS system and photo control measurement data to carry out aerial triangulation, wherein the aerial triangulation comprises the following steps: determining a relative orientation result according to the image data; then absolute orientation is carried out by combining IMU/GPS data and image control point coordinates; and calculating an aerial triangulation result according to the absolute orientation result, checking the aerial triangulation result, outputting undistorted image data and external orientation elements, and importing the image station to obtain the three-dimensional model.
Step S130: and filtering the original point cloud data to obtain target point cloud data.
In general, point cloud data is processed to improve the accuracy of the point cloud data. Firstly, defining points or point groups obviously lower than the ground and points or point groups obviously higher than the ground surface as noise points, separating the noise points before ground classification, extracting ground point cloud data from the rest point cloud data, wherein the ground point cloud data comprises automatic point cloud data classification, manual editing classification and the like, and the standard point cloud data is automatically classified by utilizing an algorithm or an algorithm combination based on reflection intensity, echo times, ground object shape and the like; classification can also be done by manual editing.
Further, as shown in fig. 2, in this embodiment, the following steps are taken to process the original point cloud data, including:
step S131: and carrying out coordinate system conversion and elevation fitting on the original point cloud data to obtain standard point cloud data.
The coordinate system conversion of the original point cloud data comprises: after the original point cloud data are obtained, converting the WGS84 coordinate system of the original point cloud data into a 2000 national geodetic coordinate system, wherein the converted coordinate system is consistent with an imaging coordinate system; performing elevation fitting on the raw point cloud data comprises: and (4) performing normal height conversion from the earth height to 85 elevation datum on the point cloud data subjected to coordinate system conversion to finally obtain standard point cloud data, wherein the result elevation after conversion is consistent with the elevation datum of the formed image. It can be understood that the accuracy of the original point cloud data can be improved by performing coordinate system conversion and elevation fitting on the original point cloud data.
Step S132: and classifying the standard point cloud data by using a classification algorithm to obtain ground point cloud data.
After the standard point cloud data is obtained, noise points are filtered, the standard point cloud data is classified by using a classification algorithm, classified results can be divided into ground point cloud data and non-ground point cloud data, the ground point cloud data is extracted from the classified results, and only the ground point cloud data is used in the subsequent steps. The classification algorithm specifically comprises the following steps: automatically classifying the standard point cloud data based on an algorithm or an algorithm combination of reflection intensity, echo times, ground object shape and the like; the ground point includes: points that reflect the real relief of the ground and fall on the bare ground surface include points that fall on the ground objects such as roads, squares, dams, etc., that reflect the form of the ground surface. It can be understood that the standard point cloud data is classified and extracted, so that the data accuracy can be improved, and a basis is provided for further use of the data.
Step S133: and extracting each coordinate elevation of the ground point cloud data, and calculating errors in the elevations according to each coordinate elevation and the coordinate elevation actually measured in the field.
Step S134: and judging whether the error in the elevation is less than or equal to a first error threshold value.
If the error in the elevation is less than or equal to the first error threshold, step S135 is executed, and if the error in the elevation is greater than the first error threshold, step S131 is executed again.
Step S135: and determining that the elevation precision of the ground point cloud data meets the requirement, and taking the ground point cloud data as target point cloud data.
And performing precision verification on the extracted ground point cloud data, taking the coordinate elevation actually measured in field as a reference, comparing each coordinate elevation extracted from the ground point cloud data with the corresponding reference, and calculating a difference value between the coordinate elevation and the reference and an error value in elevation, wherein the error in elevation refers to an error in elevation of a deformation observation point in engineering measurement standards, and is a numerical index of the elevation precision of a certain point after the adjustment of a measurement control network, and the error in elevation weight function, weight coefficient or conversion coefficient and unit weight of the point are calculated. Judging whether the error value in the elevation meets the requirements of CHT 8024 plus 2011 airborne laser radar data acquisition technical specification, judging a corresponding map scale according to aerial photogrammetry specifications when a certain ground resolution is used, determining a corresponding point cloud data error threshold according to actual terrain categories, judging whether the error value in the elevation is less than or equal to the error threshold, if the error value in the elevation is less than or equal to the error threshold, determining that the elevation precision of the ground point cloud data meets the requirements, taking the ground point cloud data as target point cloud data, wherein the elevation precision of the point cloud data is the requirement for judging whether the error in the elevation of the point cloud data meets the requirements; if the difference is larger than the error threshold value, the coordinate system conversion and the elevation fitting are carried out on the original point cloud data again to obtain standard point cloud data. For example, when an aerial image with a ground resolution of 20 centimeters and in a hilly area is used, the scale of a correspondingly manufactured digital topographic map is 1:2000, and the error in elevation is less than equal 0.35 m, the elevation precision of the ground point cloud data meets the requirements of the technical specification for acquisition of CHT 8024 and 2011 airborne laser radar data, and the extracted ground point cloud data can be used as target point cloud data. It can be understood that the detection of the point cloud data elevation accuracy can reduce the error of the coordinate elevation, thereby improving the accuracy of the point cloud data.
Step S140: and fusing the target point cloud data and the three-dimensional model to generate a high-precision topographic map.
In the embodiment of the invention, original point cloud data is filtered to obtain target point cloud data, the target point cloud data is combined with the three-dimensional model to perform three-dimensional mapping to obtain required information, then the approximate image is combined to perform photo adjustment and drawing to obtain a digital topographic map, and finally format conversion and coordinate conversion are performed on the digital topographic map to obtain a high-precision topographic map.
It can be understood that the image data and the target point cloud data are combined, the high-precision advantage of the point cloud data can be transferred to the result of stereo mapping, for example, aerial photographic images with ground resolution of 20 cm can be used for making digital topographic maps with 1:500, 1:1000 and 1:2000 series scales, so that the precision of the topographic map can be improved, topographic maps with various scales can be made through one ground resolution, and the production cost is greatly saved.
For example, referring to fig. 3, the step S140 includes the following steps:
step S141: and utilizing the three-dimensional model to assist in selecting all standard elevation points and all standard contour lines in the target point cloud data.
In the process of extracting all standard elevation points and all standard contour lines from the target point cloud data, the three-dimensional model is combined for auxiliary selection, the elevation point information and the standard contour line information with more accurate precision can be acquired, and the precision of the high-precision topographic map can be further improved by utilizing the high-precision advantage of the laser point cloud.
Illustratively, referring to fig. 4, the step S141 includes the following steps:
step S1411: and extracting all initial elevation points from the target point cloud data, and importing all the initial elevation points into the three-dimensional model to determine elevation points corresponding to the occluded area and elevation points corresponding to the unoccluded area from all the initial elevation points.
And directly extracting all initial elevation points from the target point cloud data, importing all the initial elevation points into the three-dimensional model, sequentially checking all the initial elevation points, and determining whether the initial elevation points are laser points in a shielded area or floating in the air or are laser points in an unshielded area or are laser points which are not floating in the air but are in the ground. Although the accuracy of the airborne laser point cloud is very high, in an actual situation, various complex terrains may exist, and when only the laser point cloud is used for extracting elevation points for the complicated terrains and ground objects, operators can easily mistake some non-ground points with interference factors as ground points to extract wrong elevation information, and the accuracy of the point cloud data is affected, so that the elevation accuracy can be improved by acquiring the elevation points corresponding to the shielded area in other modes.
Step S1412: and selecting an unshielded image pair corresponding to the occluded area from the stereo model so as to supplement the elevation point corresponding to the occluded area through the unshielded image pair.
Step S1413: and taking the elevation point corresponding to the unoccluded area and the supplemented elevation point corresponding to the occluded area as the all standard elevation points.
All the standard elevation points comprise elevation points corresponding to the non-occluded area and corresponding elevation points supplemented by the occluded area. The non-occluded area is a non-implanted and non-covered exposed area, elevation points can be directly extracted from the non-implanted and non-covered exposed area, the distribution mode of the elevation points cannot meet the requirements of a digital topographic map, the feature points need to be obtained independently for the feature positions, the feature positions are selected on the three-dimensional model, the elevation points corresponding to the non-occluded area are supplemented at the feature positions, for example, in practice, feature positions of a road intersection, a river edge and the like may exist, the distribution of laser point clouds cannot meet the requirements, the laser point clouds need to be supplemented in combination with the visibility of aerial photography, the three-dimensional model can be more accurate, and the elevation accuracy of the three-dimensional model can be improved.
When all the initial elevation points do not meet the requirement, are positioned in a shielded area or float in the air, for example, the selected elevation point is positioned below a severely shielded apron, an optimal image pair without shielding needs to be selected from the three-dimensional model for supplement, so that the elevation accuracy can be improved.
For example, referring to fig. 5, in this embodiment, step S141 further includes the following steps:
step S1414: and constructing an irregular triangulation network by using the target point cloud data and extracting all initial contour lines.
Step S1415: and importing all the initial contour lines into the stereo model to determine contour lines corresponding to a trench bottom area and contour lines corresponding to a non-trench bottom area from all the initial contour lines, so that a user can modify the contour lines corresponding to the trench bottom area.
For western mountain areas with regular shapes and little vegetation coverage, contour lines can be directly generated through laser point cloud, but because the irregular triangulation network has the problems of resampling, error calculation and the like, and when the contour lines of the trench bottom with larger terrain mutation are extracted, a larger error exists, so that the contour lines corresponding to the trench bottom area and the contour lines corresponding to the non-trench bottom area need to be determined from all the initial contour lines, for the non-trench bottom areas, such as exposed flat areas or protruded mountain parts, the contour lines are generally well fitted, can be directly used as target contour lines, and manual visual inspection is needed to ensure the precision of the contour lines.
When the contour lines of the trench bottom area are extracted through target point cloud data, the contour lines corresponding to the trench bottom area need to be registered, corrected and checked on a three-dimensional model, for the trench bottom area with large terrain mutation, a trench bottom fracture line needs to be manually added to modify the contour line trend corresponding to the trench bottom area so as to ensure that the contour lines of the trench bottom area are registered with the landform, so that the precision of the trench bottom area is ensured, and the contour lines corresponding to the modified trench bottom area are used as target contour lines.
Step S1416: and taking the contour lines corresponding to the trench bottom areas and the contour lines corresponding to the non-trench bottom areas after manual modification as all standard contour lines.
And after manual modification, the contour lines corresponding to the trench bottom area and the contour lines corresponding to the non-trench bottom area are used as all standard contour lines, so that the all standard contour lines can be ensured to be fitted with landforms, and the precision of the contour lines is improved.
Step S142: and carrying out stereo mapping by using the stereo model to acquire target information.
The target information refers to two-dimensional information, and the two-dimensional information includes information such as direction, distance, ground features and the like.
Step S143: and generating a high-precision topographic map based on the all standard elevation points, the all standard contour lines and the target information.
And generating a high-precision topographic map based on all the standard elevation points, all the standard contour lines and the target information, so that the high-precision topographic map can be generated in more detail, and the topographic map is more complete.
Example 2
Referring to fig. 6, another embodiment of the present application provides another method for fabricating a high-precision topographic map, including the following steps:
step S410: and carrying out field actual measurement in a vehicle-mounted elevation measurement mode to obtain all vehicle-mounted elevation points.
Step S420: and introducing all the vehicle-mounted elevation points into the three-dimensional model to determine whether the internal and external orientation elements of the three-dimensional model have errors.
The method comprises the steps of obtaining elevation readings of point positions on a vehicle-mounted elevation point on the three-dimensional model, calculating the poor elevation and the medium error of the vehicle-mounted obtained elevation readings, wherein the poor elevation is the difference between two observed values of the same unknown quantity, the medium error is a digital standard for measuring the observation precision, is also called standard deviation or root-mean-square deviation, is the square root of the mean of the weighted residual error sum of squares, and is used as a numerical index for measuring the measurement precision under a certain condition. After the error result is obtained, the precision verification is carried out on the calculation result, and if the precision verification meets the requirements of GBT-23236-2009-digital aerial photogrammetry-air triangulation criterion, the error-free internal and external orientation elements can be judged; if the accuracy verification cannot meet the requirements of GBT-23236-2009-digital aerial photogrammetry-air triangulation specification, the air triangulation result needs to be checked. The method is based on the three-dimensional model, vehicle-mounted elevation measurement is used as an auxiliary means, and by judging whether the three-dimensional model has internal and external azimuth element errors or not, the precision errors can be reduced, and the high precision advantage of vehicle-mounted elevation is more fully utilized to improve the precision of the topographic map.
Step S430: and under the condition that no error exists, importing the target point cloud data into the three-dimensional model comprising all vehicle-mounted elevation points so as to calculate the error according to all the vehicle-mounted elevation points and the target point cloud data.
Step S440: and determining whether the median error is less than or equal to the second error threshold.
If the median error is greater than the second error threshold, step S131 in embodiment 1 is executed again, so as to re-determine the target point cloud data by using steps S131 to S135 in embodiment 1. If the median error is less than or equal to the second error threshold, step S140 in embodiment 1 is executed.
On the basis of determining that the precision of the three-dimensional model is not wrong, importing the target point cloud data into the three-dimensional model comprising all vehicle-mounted elevation points, determining the target point cloud data overlapped with all the vehicle-mounted elevation points, calculating the poor and medium errors of all the vehicle-mounted elevation points and the target point cloud data at the overlapped part, performing precision verification on a calculation result after obtaining the calculation result of the medium error of the second elevation, if the precision verification meets the requirements of CHT 8024 and 2011 airborne laser radar data acquisition technical specification, judging the precision of the point cloud, determining that the elevation fitting and coordinate conversion of the point cloud data are correct, and then fusing the target point cloud data and the three-dimensional model to generate a high-precision topographic map; if the precision does not meet the standard requirement, the original point cloud data has errors in coordinate system conversion and elevation fitting, and the original point cloud data needs to be subjected to coordinate system conversion and elevation fitting again to obtain standard point cloud data. By checking the point cloud precision of the coincident part of the point cloud data and the vehicle-mounted weight elevation point, the elevation fitting and coordinate conversion of the original point cloud data can be ensured to be correct, and the precision error is reduced.
Steps S410 to S440 are performed after step S130 and before step S140 in embodiment 1.
Example 3
As shown in fig. 7, a high-precision topographic map manufacturing apparatus according to an embodiment of the present invention is provided.
The high-precision topographic map manufacturing apparatus 1 includes:
the acquisition module 10 acquires original image data and original point cloud data of a working area through aerial photography;
the point cloud data processing module 11 is used for processing the original point cloud data to obtain final point cloud data;
the image data processing module 12 is used for processing the original image data to obtain a three-dimensional model;
and the generating module 13 is used for fusing the final point cloud data and the three-dimensional model to generate a high-precision topographic map.
In the embodiment of the present invention, for more detailed description of functions of the above modules, reference may be made to contents of corresponding parts in the foregoing embodiment, which are not described again here.
Furthermore, the present invention also provides a computer device, which includes a memory and a processor, wherein the memory can be used for storing a computer program, and the processor can make the computer device execute the functions of each module in the method or the high-precision mapping device by running the computer program.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for 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 computer device, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The embodiment also provides a computer storage medium for storing a computer program used in the computer device.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part of the technical solution that contributes to the prior art in essence can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.
Claims (10)
1. A method for producing a high-precision topographic map, the method comprising:
acquiring image data and original point cloud data of a working area;
performing three-dimensional processing on the image data to obtain a three-dimensional model;
filtering the original point cloud data to obtain target point cloud data;
and fusing the target point cloud data and the three-dimensional model to generate a high-precision topographic map.
2. A high-precision topographic map making method according to claim 1, wherein the filtering the original point cloud data to obtain target point cloud data comprises:
performing coordinate system conversion and elevation fitting on the original point cloud data to obtain standard point cloud data;
classifying the standard point cloud data by using a classification algorithm to obtain ground point cloud data;
extracting each coordinate elevation of the ground point cloud data, calculating an error in the elevation according to each coordinate elevation and the coordinate elevation actually measured in the field, and judging whether the error in the elevation is less than or equal to a first error threshold value or not;
if the first error threshold value is less than or equal to the first error threshold value, determining that the elevation precision of the ground point cloud data meets the requirement, and taking the ground point cloud data as target point cloud data;
if the error value is larger than the first error threshold value, the coordinate system conversion and the elevation fitting are carried out on the original point cloud data again to obtain standard point cloud data.
3. A high-precision topographic map making method according to claim 1, wherein the fusing the target point cloud data and the stereo model to generate the high-precision topographic map comprises:
using the three-dimensional model to assist in selecting all standard elevation points and all standard contour lines in the target point cloud data;
carrying out three-dimensional mapping by using the three-dimensional model to acquire target information;
and generating a high-precision topographic map based on the all standard elevation points, the all standard contour lines and the target information.
4. A high-precision topographic map making method according to claim 3, wherein the using the three-dimensional model to assist in selecting all standard elevation points in the target point cloud data comprises:
extracting all initial elevation points from the target point cloud data, and importing all the initial elevation points into the three-dimensional model to determine elevation points corresponding to a shielded area and elevation points corresponding to an unshielded area from all the initial elevation points;
selecting an unshielded image pair corresponding to the shielded area from the three-dimensional model so as to supplement the elevation point corresponding to the shielded area through the unshielded image pair;
and taking the elevation point corresponding to the unoccluded area and the supplemented elevation point corresponding to the occluded area as the all standard elevation points.
5. A high-precision topographic map making method according to claim 3, wherein the using the three-dimensional model to assist in selecting all standard contour lines in the target point cloud data comprises:
constructing an irregular triangulation network by using the target point cloud data and extracting all initial contour lines;
importing all the initial contour lines into the stereo model to determine contour lines corresponding to a trench bottom area and contour lines corresponding to a non-trench bottom area from all the initial contour lines so that a user can modify the contour lines corresponding to the trench bottom area;
and taking the contour lines corresponding to the trench bottom areas and the contour lines corresponding to the non-trench bottom areas after manual modification as all standard contour lines.
6. A high-precision topographic map making method according to claim 1, wherein before fusing the target point cloud data and the stereo model to generate the high-precision topographic map, the method further comprises:
carrying out field actual measurement by a vehicle-mounted elevation measurement mode to obtain all vehicle-mounted elevation points;
introducing all the vehicle-mounted elevation points into the three-dimensional model to determine whether errors exist in internal and external orientation elements of the three-dimensional model or not;
under the condition that no error exists, the target point cloud data is imported into the three-dimensional model comprising all vehicle-mounted elevation points, so that the error in the process is calculated according to all the vehicle-mounted elevation points and the target point cloud data, and whether the error in the process is smaller than or equal to a second error threshold value is determined;
if the median error is less than or equal to the second error threshold, executing the fusion of the target point cloud data and the three-dimensional model to generate a high-precision topographic map;
if the median error is larger than the second error threshold, the coordinate system conversion and the elevation fitting are carried out on the original point cloud data again to obtain standard point cloud data.
7. A high accuracy topographical map production method as recited in claim 1, further comprising: and acquiring image data and original point cloud data of the operation area by using an aerial camera in advance.
8. A high-precision topographical map making apparatus, comprising:
the acquisition module acquires image data and original point cloud data of the operation area;
the image data processing module is used for carrying out three-dimensional processing on the image data to obtain a three-dimensional model;
the point cloud data processing module is used for filtering the original point cloud data to obtain target point cloud data;
and the generation module is used for fusing the target point cloud data and the three-dimensional model to generate a high-precision topographic map.
9. A computer device, characterized by comprising a memory and a processor, the memory storing a computer program which, when run on the processor, performs the high accuracy topographical mapping method of any one of claims 1 to 7.
10. A readable storage medium, characterized in that it stores a computer program which, when run on a processor, performs the high-precision topographic map making method of any one of claims 1 to 7.
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| CN116086411B (en) * | 2022-09-08 | 2023-08-22 | 北京四维远见信息技术有限公司 | Digital topography generation method, device, equipment and readable storage medium |
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