CN117191048A - Emergency path planning method, equipment and medium based on three-dimensional stereopair - Google Patents
Emergency path planning method, equipment and medium based on three-dimensional stereopair Download PDFInfo
- Publication number
- CN117191048A CN117191048A CN202311470744.5A CN202311470744A CN117191048A CN 117191048 A CN117191048 A CN 117191048A CN 202311470744 A CN202311470744 A CN 202311470744A CN 117191048 A CN117191048 A CN 117191048A
- Authority
- CN
- China
- Prior art keywords
- image
- digital
- elevation
- area
- dimensional
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 60
- 238000012546 transfer Methods 0.000 claims abstract description 24
- 238000012937 correction Methods 0.000 claims abstract description 20
- 238000001228 spectrum Methods 0.000 claims abstract description 12
- 238000012545 processing Methods 0.000 claims description 43
- 238000013178 mathematical model Methods 0.000 claims description 30
- 238000003860 storage Methods 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 10
- 230000007613 environmental effect Effects 0.000 claims description 9
- 230000006870 function Effects 0.000 claims description 7
- 230000003595 spectral effect Effects 0.000 claims description 3
- 238000005520 cutting process Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 8
- 238000004590 computer program Methods 0.000 description 7
- 238000013499 data model Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 5
- 230000004927 fusion Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 241000283074 Equus asinus Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000007500 overflow downdraw method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Landscapes
- Image Processing (AREA)
Abstract
The application discloses an emergency path planning method, equipment and medium based on three-dimensional stereopair, and belongs to the technical field of emergency rescue. The method comprises the following steps: acquiring a stereopair satellite image and a digital elevation model of a region to be planned; generating a digital surface model based on an image generation algorithm; acquiring a digital orthographic image based on a spectrum generation algorithm; acquiring a measurable three-dimensional image grid chart based on a digital differential correction algorithm; calculating central elevation and gradient based on the measurable three-dimensional image grid graph, and setting an area with gradient larger than a preset gradient threshold value and/or central elevation larger than a preset elevation threshold value as a first non-passable area; setting a target position to be transferred, a transfer destination position and a second non-passable area in the measurable three-dimensional image grid chart; the measurable three-dimensional image grid graph is processed based on an algorithm A to generate an emergency path. The method provided by the application has the advantage that the safe emergency refuge path can be accurately found under the complex terrain.
Description
Technical Field
The application relates to the technical field of emergency rescue, in particular to an emergency path planning method, equipment and medium based on three-dimensional stereopair.
Background
Path planning is one of the main study contents of motion planning. The motion planning consists of path planning and track planning, the sequence points or curves connecting the start position and the end position are called paths, and the strategy for forming the paths is called path planning.
In the prior art, the conventional path planning method only considers the ground plane structure, so that the conventional path planning method cannot accurately generate the refuge path when facing complex terrains under the condition that emergency situations such as natural disasters are continuously increased. For example, in a mountain area scene covered by a forest, in a scene where a part of road segments are damaged due to occurrence of disasters such as debris flow, torrent, forest fire spread and the like, a traditional path planning method which only considers a ground plane structure cannot comprehensively and accurately reflect actual conditions, and erroneous judgment and decision are easy to occur.
Therefore, how to find a safe emergency refuge path accurately under complex terrain is a problem to be solved.
Disclosure of Invention
The embodiment of the application provides an emergency path planning method, equipment and medium based on three-dimensional stereopair, which are used for solving the following technical problems: how to find a safe emergency refuge path accurately under complex terrains.
In a first aspect, an embodiment of the present application provides a method for planning an emergency path based on a three-dimensional stereopair, where the method includes: acquiring a stereopair satellite image and a digital elevation model of a region to be planned, wherein the stereopair satellite image comprises a front-view stereoscopic panchromatic image, a rear-view stereoscopic panchromatic image and a rear-view multispectral image; processing the front-view stereoscopic full-color image and the rear-view stereoscopic full-color image based on an image generation algorithm to generate a digital surface model, wherein the digital surface model is used for reflecting the environmental characteristics of the area to be planned; processing the digital elevation model, the rearview three-dimensional full-color image and the rearview multi-spectral image based on a spectrum generation algorithm to obtain a digital orthographic image, wherein the digital orthographic image is used for reflecting the height and gradient information of a region to be planned; processing the digital surface model and the digital orthographic image based on a digital differential correction algorithm to obtain a measurable three-dimensional image grid pattern; calculating central elevation and gradient based on the measurable three-dimensional image grid graph, and setting an area with gradient larger than a preset gradient threshold value and/or central elevation larger than a preset elevation threshold value as a first non-passable area; setting a target position to be transferred, a transfer destination position and a second non-passable area in the measurable three-dimensional image grid chart; the measurable three-dimensional image grid graph is processed based on an algorithm A to generate an emergency path.
In one implementation of the present application, acquiring a stereopair satellite image and a digital elevation model of an area to be planned specifically includes: acquiring an area to be planned, wherein the area to be planned is an area where disasters occur or personnel transfer is required; acquiring a stereopair satellite image of a region to be planned based on the region where the region to be planned is located; acquiring a first digital elevation model of an area to be planned based on a stereopair satellite image; and cutting the first digital elevation model according to the size of the stereopair satellite images to obtain a digital elevation model, wherein the digital elevation model is larger than or equal to the stereopair satellite images.
In one implementation of the present application, a digital surface model is generated based on processing a front-view stereoscopic panchromatic image and a rear-view stereoscopic panchromatic image by an image generation algorithm, comprising: selecting a first number of nodes on the front-view stereoscopic full-color image and the rear-view stereoscopic full-color image, and constructing a front relative positioning mathematical model and a rear relative positioning mathematical model based on the first number of nodes, wherein the first number is set manually; constructing a relation between a front relative positioning mathematical model and a rear relative positioning mathematical model relative to a real ground based on a preset RPC algorithm, wherein the front relative positioning mathematical model and the rear relative positioning mathematical model are both composed of epipolar lines; overlapping the front relative positioning mathematical model and the rear relative positioning mathematical model, obtaining a epipolar line of the overlapped part, marking a serial number, and generating an epipolar line image; performing image matching based on the epipolar line image to generate parallax data and digital parameters; a digital surface model is generated based on the parallax data and the digital parameters.
In one implementation of the present application, processing a digital elevation model, a rearview stereoscopic panchromatic image, and a rearview multispectral image based on a spectral generation algorithm to obtain a digital orthographic image specifically includes: orthographic correction is carried out on the rearview three-dimensional full-color image and the rearview multispectral image based on the digital elevation model; and fusing the rearview multispectral image and the rearview stereoscopic full-color image to obtain a digital orthographic image.
In one implementation of the present application, the digital surface model and the digital orthographic image are processed based on a digital differential correction algorithm to obtain a measurable three-dimensional image grid map, comprising: performing digital differential correction on the digital orthographic image based on the digital surface model to obtain a true digital orthographic image; and adding the true digital orthophoto to the digital surface model based on a preset surf function to obtain a measurable three-dimensional image grid graph.
In one implementation of the present application, calculating a center elevation and a gradient based on a measurable three-dimensional image grid graph, and setting an area with a gradient greater than a gradient threshold and/or a center elevation greater than an elevation threshold as a first non-passable area, specifically includes: acquiring grid data in a measurable three-dimensional image grid graph; processing the elevations of four vertexes in the grid data through a preset central elevation calculation formula to obtain the central elevation of the grid; calculating the gradient of the grid based on a preset gradient calculation formula; setting the gradient greater than a gradient threshold value as a first non-passable area when the gradient greater than the gradient threshold value; at the center Gao Chengda Yu Gaocheng threshold, the grid of the center Gao Chengda Yu Gaocheng threshold is set to the first non-passable area.
In one implementation manner of the present application, a target position to be transferred, a transfer destination position and a second non-passable area are set in the measurable three-dimensional image grid chart, specifically including: acquiring warning information and disaster forecast of an area to be planned; generating a second non-passable area based on the warning information and disaster forecast of the area to be planned; marking the target position to be transferred, the transfer destination position and the second non-passable area in the measurable three-dimensional image grid chart.
In one implementation of the present application, processing a measurable three-dimensional image grid graph based on an a-algorithm to generate an emergency path specifically includes: taking the position of the target to be transferred as an initial point, the position of the transfer destination as an end point, and the first and second non-passable areas as forbidden points; extending outwards by the initial point to obtain a target point; judging whether the target point location is a passable point location, wherein the passable point location is a point location of a non-forbidden point location; when the target point location is a passable point location, the target point location is included in a passable point location set; repeating the steps until the adjacent points of the initial point are judged; selecting a target point with the smallest weight value in the passable point set as a sub-point; judging whether the sub-point positions are end point positions or not; if yes, generating an emergency path; if not, taking the sub-point position as an initial point position; repeating the steps until the sub-point positions coincide with the end point positions; connecting the initial point location to the end point location to generate an emergency path.
In a second aspect, the present application provides an emergency path planning apparatus based on a three-dimensional stereopair, characterised in that the apparatus comprises: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to: acquiring a stereopair satellite image and a digital elevation model of a region to be planned, wherein the stereopair satellite image comprises a front-view stereoscopic panchromatic image, a rear-view stereoscopic panchromatic image and a rear-view multispectral image; processing the front-view stereoscopic full-color image and the rear-view stereoscopic full-color image based on an image generation algorithm to generate a digital surface model, wherein the digital surface model is used for reflecting the environmental characteristics of the area to be planned; processing the digital elevation model, the rearview three-dimensional full-color image and the rearview multi-spectral image based on a spectrum generation algorithm to obtain a digital orthographic image, wherein the digital orthographic image is used for reflecting the height and gradient information of a region to be planned; processing the digital surface model and the digital orthographic image based on a digital differential correction algorithm to obtain a measurable three-dimensional image grid pattern; calculating central elevation and gradient based on the measurable three-dimensional image grid graph, and setting an area with gradient larger than a preset gradient threshold value and/or central elevation larger than a preset elevation threshold value as a first non-passable area; setting a target position to be transferred, a transfer destination position and a second non-passable area in the measurable three-dimensional image grid chart; the measurable three-dimensional image grid graph is processed based on an algorithm A to generate an emergency path.
In a third aspect, the present application provides a non-volatile computer storage medium storing computer executable instructions for emergency path planning based on three-dimensional stereopair, characterised in that the computer executable instructions are arranged to: acquiring a stereopair satellite image and a digital elevation model of a region to be planned, wherein the stereopair satellite image comprises a front-view stereoscopic panchromatic image, a rear-view stereoscopic panchromatic image and a rear-view multispectral image; processing the front-view stereoscopic full-color image and the rear-view stereoscopic full-color image based on an image generation algorithm to generate a digital surface model, wherein the digital surface model is used for reflecting the environmental characteristics of the area to be planned; processing the digital elevation model, the rearview three-dimensional full-color image and the rearview multi-spectral image based on a spectrum generation algorithm to obtain a digital orthographic image, wherein the digital orthographic image is used for reflecting the height and gradient information of a region to be planned; processing the digital surface model and the digital orthographic image based on a digital differential correction algorithm to obtain a measurable three-dimensional image grid pattern; calculating central elevation and gradient based on the measurable three-dimensional image grid graph, and setting an area with gradient larger than a preset gradient threshold value and/or central elevation larger than a preset elevation threshold value as a first non-passable area; setting a target position to be transferred, a transfer destination position and a second non-passable area in the measurable three-dimensional image grid chart; the measurable three-dimensional image grid graph is processed based on an algorithm A to generate an emergency path.
According to the emergency path planning method, device and medium based on the three-dimensional stereopair, the stereopair satellite image and the digital elevation model of the area to be planned are obtained, the stereopair satellite image and the digital elevation model of the area to be planned are processed through the image generation algorithm, the spectrum generation algorithm and the digital differential correction algorithm to obtain the three-dimensional scene of the area to be planned, the path is calculated in the three-dimensional scene through the A-th algorithm, the risk area in the refuge path can be accurately avoided, the optimal refuge path from the target position to the refuge site position to be transferred is efficiently generated, ground on-site searching is not needed, and therefore the safe emergency refuge path can be accurately found under complex terrains.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a flow chart of an emergency path planning method based on three-dimensional stereopair provided by an embodiment of the application;
fig. 2 is a schematic diagram of an internal structure of an emergency path planning device based on a three-dimensional stereo pair according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the 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.
The embodiment of the application provides an emergency path planning method, equipment and medium based on three-dimensional stereopair, which are used for solving the following technical problems: how to find a safe emergency refuge path accurately under complex terrains.
The following describes the technical scheme provided by the embodiment of the application in detail through the attached drawings.
Fig. 1 is a flowchart of emergency path planning based on three-dimensional stereopair provided by an embodiment of the application. As shown in fig. 1, the emergency path planning method based on three-dimensional stereopair provided by the embodiment of the application specifically includes the following steps:
step 1, a stereopair satellite image and a digital elevation model of a region to be planned are obtained, wherein the stereopair satellite image comprises a front-view stereoscopic full-color image, a rear-view stereoscopic full-color image and a rear-view multispectral image.
Firstly, an area to be planned needs to be acquired, and the area to be planned is usually an area where disasters occur or personnel transfer is required.
In one embodiment, the small piece of the donkey friend gets lost in the direction in the deep mountain and does not know how to go out of the mountain, the small piece opens the software A through the mobile terminal, the software A can finish the application, the position of the small piece is positioned after the software A is opened, the small piece extends outwards by X kilometers with the center of the small piece Zhang Wei, X can be set by the small piece, and after the small piece extends by X kilometers, a circular area to be planned with the position of the small piece as the center and X as the radius is automatically generated. It will be appreciated that the shape of the area to be planned may be rectangular or any polygon.
After the area to be planned is acquired, a stereopair satellite image of the area to be planned is acquired based on the size of the area to be planned, the acquisition of the stereopair satellite image is monitored through a high-resolution No. 7 satellite emitted by 2019 in China, so that a front-view stereoscopic panchromatic image, a rear-view stereoscopic panchromatic image and a rear-view multispectral image corresponding to the area to be planned are acquired, the front-view stereoscopic panchromatic image, the rear-view stereoscopic panchromatic image and the rear-view multispectral image are respectively read, the front-view stereoscopic panchromatic image, the rear-view stereoscopic panchromatic image and the rear-view multispectral image are packaged into a stereopair satellite image, and it is understood that the sizes and the specifications of the acquired stereopair satellite image are the same as those of the selected area to be planned.
After acquiring stereopair satellite data, a digital elevation model of the area to be planned needs to be acquired. Because the acquired size and specification of the area to be planned has been determined, the acquired size of the digital elevation model should be adapted to the area to be planned. If the range of the obtained digital elevation model is far larger than the area to be planned, a great deal of waste of data resources is caused, and meanwhile, the fusion speed of the map based on the stereopair satellite images is reduced. If the range of the acquired digital elevation model is smaller than the area to be planned, a fusion map based on stereopair satellite images cannot be supported. The present embodiment obtains a large-scale digital elevation model (first digital elevation model) and then cuts the first digital elevation model according to the size and specification of the area to be planned.
In one embodiment, when the donkey friends select the area to be planned, a WorldDEM ™ elevation data model product is obtained, the updating period of the WorldDEM ™ elevation data model product is short, the WorldDEM ™ elevation data model product is obtained from two identical synthetic aperture radar satellites Terra SAR-X and TanDEM-X in formation flight in a homogeneous manner, and the elevation information in the global scope is free from line breakage and consistent in quality. It will be appreciated that as the product changes, the elevation data model product used in the present application will be updated with the version updated.
After the WorldDEM ™ elevation data model product is obtained, the WorldDEM ™ elevation data model product needs to be cut according to the size of the area to be planned, in this embodiment, the WorldDEM ™ elevation data model product is a first digital elevation model, and the first digital elevation model is a digital elevation model product of an area, such as an A urban area, a B mountain area, and a C village area. The area to be planned is usually not a complete mountain or urban area, so the first digital elevation model needs to be cut.
The size of the digital elevation model after clipping is about 100% to 110% compared with the stereopair satellite images, and it is understood that the specific range can be set according to the actual requirements.
And 2, processing the front-view stereoscopic full-color image and the rear-view stereoscopic full-color image based on an image generation algorithm to generate a digital surface model, wherein the digital surface model is used for reflecting the environmental characteristics of the area to be planned.
The image generation algorithm is used for generating a digital surface model based on a front-view stereoscopic panchromatic image and a rear-view stereoscopic panchromatic image in a stereoscopic pair of satellite images, and comprises four steps of relative positioning, absolute positioning, epipolar line arrangement and digital surface model generation.
Relative positioning: and selecting a first number of nodes on the front-view stereoscopic full-color image and the rear-view stereoscopic full-color image, and constructing a front relative positioning mathematical model and a rear relative positioning mathematical model based on the first number of nodes, wherein the first number is set and selected by people.
Creation of a digital surface model requires fusion of a front-view stereoscopic panchromatic image and a rear-view stereoscopic panchromatic image. A number of nodes are selected on the front-view stereoscopic panchromatic image and the rear-view stereoscopic panchromatic image prior to construction,
absolute positioning: and constructing a relation between the front relative positioning mathematical model and the rear relative positioning mathematical model relative to the real ground based on a preset RPC algorithm, wherein the front relative positioning mathematical model and the rear relative positioning mathematical model are both composed of epipolar lines.
As can be seen from the step 1, the front-view stereoscopic full-color image and the rear-view stereoscopic full-color image are obtained by the high-resolution seven-satellite, so that the front-view stereoscopic full-color image is constructed as a front relative positioning mathematical model by an RPC algorithm carried by the high-resolution seven-satellite, the rear-view stereoscopic full-color image is constructed as a rear relative positioning mathematical model, and the front relative positioning mathematical model and the rear relative positioning mathematical model both comprise the relation of the real ground corresponding to the front relative positioning mathematical model and the rear relative positioning mathematical model.
And (3) nuclear line arrangement: overlapping the front relative positioning mathematical model and the rear relative positioning mathematical model, obtaining a epipolar line of the overlapped part, marking a serial number, and generating an epipolar line image; and performing image matching based on the epipolar line image to generate parallax data and digital parameters.
Digital surface model generation: a digital surface model is generated based on the parallax data and the digital parameters.
And step 3, processing the digital elevation model, the rearview three-dimensional full-color image and the rearview multispectral image based on a spectrum generation algorithm to obtain a digital orthographic image, wherein the digital orthographic image is used for reflecting the height and gradient information of the area to be planned.
The spectrum generation algorithm performs fine adjustment and fusion on the rearview three-dimensional full-color image and the rearview multispectral image based on a digital elevation model, and the digital orthographic image is used for reflecting the height and gradient information of the area to be planned.
Firstly, a digital elevation model is obtained, wherein the digital elevation model is a digital elevation model which can be normally used after debugging, a rearview three-dimensional panchromatic image and a rearview multispectral image are corrected through a digital orthographic image of the digital elevation model, and after correction, the front rearview three-dimensional panchromatic image and the rearview multispectral image are fused by adopting a Gram-Schmidt Pan Sharpening fusion method capable of greatly retaining spectral information, so that a fused high-resolution digital orthographic image is obtained.
And 4, processing the digital surface model and the digital orthographic image based on a digital differential correction algorithm to obtain a measurable three-dimensional image grid chart.
The digital differential correction algorithm is used for processing the digital surface model and the digital orthographic image, and a measurable three-dimensional image grid chart is obtained based on the digital surface model and the digital orthographic image after differential correction.
The method comprises the steps of correcting a digital orthographic image through a digital surface model, wherein the corrected digital orthographic image is a true digital orthographic image, importing the true digital orthographic image and the digital surface model into MATLAB software, calling surf functions in the MATLAB software to paste the true digital orthographic image to the digital surface model, and therefore a measurable three-dimensional image grid graph is obtained.
And 5, calculating the central elevation and the gradient based on the measurable three-dimensional image grid graph, and setting the area with the gradient larger than a preset gradient threshold value and/or the central elevation larger than a preset elevation threshold value as a first non-passable area.
The measurable three-dimensional image grid map is a three-dimensional map of the area to be planned, and the three-dimensional map is composed of a plurality of grids, and the lengths of the grids are known. The gradient and height of the three-dimensional map on the measurable three-dimensional image grid map can be calculated based on the grid.
The central elevation is the elevation change rate constraint value of each grid, and the gradient is the gradient of each grid. In this embodiment, the map is composed of a single grid, the grid is used as the minimum unit of calculation, the central elevation and the gradient of each grid are calculated to determine whether the current grid can pass, when the central elevation is greater than a preset elevation threshold value, the height of the map corresponding to the grid is too high, it is difficult for ordinary people to climb, and when the gradient is greater than the preset gradient threshold value, it is also difficult for ordinary people to climb.
The method comprises the steps of obtaining the grid length of a measurable three-dimensional image grid graph, and calculating the gradient of each grid through a gradient calculation formula in Arcgis software, wherein the gradient calculation formula is represented by the following formula:
wherein,the height difference is the height difference between the highest point and the lowest point of the grid, and the horizontal distanceIs the horizontal distance between the highest point and the lowest point of the mesh.
Calculating the central elevation of the grid through a central elevation calculation formula in the MATLAB calculation window, namely calculating an elevation change rate constraint value of the grid, wherein the calculation formula of the elevation change rate constraint value is represented by the following formula:
Wherein,is the constraint value of the elevation change rate, +.>For the elevations corresponding to the four vertices of the mesh,is the average of four vertices of the mesh, wherein +.>Is represented by the following formula:
after the center elevation and slope of each grid are calculated, the center elevation and elevation thresholds of each grid are compared, while the slope and slope thresholds of each grid are compared. When any one item is larger than the corresponding threshold value, the area corresponding to the grid is not easy to move, and the area is divided into a first non-passable area.
And 6, setting a target position to be transferred, a transfer destination position and a second non-passable area in the measurable three-dimensional image grid chart.
The target position to be transferred is the position of the person or the material to be transferred. The transfer destination location is the location of the destination of the person or material to be transferred. The second non-passable area is a non-passable area, and the warning information and the disaster forecast address of the area to be planned are marked in the area to be planned through warning information and disaster forecast of the area to be planned issued by the relevant part, and the marked area is the second non-passable area.
In a specific example, the donkey-friendly sheet selects the area to be planned. The embodiment is associated with a related department performing disaster early warning, and the related department knows that the road of the A mountain in the area to be planned generates debris flow, and the whole A mountain is marked as a second non-passable area because of unstable factors of the debris flow.
And meanwhile, the position of the small sheet is taken as a target position to be transferred, and the small sheet selects a transfer destination position and a second non-passable area in the embodiment, wherein the second non-passable area is an area which the small sheet does not want to pass through.
In one instance, because the a village of the area to be planned is under the a mountain, the a mountain may slip on the mountain due to heavy storms on multiple days, and thus residents of the a village need to be transferred to the B village. Setting village A as a target position to be transferred, setting village B as a transfer destination position, and simultaneously defining a second non-passable area according to disaster early warning of the area to be planned and dividing the area without roads into the second non-passable area according to special conditions of old people and children in village.
And 7, processing the measurable three-dimensional image grid graph based on an A-algorithm to generate an emergency path.
After the target position to be transferred, the transfer destination position, the first non-passable area and the second non-passable area are obtained, the target position to be transferred is set as an initial point position, the transfer destination position is set as an end point position, and the first non-passable area and the second non-passable area are forbidden point positions.
After the initial point is set, searching the point positions near the initial point position, setting the searched point positions as target point positions, and judging whether the target point positions are passable point positions or not after the target point positions are acquired, wherein the passable point positions are the point positions included in the first passable area and the second passable area, and the point positions except the point positions included in the first passable area and the second passable area are passable point positions.
And when the target point is a passable point, the path point is included in the passable point set, and when the target point is not a passable point, the target point is included in the non-passable point set until all the points near the initial point are covered, wherein the nearby point is a point one grid away from the initial point.
F values (weight values) of the target points in the passable point set are calculated, wherein the smaller the weight values are, the closer the distances between the target points and the initial points and the end points are, and the f values are in the prior art in an A algorithm and are used for expressing the distance relation between the target points and the initial points and the end points, and the details are omitted herein. And taking the path point with the minimum f value in the passable point set as a sub-point, judging whether the sub-point is an end point, and when the sub-point is the end point, completing the path planning from the initial point to the end point, and connecting the initial point to the end point, wherein the path is the emergency path.
And when the sub-point is not the endpoint point, repeating the steps by taking the sub-point as an initial point until the sub-point coincides with the endpoint point, and finally obtaining the emergency path.
The above is a method embodiment of the present application. Based on the same inventive concept, the embodiment of the application also provides emergency path planning equipment based on three-dimensional stereopair, and the structure of the emergency path planning equipment is shown in fig. 2.
Fig. 2 is a schematic diagram of an internal structure of an emergency path planning device based on a three-dimensional stereo pair according to an embodiment of the present application. As shown in fig. 2, the apparatus includes:
at least one processor 201;
and a memory 202 communicatively coupled to the at least one processor;
wherein the memory 202 stores instructions executable by the at least one processor, the instructions being executable by the at least one processor 201 to enable the at least one processor 201 to: acquiring a stereopair satellite image and a digital elevation model of a region to be planned, wherein the stereopair satellite image comprises a front-view stereoscopic panchromatic image, a rear-view stereoscopic panchromatic image and a rear-view multispectral image; processing the front-view stereoscopic full-color image and the rear-view stereoscopic full-color image based on an image generation algorithm to generate a digital surface model, wherein the digital surface model is used for reflecting the environmental characteristics of the area to be planned; processing the digital elevation model, the rearview three-dimensional full-color image and the rearview multi-spectral image based on a spectrum generation algorithm to obtain a digital orthographic image, wherein the digital orthographic image is used for reflecting the height and gradient information of a region to be planned; processing the digital surface model and the digital orthographic image based on a digital differential correction algorithm to obtain a measurable three-dimensional image grid pattern; calculating central elevation and gradient based on the measurable three-dimensional image grid graph, and setting an area with gradient larger than a preset gradient threshold value and/or central elevation larger than a preset elevation threshold value as a first non-passable area; setting a target position to be transferred, a transfer destination position and a second non-passable area in the measurable three-dimensional image grid chart; the measurable three-dimensional image grid graph is processed based on an algorithm A to generate an emergency path.
Some embodiments of the application provide a non-volatile computer storage medium corresponding to the three-dimensional stereopair based emergency path planning of fig. 1, storing computer executable instructions arranged to: acquiring a stereopair satellite image and a digital elevation model of a region to be planned, wherein the stereopair satellite image comprises a front-view stereoscopic panchromatic image, a rear-view stereoscopic panchromatic image and a rear-view multispectral image; processing the front-view stereoscopic full-color image and the rear-view stereoscopic full-color image based on an image generation algorithm to generate a digital surface model, wherein the digital surface model is used for reflecting the environmental characteristics of the area to be planned; processing the digital elevation model, the rearview three-dimensional full-color image and the rearview multi-spectral image based on a spectrum generation algorithm to obtain a digital orthographic image, wherein the digital orthographic image is used for reflecting the height and gradient information of a region to be planned; processing the digital surface model and the digital orthographic image based on a digital differential correction algorithm to obtain a measurable three-dimensional image grid pattern; calculating central elevation and gradient based on the measurable three-dimensional image grid graph, and setting an area with gradient larger than a preset gradient threshold value and/or central elevation larger than a preset elevation threshold value as a first non-passable area; setting a target position to be transferred, a transfer destination position and a second non-passable area in the measurable three-dimensional image grid chart; the measurable three-dimensional image grid graph is processed based on an algorithm A to generate an emergency path.
The embodiments of the present application are described in a progressive manner, and the same and similar parts of the embodiments are all referred to each other, and each embodiment is mainly described in the differences from the other embodiments. In particular, for the internet of things device and the medium embodiment, since they are substantially similar to the method embodiment, the description is relatively simple, and the relevant points are referred to in the description of the method embodiment.
The system, the medium and the method provided by the embodiment of the application are in one-to-one correspondence, so that the system and the medium also have similar beneficial technical effects to the corresponding method, and the beneficial technical effects of the method are explained in detail above, so that the beneficial technical effects of the system and the medium are not repeated here.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flAsh memory (flAsh RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer readable mediA, as defined herein, does not include trAnsitory computer readable mediA (tr antenna mediA), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (10)
1. An emergency path planning method based on three-dimensional stereopair, which is characterized by comprising the following steps:
acquiring a stereopair satellite image and a digital elevation model of a region to be planned, wherein the stereopair satellite image comprises a front-view stereoscopic panchromatic image, a rear-view stereoscopic panchromatic image and a rear-view multispectral image;
Processing the front-view stereoscopic full-color image and the rear-view stereoscopic full-color image based on an image generation algorithm to generate a digital surface model, wherein the digital surface model is used for reflecting environmental characteristics of an area to be planned;
processing the digital elevation model, the rearview stereoscopic full-color image and the rearview multispectral image based on a spectrum generation algorithm to obtain a digital orthographic image, wherein the digital orthographic image is used for reflecting the height and gradient information of a region to be planned;
processing the digital surface model and the digital orthographic image based on a digital differential correction algorithm to obtain a measurable three-dimensional image grid pattern;
calculating central elevation and gradient based on the measurable three-dimensional image grid graph, and setting an area with gradient larger than a preset gradient threshold value and/or central elevation larger than a preset elevation threshold value as a first non-passable area;
setting a target position to be transferred, a transfer destination position and a second non-passable area in the measurable three-dimensional image grid chart;
and processing the measurable three-dimensional image grid graph based on an A-algorithm to generate an emergency path.
2. The emergency path planning method based on three-dimensional stereopair according to claim 1, wherein the step of obtaining stereopair satellite images and digital elevation models of the area to be planned comprises the following steps:
Acquiring an area to be planned, wherein the area to be planned is an area where disasters occur or personnel transfer is required;
acquiring a stereopair satellite image of a region to be planned based on the region where the region to be planned is located;
acquiring a first digital elevation model of an area to be planned based on a stereopair satellite image;
and cutting the first digital elevation model according to the size of the stereopair satellite image to obtain a digital elevation model, wherein the digital elevation model is larger than or equal to the stereopair satellite image.
3. The emergency path planning method based on three-dimensional stereo pair according to claim 1, wherein the processing of the forward-looking stereoscopic panchromatic image and the backward-looking stereoscopic panchromatic image based on the image generation algorithm generates a digital surface model, specifically comprising:
selecting a first number of nodes on the front-view stereoscopic full-color image and the rear-view stereoscopic full-color image, and constructing a front relative positioning mathematical model and a rear relative positioning mathematical model based on the first number of nodes, wherein the first number is set manually;
constructing a relation between a front relative positioning mathematical model and a rear relative positioning mathematical model relative to a real ground based on a preset RPC algorithm, wherein the front relative positioning mathematical model and the rear relative positioning mathematical model are both composed of epipolar lines;
Overlapping the front relative positioning mathematical model and the rear relative positioning mathematical model, obtaining a epipolar line of the overlapped part, marking a serial number, and generating the epipolar line image;
performing image matching based on the epipolar line image to generate parallax data and digital parameters;
a digital surface model is generated based on the parallax data and the digital parameters.
4. The method of claim 1, wherein processing the digital elevation model, the rearview stereoscopic panchromatic image and the rearview multispectral image based on a spectral generation algorithm to obtain the digital orthographic image comprises:
carrying out orthographic correction on the rearview three-dimensional full-color image and the rearview multispectral image based on a digital elevation model;
and fusing the rearview multispectral image and the rearview stereoscopic full-color image to obtain a digital orthographic image.
5. The emergency path planning method according to claim 1, wherein the digital surface model and the digital orthographic image are processed based on a digital differential correction algorithm to obtain a measurable three-dimensional image grid map, comprising:
performing digital differential correction on the digital orthographic image based on a digital surface model to obtain a true digital orthographic image;
And adding the true digital orthophoto to the digital surface model based on a preset surf function to obtain a measurable three-dimensional image grid graph.
6. The emergency path planning method based on three-dimensional stereo pair according to claim 1, wherein calculating a center elevation and a gradient based on the measurable three-dimensional image grid graph and setting an area with a gradient greater than a gradient threshold and/or a center elevation greater than an elevation threshold as a first non-passable area specifically comprises:
acquiring grid data in a measurable three-dimensional image grid graph;
processing the elevations of four vertexes in the grid data through a preset central elevation calculation formula to obtain the central elevation of the grid;
calculating the gradient of the grid based on a preset gradient calculation formula;
setting the gradient greater than the gradient threshold value as a first non-passable region when the gradient is greater than the gradient threshold value;
when the center Gao Chengda is at the elevation threshold, the grid of the center Gao Chengda at the elevation threshold is set as a first non-passable area.
7. The emergency path planning method based on three-dimensional stereo pair according to claim 1, wherein a target position to be transferred, a transfer destination position and a second non-passable area are set in the measurable three-dimensional image grid chart, specifically comprising:
Acquiring warning information and disaster forecast of an area to be planned;
generating a second non-passable area based on the warning information and disaster forecast of the area to be planned;
marking a target position to be transferred, a transfer destination position and a second non-passable area in the measurable three-dimensional image grid chart.
8. The emergency path planning method based on three-dimensional stereopair according to claim 1, wherein the measurable three-dimensional image grid map is processed based on an a-algorithm to generate an emergency path, comprising:
taking the position of the target to be transferred as an initial point, the position of the transfer destination as an end point, and the first and second non-passable areas as forbidden points;
extending outwards by the initial point to obtain a target point;
judging whether the target point location is a passable point location, wherein the passable point location is a point location of a non-forbidden point location;
when the target point location is a passable point location, the target point location is included in a passable point location set;
repeating the steps until the adjacent points of the initial point are judged;
selecting a target point with the smallest weight value in the passable point set as a sub-point;
judging whether the sub-point positions are end point positions or not;
If yes, generating an emergency path;
if not, taking the sub-point position as an initial point position;
repeating the steps until the sub-point positions coincide with the end point positions;
connecting the initial point location to the end point location to generate an emergency path.
9. An emergency path planning apparatus based on a three-dimensional stereopair, the apparatus comprising:
at least one processor;
and a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to:
acquiring a stereopair satellite image and a digital elevation model of a region to be planned, wherein the stereopair satellite image comprises a front-view stereoscopic panchromatic image, a rear-view stereoscopic panchromatic image and a rear-view multispectral image;
processing the front-view stereoscopic full-color image and the rear-view stereoscopic full-color image based on an image generation algorithm to generate a digital surface model, wherein the digital surface model is used for reflecting environmental characteristics of an area to be planned;
processing the digital elevation model, the rearview stereoscopic full-color image and the rearview multispectral image based on a spectrum generation algorithm to obtain a digital orthographic image, wherein the digital orthographic image is used for reflecting the height and gradient information of a region to be planned;
Processing the digital surface model and the digital orthographic image based on a digital differential correction algorithm to obtain a measurable three-dimensional image grid pattern;
calculating central elevation and gradient based on the measurable three-dimensional image grid graph, and setting an area with gradient larger than a preset gradient threshold value and/or central elevation larger than a preset elevation threshold value as a first non-passable area;
setting a target position to be transferred, a transfer destination position and a second non-passable area in the measurable three-dimensional image grid chart;
and processing the three-dimensional image grid graph based on an A-algorithm to generate an emergency path.
10. A non-volatile computer storage medium storing computer executable instructions for emergency path planning based on a three-dimensional stereo pair, the computer executable instructions configured to:
acquiring a stereopair satellite image and a digital elevation model of a region to be planned, wherein the stereopair satellite image comprises a front-view stereoscopic panchromatic image, a rear-view stereoscopic panchromatic image and a rear-view multispectral image;
processing the front-view stereoscopic full-color image and the rear-view stereoscopic full-color image based on an image generation algorithm to generate a digital surface model, wherein the digital surface model is used for reflecting environmental characteristics of an area to be planned;
Processing the digital elevation model, the rearview stereoscopic full-color image and the rearview multispectral image based on a spectrum generation algorithm to obtain a digital orthographic image, wherein the digital orthographic image is used for reflecting the height and gradient information of a region to be planned;
processing the digital surface model and the digital orthographic image based on a digital differential correction algorithm to obtain a measurable three-dimensional image grid pattern;
calculating central elevation and gradient based on the measurable three-dimensional image grid graph, and setting an area with gradient larger than a preset gradient threshold value and/or central elevation larger than a preset elevation threshold value as a first non-passable area;
setting a target position to be transferred, a transfer destination position and a second non-passable area in the measurable three-dimensional image grid chart;
and processing the three-dimensional image grid graph based on an A-algorithm to generate an emergency path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311470744.5A CN117191048B (en) | 2023-11-07 | 2023-11-07 | Emergency path planning method, equipment and medium based on three-dimensional stereopair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311470744.5A CN117191048B (en) | 2023-11-07 | 2023-11-07 | Emergency path planning method, equipment and medium based on three-dimensional stereopair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117191048A true CN117191048A (en) | 2023-12-08 |
| CN117191048B CN117191048B (en) | 2024-01-05 |
Family
ID=88996488
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311470744.5A Active CN117191048B (en) | 2023-11-07 | 2023-11-07 | Emergency path planning method, equipment and medium based on three-dimensional stereopair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117191048B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100732915B1 (en) * | 2006-01-10 | 2007-06-27 | (주)한성개발공사 | Method for three-dimensional determining of basic design road route using digital photommetry and satellite image |
| CN105205808A (en) * | 2015-08-20 | 2015-12-30 | 武汉大学 | Multi-vision image dense coupling fusion method and system based on multiple characteristics and multiple constraints |
| CN112509056A (en) * | 2020-11-30 | 2021-03-16 | 中国人民解放军32181部队 | Dynamic battlefield environment real-time path planning system and method |
| US20210333108A1 (en) * | 2018-12-28 | 2021-10-28 | Goertek Inc. | Path Planning Method And Device And Mobile Device |
| CN114063616A (en) * | 2021-11-11 | 2022-02-18 | 深圳市城市公共安全技术研究院有限公司 | Method and device for planning forest area path based on three-dimensional laser scanning detection |
| CN114237232A (en) * | 2021-11-30 | 2022-03-25 | 武汉地大信息工程股份有限公司 | Path planning method and device |
| CN114442671A (en) * | 2022-02-15 | 2022-05-06 | 中国民航工程咨询有限公司 | Emergency path planning method and device |
| CN114927002A (en) * | 2022-04-28 | 2022-08-19 | 浙江中裕通信技术有限公司 | Road induction method and device for post-disaster rescue |
| CN115077556A (en) * | 2022-07-26 | 2022-09-20 | 中国电子科技集团公司第二十八研究所 | Unmanned vehicle field operation path planning method based on multi-dimensional map |
-
2023
- 2023-11-07 CN CN202311470744.5A patent/CN117191048B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100732915B1 (en) * | 2006-01-10 | 2007-06-27 | (주)한성개발공사 | Method for three-dimensional determining of basic design road route using digital photommetry and satellite image |
| CN105205808A (en) * | 2015-08-20 | 2015-12-30 | 武汉大学 | Multi-vision image dense coupling fusion method and system based on multiple characteristics and multiple constraints |
| US20210333108A1 (en) * | 2018-12-28 | 2021-10-28 | Goertek Inc. | Path Planning Method And Device And Mobile Device |
| CN112509056A (en) * | 2020-11-30 | 2021-03-16 | 中国人民解放军32181部队 | Dynamic battlefield environment real-time path planning system and method |
| CN114063616A (en) * | 2021-11-11 | 2022-02-18 | 深圳市城市公共安全技术研究院有限公司 | Method and device for planning forest area path based on three-dimensional laser scanning detection |
| CN114237232A (en) * | 2021-11-30 | 2022-03-25 | 武汉地大信息工程股份有限公司 | Path planning method and device |
| CN114442671A (en) * | 2022-02-15 | 2022-05-06 | 中国民航工程咨询有限公司 | Emergency path planning method and device |
| CN114927002A (en) * | 2022-04-28 | 2022-08-19 | 浙江中裕通信技术有限公司 | Road induction method and device for post-disaster rescue |
| CN115077556A (en) * | 2022-07-26 | 2022-09-20 | 中国电子科技集团公司第二十八研究所 | Unmanned vehicle field operation path planning method based on multi-dimensional map |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117191048B (en) | 2024-01-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106052697B (en) | Unmanned vehicle, unmanned vehicle localization method, device and system | |
| CN108280866B (en) | Road point cloud data processing method and system | |
| CN102930509B (en) | Intelligent filtering method for airborne laser point cloud data | |
| Zeybek | Accuracy assessment of direct georeferencing UAV images with onboard global navigation satellite system and comparison of CORS/RTK surveying methods | |
| CN109934911B (en) | OpenGL-based three-dimensional modeling method for high-precision oblique photography of mobile terminal | |
| KR102567800B1 (en) | Drone used 3d mapping method | |
| Karan et al. | Digital modeling of construction site terrain using remotely sensed data and geographic information systems analyses | |
| CN113077552A (en) | DSM (digital communication system) generation method and device based on unmanned aerial vehicle image | |
| JP2013124880A (en) | Altitude reliability determination system data maintenance system, travel support system, altitude reliability determination program and method | |
| CN112233056A (en) | Point cloud fusion method and device for multi-source data and storage medium | |
| CN114219917B (en) | Vulnerability restoration method for laser radar point cloud data | |
| Amin et al. | Reconstruction of 3D accident scene from multirotor UAV platform | |
| CN117191048B (en) | Emergency path planning method, equipment and medium based on three-dimensional stereopair | |
| CN116592851B (en) | Three-dimensional monitoring method and system for power transmission channel tree obstacle satellite fused with line body | |
| CN112015199B (en) | Flight path planning method and device applied to underground intelligent inspection unmanned aerial vehicle of coal mine | |
| JP7017606B2 (en) | Flight systems, vehicles, controls, and methods | |
| Tse et al. | 3D city modelling from LIDAR data | |
| KR100715460B1 (en) | Apparatus and method for generating digital elevation model with high accuracy by using laser scanning data | |
| Nikolakopoulos et al. | Updating the 1: 50.000 topographic maps using ASTER and SRTM DEM: the case of Athens, Greece | |
| CN104915988A (en) | Photogrammetric dense point cloud generation method | |
| Urban et al. | A novel approach to estimate systematic and random error of terrain derived from UAVs: a case study from a post-mining site | |
| JP5594681B2 (en) | Survey data classification method and survey data classification device | |
| Susetyo et al. | Prototype of national digital elevation model in Indonesia | |
| CN116045920A (en) | Method for extracting DEM based on GF7 stereopair | |
| CN114494625A (en) | High-precision topographic map manufacturing method and device and computer equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |