CN116989746A - Oblique photography aerial survey method, system, equipment and storage medium - Google Patents
Oblique photography aerial survey method, system, equipment and storage medium Download PDFInfo
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Abstract
The application relates to the technical field of oblique photography aerial survey cameras, in particular to an oblique photography aerial survey method, an oblique photography aerial survey system, oblique photography aerial survey equipment and a computer storage medium, wherein the method comprises the steps of determining elevation information corresponding to a target area; calculating the relief angle between the continuous areas in the target area according to the elevation information; determining a shooting angle of the unmanned aerial vehicle for shooting the target area according to the relief angle; controlling the unmanned aerial vehicle to run according to the elevation information and the shooting angle so as to acquire inclined image data of the target area; and generating a three-dimensional model of the target area according to the inclination influence data of the target area. The application has the effects of adjusting the shooting angles of the aerial route and the oblique photographic camera according to the relief of the terrain, avoiding a large amount of data redundancy and improving the aerial survey efficiency and accuracy.
Description
Technical Field
The present application relates to the field of oblique photography aerial survey cameras, and in particular, to an oblique photography aerial survey method, system, device, and storage medium.
Background
In oblique photography aerial survey, a flight route is generally generated by determining the range, the altitude and the route overlapping rate of a measuring area, the route overlapping rate and the altitude of the same measuring area are fixed, the flight altitude of an unmanned aerial vehicle is the relative altitude relative to the altitude of a flying spot, and the pixels of an oblique photography camera are fixed, so that the resolution of a mountain top is too high for mountain areas with large topography fluctuation, the overlapping rate is too low, and the overlapping rate is increased for mountain feet, but the resolution still cannot meet the preset accuracy requirement of aerial survey; and the oblique photographic data can be subjected to empty three-layer in the subsequent modeling processing, so that three-dimensional modeling cannot be performed.
In the prior art, although the technology of the ground-imitating course is developed by considering the terrain change, the ground-imitating course is only flexibly adjusted to the course height according to the elevation information of the area, and the overlapping rate is adjusted. However, for a mountain region with large topography fluctuation, even if the altitude is adjusted according to topography change, at the same altitude, the difference of the altitude Cheng Reng between images shot by the five view angles of the oblique photographic camera is large, so that the resolution difference between the images is large, and in the subsequent modeling processing, three layers of empty layers still occur, and characteristic points cannot be matched, so that three-dimensional reconstruction cannot be completed.
The prior art is therefore still to be improved based on the above-mentioned problems.
Disclosure of Invention
The application aims to provide an oblique photography aerial survey method, which aims to solve the problem that the difference of resolution among images is large because the difference of the heights Cheng Reng among the images shot by five visual angles of an oblique photography camera is large at the same aerial height even if the aerial height is adjusted according to the change of the terrain in a mountain area with large relief.
The first object of the application is realized by the following technical scheme:
a tilt-photography aerial survey method, comprising:
determining elevation information corresponding to the target area;
calculating the relief angle between the continuous areas in the target area according to the elevation information;
determining a shooting angle of the unmanned aerial vehicle for shooting the target area according to the relief angle;
controlling the unmanned aerial vehicle to run according to the elevation information and the shooting angle so as to acquire inclined image data of the target area;
and generating a three-dimensional model of the target area according to the inclination influence data of the target area.
By adopting the technical scheme, when the mountain area is navigated to the area, the ground-imitating route information is generated according to the elevation information of the area, the altitude of the unmanned aerial vehicle is flexibly adjusted, and the overlapping rate is adjusted. When the unmanned aerial vehicle adjusts the navigation height according to the terrain change, the shooting angles of five visual angles of the oblique photographic camera are adjusted, so that the high Cheng Reng phase difference between shot images is avoided to be large, the shooting angles of the oblique photographic camera are ensured to be capable of fully acquiring the images of the mountain surface, the resolution ratio of data acquired at different navigation heights is consistent, and the three-dimensional modeling of the mountain area is facilitated; on the other hand, the method is beneficial to comprehensively collecting feature information of the mountain land and matching feature points in the three-dimensional modeling process, so that the three-dimensional model is more close to the real mountain land, reflects the actual topography and landform, and improves the accuracy of the three-dimensional model. And according to the relief of the topography, the shooting angles of the route and the oblique photographic camera are adjusted, so that a large amount of data redundancy is avoided, the aerial survey efficiency is improved, the unmanned aerial vehicle and the unmanned aerial vehicle power consumption are reduced, and the operation time is saved.
The present application may be further configured in a preferred example to: the step of calculating the relief angle between successive areas in the target area from the elevation information comprises:
determining the maximum elevation corresponding to the target area and the minimum elevation corresponding to the target area according to the change trend information of the elevation information;
the terrain relief angle is calculated based on the maximum elevation and the minimum elevation.
By adopting the technical scheme, the relief angle of the terrain is calculated through the maximum elevation and the minimum elevation in the mountain relief area, when the shooting angle of the oblique photographing camera is equal to the relief angle of the terrain, the shooting angle of the oblique photographing camera is always perpendicular to the mountain surface, so that the elevation difference between images shot by the five visual angles of the oblique photographing camera at the same navigational altitude is smaller, the resolution difference between the images is reduced, and the occurrence of the situation that the three-layered feature points cannot be matched in the air is reduced in the subsequent modeling processing.
The present application may be further configured in a preferred example to: the step of determining the maximum elevation corresponding to the target area and the minimum elevation corresponding to the target area according to the change trend information of the elevation information comprises the following steps:
acquiring elevation mutation points based on the change trend information of the elevation information;
dividing the target area into a plurality of subareas by taking the elevation mutation points as terrain demarcation points;
and respectively acquiring the maximum elevation and the minimum elevation in a first subarea, wherein the first subarea is any subarea in the plurality of areas.
By adopting the technical scheme, the terrain fluctuation trend curve of the continuous area in the target area is divided into a plurality of subareas, the terrain elevation angles of the subareas are calculated through the maximum elevation and the minimum elevation in the subareas, the terrain fluctuation in the continuous area is subjected to refinement analysis, the better shooting angle of the oblique photographic camera in the corresponding subareas can be generated, the elevation difference between images shot by the five visual angles of the oblique photographic camera is smaller, and the resolution difference between the images is reduced.
The present application may be further configured in a preferred example to: the step of calculating the relief angle based on the maximum elevation and the minimum elevation comprises:
acquiring first position information of the position of the maximum elevation and second position information of the position of the minimum elevation;
calculating a horizontal distance and a vertical distance between the position of the maximum elevation and the position of the minimum elevation based on the first position information and the second position information;
acquiring a target included angle between a target connecting line and a horizon according to the horizontal distance and the vertical distance, wherein the target connecting line is a connecting line between the maximum elevation position and the minimum elevation position;
and determining the target included angle as the relief angle of the terrain.
Through adopting above-mentioned technical scheme, through the position that the maximum elevation is located and the position that the minimum elevation is located, the line between two points, the horizontal distance and the vertical distance between two points, accurate calculation confirm the topography in this subregion and take the place of angle, make the shooting angle of oblique photographic camera keep at the preferred angle, can be more abundant with the surface vertical of mountain region slope, make oblique photographic camera can clearly acquire mountain region influence, convenience perhaps modeling process.
The present application may be further configured in a preferred example to: controlling the unmanned aerial vehicle to run according to the elevation information and the shooting angle so as to acquire the inclined image data of the target area, wherein the step of acquiring the inclined image data of the target area comprises the following steps:
generating an imitation ground route corresponding to the target area according to the elevation information and the shooting angle;
transmitting the ground-imitating course to an unmanned aerial vehicle so that the unmanned aerial vehicle executes a flight task;
adjusting the shooting angle of the oblique camera arranged on the unmanned aerial vehicle according to the shooting angle;
and photographing the target area based on the adjusted photographing angle to obtain inclined image data of the target area.
Through adopting above-mentioned technical scheme, unmanned aerial vehicle flies along imitative ground route information, according to the angle that obtains unmanned aerial vehicle's positional information and the oblique photographic camera that this positional information corresponds needs to adjust, adjusts oblique photographic camera's shooting angle in real time, make oblique photographic camera's shooting angle perpendicular mountain horizon that current unmanned aerial vehicle position corresponds, be favorable to gathering the feature information of ground comprehensively, do benefit to the matching of feature point in the three-dimensional modeling process for three-dimensional model is more close to true mountain region, reflects actual topography, improves three-dimensional model's degree of accuracy.
The present application may be further configured in a preferred example to: the adjusting the shooting angle of the oblique camera arranged on the unmanned aerial vehicle according to the shooting angle comprises:
determining position information corresponding to a second sub-area and a shooting angle of the second sub-area, wherein the second sub-area is any one sub-area in a plurality of sub-areas into which the target area is divided;
the position information and the shooting angle are stored in a correlated mode to obtain aerial shooting information of the second subarea;
writing the aerial photographing information of the second sub-region into the aerial photographing point of the simulated ground route;
when the unmanned aerial vehicle flies to the aerial photographing point corresponding to the second subarea, the photographing angle of the inclined camera arranged on the unmanned aerial vehicle is adjusted according to the photographing angle of the second subarea.
Through adopting above-mentioned technical scheme, through dividing topography fluctuation trend into a plurality of subregions, calculate the topography elevation angle of a plurality of subregions through the biggest elevation and the minimum elevation in the subregion, can simply generate the shooting angle that oblique photographic camera is in the position preferred of taking photo by plane in corresponding subregion, the difference in elevation between the images that five visual angles of oblique photographic camera were shot is less, reduce the resolution ratio difference between the images, avoid oblique photographic camera frequent adjustment, can't lead to shooting unclear in adjusting the shooting angle easily.
The present application may be further configured in a preferred example to: the step of generating a three-dimensional model of the target region from the tilt influence data of the target region comprises:
and importing the inclined image data into modeling software to perform three-dimensional modeling so as to generate a three-dimensional model of the target area.
By adopting the technical scheme, the modeling software can quickly and accurately match the feature points in the three-dimensional modeling process by comprehensively acquiring the feature information of the mountain land contained in the tangential image data, so that the three-dimensional model is more similar to the real mountain land, reflects the actual topography and land, and improves the accuracy of the three-dimensional model.
The application also aims to provide an oblique photography aerial survey system.
The second object of the present application is achieved by the following technical solutions: comprising the following steps:
an image analysis and extraction module: the method is used for determining elevation information corresponding to the target area;
calculating a terrain voltage angle module: the terrain relief angle between the continuous areas in the target area is calculated according to the elevation information;
and a shooting angle adjusting module: the shooting angle used for determining the shooting angle of the unmanned aerial vehicle for shooting the target area according to the terrain fluctuation angle;
flight acquisition data module: the unmanned aerial vehicle is used for controlling the unmanned aerial vehicle to run according to the elevation information and the shooting angle so as to acquire inclined image data of the target area;
and a three-dimensional modeling module: and the three-dimensional model is used for generating the three-dimensional model of the target area according to the inclination influence data of the target area.
By adopting the technical scheme, when the mountain area is navigated to the area, the ground-imitating route information is generated according to the elevation information of the area, the altitude of the unmanned aerial vehicle is flexibly adjusted, and the overlapping rate is adjusted. When the unmanned aerial vehicle adjusts the navigation height according to the terrain change, the shooting angles of five visual angles of the oblique photographic camera are adjusted, so that the high Cheng Reng phase difference between shot images is avoided to be large, the shooting angles of the oblique photographic camera are ensured to be capable of fully acquiring the images of the mountain surface, the resolution ratio of data acquired at different navigation heights is consistent, and the three-dimensional modeling of the mountain area is facilitated; on the other hand, the method is beneficial to comprehensively collecting feature information of the mountain land and matching feature points in the three-dimensional modeling process, so that the three-dimensional model is more close to the real mountain land, reflects the actual topography and landform, and improves the accuracy of the three-dimensional model. And according to the relief of the topography, the shooting angles of the route and the oblique photographic camera are adjusted, so that a large amount of data redundancy is avoided, the aerial survey efficiency is improved, the unmanned aerial vehicle and the unmanned aerial vehicle power consumption are reduced, and the operation time is saved.
The application aims at providing oblique photography aerial survey equipment.
The third object of the present application is achieved by the following technical solutions:
an oblique photography aerial survey device comprising a memory and a processor, the memory having stored thereon a computer program capable of being loaded by the processor and performing an oblique photography aerial survey method as described above.
A fourth object of the present application is to provide a computer-readable storage medium.
The fourth object of the present application is achieved by the following technical solutions:
a computer readable storage medium in which a computer program is stored which can be loaded by a processor and which performs one of the oblique photography aerial methods described above.
In summary, the present application includes at least one of the following beneficial technical effects:
1. when the mountain area is navigated to the area, the simulated land route information is generated according to the elevation information of the area, the navigational height of the unmanned aerial vehicle is flexibly adjusted, and the overlapping rate is adjusted. When the unmanned aerial vehicle adjusts the navigation height according to the terrain change, the shooting angles of five visual angles of the oblique photographic camera are adjusted, so that the high Cheng Reng phase difference between shot images is avoided to be large, the shooting angles of the oblique photographic camera are ensured to be capable of fully acquiring the images of the mountain surface, the resolution ratio of data acquired at different navigation heights is consistent, and the three-dimensional modeling of the mountain area is facilitated; on the other hand, the method is beneficial to comprehensively collecting feature information of the mountain land and matching feature points in the three-dimensional modeling process, so that the three-dimensional model is more close to the real mountain land, reflects the actual topography and landform, and improves the accuracy of the three-dimensional model.
2. According to the relief of the terrain, the shooting angles of the route and the oblique photographic camera are adjusted, a large amount of data redundancy is avoided, the aerial survey efficiency is improved, the unmanned aerial vehicle and the unmanned aerial vehicle power consumption are reduced, and the operation time is saved.
3. The shooting angle of the oblique photographic camera is always vertical to the mountain surface, so that the elevation difference between images shot by the five visual angles of the oblique photographic camera is smaller at the same navigational altitude, the resolution difference between the images is reduced, and the situation that the empty three-layered characteristic points cannot be matched in the subsequent modeling processing is reduced.
Drawings
FIG. 1 is a flow chart of the steps of a tilt camera aerial survey method.
FIG. 2 is a block flow diagram of a tilt-camera aerial survey system.
Fig. 3 is a graph of elevation information change trend information.
Reference numerals
100. An image analysis and extraction module; 200. the topographic photovoltaic angle module is calculated; 300. a shooting angle adjusting module; 400. a flight data acquisition module; 500. and a three-dimensional modeling module.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In this context, unless otherwise specified, the term "/" generally indicates that the associated object is an "or" relationship.
Embodiments of the application are described in further detail below with reference to the drawings.
The embodiment of the application provides an oblique photography aerial survey method, and referring to fig. 1, the main flow of the method is described as follows:
s1: determining elevation information corresponding to the target area;
the topographic map refers to a projection map of the surface relief form and shape on a horizontal plane. Ground objects and landforms on the ground are projected horizontally (projected onto a horizontal plane along a plumb line direction) and drawn on a drawing according to a certain reduction, and the drawing is called a topographic map. Satellite imagery is an important means of obtaining geographic information, commonly used to identify, locate and map features and their characteristics. The change of the terrain can be clearly and intuitively reflected through the topographic map or the satellite image map, so that the method is convenient for people to analyze the geographic situation. A mountain with large relief is selected as a measuring area, and the measuring direction of the unmanned aerial vehicle is set. The topographic map or satellite image map of the measuring area along the measuring direction of the unmanned aerial vehicle is obtained, so that people can clearly and intuitively observe the distance from a certain point on the topography to a set base plane (preferably an absolute base plane) along the plumb line direction, namely elevation information, and the change trend of the topography can be fully and intuitively reflected aiming at the elevation information in the measuring area.
The camera has a limited shooting range, and the farther the camera is from the position of the shot object, the larger the shooting area of the shot photo is, and the closer the camera is from the position of the shot object, the smaller the shooting area of the shot photo is. When the flying altitude of the unmanned aerial vehicle is kept at a certain value, the flying altitude of the unmanned aerial vehicle is a relative altitude with respect to the elevation of the flying spot, and the pixels of the oblique photographing camera are fixed, so that the resolution of the mountain top is too high for mountainous regions with large relief of the terrain, the overlapping rate between photos taken at intervals is too low, and the overlapping rate of the mountain feet is increased along with the rise of the terrain, but the resolution is lower. By acquiring the elevation information in the area, the ground-imitating route information is generated, and the unmanned aerial vehicle flies through the ground-imitating route, so that the consistent height between the unmanned aerial vehicle and the continuously fluctuant mountain land can be kept, and the distances of the inclined photographic cameras on the unmanned aerial vehicle for shooting the mountain land surface are consistent. The corresponding information of the fluctuation trend of the topography of the area is formed by combining the elevation information, so that the analysis of the position relationship between the topography and the unmanned aerial vehicle is facilitated.
S2: calculating the relief angle between the continuous areas in the target area according to the elevation information;
when the shooting angle of the oblique photographic camera is equal to the terrain fluctuation angle, the shooting angle of the oblique photographic camera is always perpendicular to the mountain surface, so that the elevation difference between images shot by five visual angles of the oblique photographic camera at the same navigational height is smaller, the resolution difference between the images is reduced, and the occurrence of the situation that the empty three-layered characteristic points cannot be matched in the subsequent modeling processing is reduced.
S3: determining a shooting angle of the unmanned aerial vehicle for shooting the target area according to the relief angle;
when the unmanned aerial vehicle flies according to the simulated ground route, the shooting angle of the oblique photographic camera on the unmanned aerial vehicle is correspondingly adjusted through the relief angle of the terrain, so that the shooting angle of the oblique photographic camera is always perpendicular to the mountain surface, the elevation difference between images shot by the five visual angles of the oblique photographic camera at the same navigational height is smaller, the resolution difference between the images is reduced, and the occurrence of the situation that the empty three-layered characteristic points cannot be matched in the subsequent modeling processing is reduced.
S4: controlling the unmanned aerial vehicle to run according to the elevation information and the shooting angle so as to acquire inclined image data of the target area;
the unmanned aerial vehicle is controlled to fly according to the ground-preventing route information by conveying the flight command and the ground-imitating route information to the unmanned aerial vehicle, so that the unmanned aerial vehicle and the inclined shooting camera thereon keep the same height with the mountain ground plane in the flight process, the images shot by the inclined shooting camera ensure more consistent overlapping rate and resolution, and the follow-up modeling work is convenient. According to the information of the fluctuation trend of the topography of the area, when the unmanned aerial vehicle and the oblique photographic camera installed on the unmanned aerial vehicle reach the corresponding fluctuation trend, the computer sends a corresponding adjustment instruction to the oblique photographic camera on the unmanned aerial vehicle through the obtained information of the fluctuation trend of the topography, so that the oblique photographic camera correspondingly adjusts the shooting angle, the shooting angle of the oblique photographic camera and the mountain ground plane with uneven fluctuation are maintained at a stable and consistent angle, and the oblique photographic camera can conveniently shoot clear and accurate images. After the shooting angle of the oblique photography camera is adjusted, the computer sends a shooting instruction to the oblique photography camera, and the oblique photography camera acquires oblique image data in the area through shooting images.
S5: and generating a three-dimensional model of the target area according to the inclination influence data of the target area.
The unmanned aerial vehicle and the oblique photographic camera on the unmanned aerial vehicle fly according to a certain route covering a region and meeting the ground-imitating route, and acquire oblique image data by shooting at corresponding aerial shooting points, the oblique photographic camera shoots the mountain ground plane at multiple angles, acquires and matches characteristic points on the mountain ground plane, and the corresponding oblique image data is imported into modeling software, so that a three-dimensional model in the corresponding shot region can be generated, and aerial survey is completed.
Specifically, in some possible embodiments, the step of calculating the relief angle between successive areas in the target area according to the elevation information includes:
determining the maximum elevation corresponding to the target area and the minimum elevation corresponding to the target area according to the change trend information of the elevation information;
the terrain relief angle is calculated based on the maximum elevation and the minimum elevation.
Referring to fig. 3, specifically, a ground plane is taken as a base plane, a graph of change trend information of the elevation information is formed by connecting points along a certain direction through elevation information at each point and the elevation of the point relative to the base plane, a maximum elevation and a minimum elevation in the continuous change area are obtained according to a continuous section of the area of the test mountain to be aerial survey, and an included angle between a connecting line between the maximum elevation and the minimum elevation and the base plane is calculated through the maximum elevation and the minimum elevation. The calculated topographic relief angle value is transmitted to the oblique photographic camera on the unmanned plane through the computer, so that the shooting angle of the oblique photographic camera is equal to the topographic relief angle, preferably, the initial shooting angle 0 degree of the oblique photographic camera is an angle consistent with the topographic relief angle towards the plumb line direction, and the oblique photographic camera rotates towards the shooting position. And writing the shooting angle and the topography fluctuation angle of the oblique photographic camera into the ground-imitating route information, and triggering the setting of the adjustment angle of the oblique photographic camera when the unmanned aerial vehicle and the oblique photographic camera installed on the unmanned aerial vehicle move to the corresponding position according to the ground-imitating route.
Specifically, in some possible embodiments, the step of determining, according to the trend information of the elevation information, a maximum elevation corresponding to the target area and a minimum elevation corresponding to the target area includes:
acquiring elevation mutation points based on the change trend information of the elevation information;
dividing the target area into a plurality of subareas by taking the elevation mutation points as terrain demarcation points;
and respectively acquiring the maximum elevation and the minimum elevation in a first subarea, wherein the first subarea is any subarea in the plurality of areas.
Referring to fig. 3, on a curve reflecting the information of the change trend of the terrain in a continuous area, the elevation mutation points are the highest point and the lowest point of a section of continuous curve on the curve, the aircraft generates larger altitude change on the simulated ground route on the corresponding terrain, the area is divided into a plurality of subareas by taking the elevation mutation points on the curve as terrain demarcation points, a section of the information curve reflecting the change trend of the terrain in the continuous area is subdivided into a plurality of subareas, the terrain is accurately divided, the change trend of the terrain is fully reflected, and the shooting angle of the oblique camera is adjusted on the corresponding subareas, so that the shooting angle of the oblique camera is always vertical to the shot mountain plane. The maximum elevation information (the topographic information corresponding to the highest point of the curve comprises the position information of the highest point) and the minimum elevation information (the topographic information corresponding to the lowest point of the curve comprises the position information of the lowest point) of each sub-area are obtained through the topographic change trend curve in the sub-area
Specifically, in some possible embodiments, the step of calculating the relief angle based on the maximum elevation and the minimum elevation comprises:
acquiring first position information of the position of the maximum elevation and second position information of the position of the minimum elevation;
calculating a horizontal distance and a vertical distance between the position of the maximum elevation and the position of the minimum elevation based on the first position information and the second position information;
acquiring a target included angle between a target connecting line and a horizon according to the horizontal distance and the vertical distance, wherein the target connecting line is a connecting line between the maximum elevation position and the minimum elevation position;
and determining the target included angle as the relief angle of the terrain.
Referring to fig. 3, the highest point of a continuous curve is point a, the lowest point is point B, the position of point a in the coordinate system is (100, 0), the position of point B in the same coordinate system is (50,50,0), the vertical distance of point a from the base surface is 100m, the vertical distance of point B from the base surface is 50m, the vertical distance of point a and point B in the same direction of a route and 50m, i.e. the horizontal distance of point a to point B is 50m, the vertical distance of point a to point B is 100-50=50 m, so tan angle 1=50/50=1, i.e. angle 1=45°, angle 1 is the topography fluctuation angle (the angle between the connecting line of the maximum elevation position and the minimum elevation position and the ground plane), and the highest point a is at the direction of flight of the lowest point B with respect to the ground-like, i.e. the oblique camera rotates from the initial angle (lens in the direction of 0 °) to the direction of flight by an angle consistent with the topography fluctuation angle, so that the oblique camera shoots the surface of the mountain vertically. When the highest point a is in the direction opposite to the lowest point B with respect to the flight direction, that is, the oblique photographing camera is rotated from the initial angle (the lens is 0 ° in the plumb line direction) to the direction opposite to the flight direction by the photographing angle in accordance with the relief angle of the terrain.
Specifically, in some possible embodiments, the step of controlling the operation of the unmanned aerial vehicle according to the elevation information and the shooting angle to acquire the oblique image data of the target area includes:
generating an imitation ground route corresponding to the target area according to the elevation information and the shooting angle;
transmitting the ground-imitating course to an unmanned aerial vehicle so that the unmanned aerial vehicle executes a flight task;
adjusting the shooting angle of the oblique camera arranged on the unmanned aerial vehicle according to the shooting angle;
and photographing the target area based on the adjusted photographing angle to obtain inclined image data of the target area.
The method comprises the steps that ground-imitating route information written with the shooting angle of the oblique photographic camera is transmitted to an unmanned aerial vehicle, position information of the unmanned aerial vehicle is obtained, when the position information of the unmanned aerial vehicle corresponds to the ground-imitating route information, the oblique photographic camera is triggered to adjust and set, a computer correspondingly starts to adjust the shooting angle of a lens by sending an adjusting instruction to a cradle head of the oblique photographic camera, when the shooting angle adjusted by the oblique photographic camera is consistent with the shooting angle in the ground-imitating route information at the moment, the computer sends the shooting instruction to the oblique photographic camera, the oblique photographic camera receives the instruction and then shoots an object in the shooting lens, and the shot image data is transmitted to the computer to be collected and stored or called by the computer.
Specifically, in some possible embodiments, the adjusting the shooting angle of the oblique camera set on the unmanned aerial vehicle according to the shooting angle includes:
determining position information corresponding to a second sub-area and a shooting angle of the second sub-area, wherein the second sub-area is any one sub-area in a plurality of sub-areas into which the target area is divided;
the position information and the shooting angle are stored in a correlated mode to obtain aerial shooting information of the second subarea;
writing the aerial photographing information of the second sub-region into the aerial photographing point of the simulated ground route;
when the unmanned aerial vehicle flies to the aerial photographing point corresponding to the second subarea, the photographing angle of the inclined camera arranged on the unmanned aerial vehicle is adjusted according to the photographing angle of the second subarea.
And when the unmanned aerial vehicle and the oblique photographic camera on the unmanned aerial vehicle reach the corresponding positions, namely the oblique photographic camera reaches the corresponding subarea, when the aerial photographing points are arranged in the subareas, the photographing angle of the oblique photographic camera is adjusted to be consistent with the relief angle of the topography in the subarea, and photographing is completed.
Specifically, in some possible embodiments, the step of generating the three-dimensional model of the target area according to the tilt influence data of the target area includes:
and importing the inclined image data into modeling software to perform three-dimensional modeling so as to generate a three-dimensional model of the target area.
The oblique image data acquired and transmitted by the oblique photographic camera into the computer are imported into modeling software to perform three-dimensional modeling on the terrain in the area, so that the three-dimensional model is close to a real mountain land, and reflects the actual topography and landform.
Another embodiment of the present application provides an oblique photography aerial survey system, wherein referring to fig. 2, an oblique photography aerial survey system comprises:
the image analysis extraction module 100: the method is used for determining elevation information corresponding to the target area;
the calculate terrain elevation angle module 200: the terrain relief angle between the continuous areas in the target area is calculated according to the elevation information;
the adjust shooting angle module 300: the shooting angle used for determining the shooting angle of the unmanned aerial vehicle for shooting the target area according to the terrain fluctuation angle;
flight acquisition data module 400: the unmanned aerial vehicle is used for controlling the unmanned aerial vehicle to run according to the elevation information and the shooting angle so as to acquire inclined image data of the target area;
three-dimensional modeling module 500: and the three-dimensional model is used for generating the three-dimensional model of the target area according to the inclination influence data of the target area.
The functions of the modules and the logic connection between the modules of the oblique photography aerial survey system provided in the present embodiment can implement the steps of the foregoing embodiment, so that the same technical effects as those of the foregoing embodiment can be achieved, and the principle analysis can refer to the related description of the steps of the oblique photography aerial survey method, which is not described herein.
In some possible embodiments, the calculate terrain relief angle module 200 includes:
a maximum elevation unit and a minimum elevation unit are obtained, and a maximum elevation corresponding to the target area and a minimum elevation corresponding to the target area are determined according to the change trend information of the elevation information;
a terrain relief angle calculating unit configured to calculate the terrain relief angle based on the maximum elevation and the minimum elevation;
the functions of the modules and the logic connection between the modules of the oblique photography aerial survey system provided in the present embodiment can implement the steps of the foregoing embodiment, so that the same technical effects as those of the foregoing embodiment can be achieved, and the principle analysis can refer to the related description of the steps of the oblique photography aerial survey method, which is not described herein.
In some possible embodiments, the flight harvest data module 400 includes:
generating a ground-imitation air line unit: the ground-imitating route corresponding to the target area is generated according to the elevation information and the shooting angle;
the ground-imitating flying unit is used for transmitting the ground-imitating course to the unmanned aerial vehicle so that the unmanned aerial vehicle executes a flying task;
the shooting angle adjusting unit is used for adjusting the shooting angle of the oblique camera arranged on the unmanned aerial vehicle according to the shooting angle;
and the target area shooting unit is used for shooting the target area based on the adjusted shooting angle so as to obtain inclined image data of the target area.
The functions of the modules and the logic connection between the modules of the oblique photography aerial survey system provided in the present embodiment can implement the steps of the foregoing embodiment, so that the same technical effects as those of the foregoing embodiment can be achieved, and the principle analysis can refer to the related description of the steps of the oblique photography aerial survey method, which is not described herein.
In some possible embodiments, the three-dimensional modeling module 500 includes:
a three-dimensional modeling unit for importing the oblique image data into modeling software for three-dimensional modeling to generate a three-dimensional model of the target region
The functions of the modules and the logic connection between the modules of the oblique photography aerial survey system provided in the present embodiment can implement the steps of the foregoing embodiment, so that the same technical effects as those of the foregoing embodiment can be achieved, and the principle analysis can refer to the related description of the steps of the oblique photography aerial survey method, which is not described herein.
The embodiment of the application also provides oblique photography aerial survey equipment, which comprises a memory and a processor, wherein the memory is stored with a computer program which can be loaded by the processor and execute the oblique photography aerial survey method.
The embodiment of the application also provides a computer storage medium, wherein a computer program capable of being loaded by a processor and executing the oblique photography aerial survey method is stored.
The storage medium provided in this embodiment, after being loaded and executed on a processor, implements the steps of the foregoing embodiment, so that the same technical effects as those of the foregoing embodiment can be achieved, and the principle analysis can be seen from the related description of the foregoing method steps, which is not further described herein.
The storage medium includes, for example: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, may expressly or implicitly include at least one such feature. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise, for descriptive purposes only and not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
Thus, any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
The embodiments of the present application are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in this way, therefore: all equivalent changes in structure, shape and principle of the application should be covered in the scope of protection of the application.
Claims (10)
1. A tilt-shooting aerial survey method, comprising:
determining elevation information corresponding to the target area;
calculating the relief angle between the continuous areas in the target area according to the elevation information;
determining a shooting angle of the unmanned aerial vehicle for shooting the target area according to the relief angle;
controlling the unmanned aerial vehicle to run according to the elevation information and the shooting angle so as to acquire inclined image data of the target area;
and generating a three-dimensional model of the target area according to the inclination influence data of the target area.
2. The oblique photography aerial survey method of claim 1, wherein the step of calculating the relief angle between successive ones of the target areas from the elevation information comprises:
determining the maximum elevation corresponding to the target area and the minimum elevation corresponding to the target area according to the change trend information of the elevation information;
the terrain relief angle is calculated based on the maximum elevation and the minimum elevation.
3. The oblique photography aerial survey method of claim 2, wherein the step of determining the maximum elevation corresponding to the target area and the minimum elevation corresponding to the target area according to the change trend information of the elevation information comprises:
acquiring elevation mutation points based on the change trend information of the elevation information;
dividing the target area into a plurality of subareas by taking the elevation mutation points as terrain demarcation points;
and respectively acquiring the maximum elevation and the minimum elevation in a first subarea, wherein the first subarea is any subarea in the plurality of areas.
4. The oblique photography aerial survey method of claim 2, wherein the step of calculating the terrain relief angle based on the maximum elevation and the minimum elevation comprises:
acquiring first position information of the position of the maximum elevation and second position information of the position of the minimum elevation;
calculating a horizontal distance and a vertical distance between the position of the maximum elevation and the position of the minimum elevation based on the first position information and the second position information;
acquiring a target included angle between a target connecting line and a horizon according to the horizontal distance and the vertical distance, wherein the target connecting line is a connecting line between the maximum elevation position and the minimum elevation position;
and determining the target included angle as the relief angle of the terrain.
5. The oblique photography aerial survey method of claim 1, wherein the step of controlling the operation of the unmanned aerial vehicle to acquire oblique image data of the target area according to the elevation information and the shooting angle comprises:
generating an imitation ground route corresponding to the target area according to the elevation information and the shooting angle;
transmitting the ground-imitating course to an unmanned aerial vehicle so that the unmanned aerial vehicle executes a flight task;
adjusting the shooting angle of the oblique camera arranged on the unmanned aerial vehicle according to the shooting angle;
and photographing the target area based on the adjusted photographing angle to obtain inclined image data of the target area.
6. The oblique photography aerial survey method of claim 5, wherein the adjusting the imaging angle of the oblique camera provided on the drone according to the imaging angle comprises:
determining position information corresponding to a second sub-area and a shooting angle of the second sub-area, wherein the second sub-area is any one sub-area in a plurality of sub-areas into which the target area is divided;
the position information and the shooting angle are stored in a correlated mode to obtain aerial shooting information of the second subarea;
writing the aerial photographing information of the second sub-region into the aerial photographing point of the simulated ground route;
when the unmanned aerial vehicle flies to the aerial photographing point corresponding to the second subarea, the photographing angle of the inclined camera arranged on the unmanned aerial vehicle is adjusted according to the photographing angle of the second subarea.
7. The oblique photography aerial survey method of claim 1, wherein the step of generating a three-dimensional model of the target area from the oblique impact data of the target area comprises:
and importing the inclined image data into modeling software to perform three-dimensional modeling so as to generate a three-dimensional model of the target area.
8. An oblique photography aerial survey system, comprising:
an image analysis and extraction module: the method is used for determining elevation information corresponding to the target area;
calculating a terrain voltage angle module: the terrain relief angle between the continuous areas in the target area is calculated according to the elevation information;
and a shooting angle adjusting module: the shooting angle used for determining the shooting angle of the unmanned aerial vehicle for shooting the target area according to the terrain fluctuation angle;
flight acquisition data module: the unmanned aerial vehicle is used for controlling the unmanned aerial vehicle to run according to the elevation information and the shooting angle so as to acquire inclined image data of the target area;
and a three-dimensional modeling module: and the three-dimensional model is used for generating the three-dimensional model of the target area according to the inclination influence data of the target area.
9. An oblique photography aerial survey device, comprising: a memory and a processor, the memory having stored thereon a computer program capable of being loaded by the processor and executing the oblique photography aerial survey method of any of the preceding claims 1 to 7.
10. A storage medium storing a computer program loadable by a processor and performing the oblique photography aerial method of any of the preceding claims 1 to 7.
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