EP3384480A1 - Procédé de simulation préparatoire d'une intervention militaire dans une zone d'intervention - Google Patents

Procédé de simulation préparatoire d'une intervention militaire dans une zone d'intervention

Info

Publication number
EP3384480A1
EP3384480A1 EP16818975.1A EP16818975A EP3384480A1 EP 3384480 A1 EP3384480 A1 EP 3384480A1 EP 16818975 A EP16818975 A EP 16818975A EP 3384480 A1 EP3384480 A1 EP 3384480A1
Authority
EP
European Patent Office
Prior art keywords
simulation environment
simulation
real
database
environment
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.)
Ceased
Application number
EP16818975.1A
Other languages
German (de)
English (en)
Inventor
Michael Haubner
Manuel Pabst
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Krauss Maffei Wegmann GmbH and Co KG
Original Assignee
Krauss Maffei Wegmann GmbH and Co KG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from DE102015120929.2A external-priority patent/DE102015120929A1/de
Priority claimed from DE102015120999.3A external-priority patent/DE102015120999A1/de
Application filed by Krauss Maffei Wegmann GmbH and Co KG filed Critical Krauss Maffei Wegmann GmbH and Co KG
Publication of EP3384480A1 publication Critical patent/EP3384480A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/003—Simulators for teaching or training purposes for military purposes and tactics
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/05—Geographic models

Definitions

  • the present invention relates to a method for the preliminary simulation of a military mission in a field of application.
  • Such preparatory simulation methods are used in particular, but never exclusively for the preparation of special and special units.
  • the aim of such simulation methods for the preparatory simulation of a military mission in a field of operation is to prepare the emergency services as accurately and as extensively as possible for the upcoming military deployment.
  • image material was preferably used, which was made available to the emergency services for contemplation prior to the start of the mission.
  • a deployment preparation has the disadvantage that in particular the visual impression of the field of application is limited to the perspective or the perspectives from which the reconnaissance image material was obtained or recorded.
  • these perspectives or perspectives seldom agree with the visual impressions experienced by the forces during the military mission.
  • the simulation environment generated in this way represent the most up-to-date picture of the application area.
  • the problem is that the more time that is spent on it, the realism of the simulation To increase the volume, the more outdated are the data on the basis of which the simulation environment is created.
  • the object of the present invention is to provide a method for the preliminary simulation of a military mission in a field of application, in which the simulation takes place in the shortest possible time after the collection of data on the actual field of use and at the same time in a simulation environment with a high degree of detail and compliance with the application can be performed.
  • This problem is solved in a method of the type mentioned above in that the field of application is flown over and / or traversed by a sensor carrier, at least one sensor device arranged on the sensor carrier receives sensor data of the operational area, a database generator automatically generates a database with geospecific data from the sensor data the terrain of the area of application and the objects located in the field generated and simulated by a simulation device, the military use in a field of application based on the data base simulating simulation environment. Due to the automatic generation of the database by the database generator, the post-processing, in particular the manual postprocessing of the database with geospecific data of the terrain of the application area and the objects located in the area for the representation of the simulation environment by means of a simulation device is reduced to an absolute minimum.
  • this also means that the automatic generation of the database Only a minimum amount of time is required for the sensor data so that the preparatory simulation of a military mission in one operational area can take place on the one hand in a highly realistic simulated simulation environment and on the other hand the preparatory simulation is based on highly up-to-date sensor data of the operational area.
  • a first advantageous embodiment of the method provides that the generation of the database and / or the simulation of the simulation environment is carried out with a computer system, in particular with the same computer system.
  • the database generator and / or the simulation device can each be arranged in a computer system. It can preferably be provided that the database generator and the simulation device are arranged in one and the same computer system.
  • the generation of the database and / or the simulation of the simulation environment with a computer system has different advantages.
  • the generation of the database it is possible, for example, sensor data of different kinds, each of which is digital or digitized, with a computer system to be considered in the generation of the database and thus to deposit a more reliable or even more realistic image of the application in the database, as the respective sensor data may sometimes represent particularly well certain types and / or areas of the terrain of the area of operation and / or the objects located in the area of the area of operation.
  • one of the many advantages is that when using a computer system, the simulation can be duplicated or destroyed in a particularly simple manner. diverse.
  • a simulation device arranged in a computer system it is possible to execute the simulation environment in parallel. This means that the simulation of the simulation environment can be performed simultaneously for different users, whereby the different users perceive the simulation environment in the same way or in an individual way.
  • a particular advantage of using the same computer system for generating the database and simulating the simulation environment is on the one hand in the often necessary secrecy of the military use to be simulated and at the same time in reducing the volume of data to be transported or transferred.
  • the moment of surprise is of particular importance for the preparation of military missions of special or special units.
  • it is particularly advantageous if both the generation of the data base and the subsequent simulation of the simulation environment are carried out with the same computer system, since in this case a computer system can be used which has the necessary security measures for partitioning.
  • it is additionally provided that the generation of the database and / or the simulation of the simulation environment is carried out by a common computer.
  • a computer is regarded as a self-contained physical or objective unit.
  • a desktop computer or a notebook or similar units are therefore considered as computers and can be connected to each other via appropriate data linkages or networks. Conversely, this means that a plurality of interconnected via data connections computers form a computer system.
  • the advantage of generating the database and / or the simulation of the simulation environment with a common computer is on the one hand that a single computer can be much easier and more effectively protected against spying or any other data-technological attack as a computer system. Accordingly, the above-discussed secrecy of the actual field of use can be facilitated and / or improved when using a common computer.
  • the sensor carrier with the computer system in particular with the computer is connected and controlled by the computer system, in particular via the computer. It can be provided that the control of the sensor carrier preprogrammed or takes place in real time. Accordingly, as a connection between the sensor carrier and the computer system or the computer, a physical connection, such as a cable connections, or wireless connections can be used, whereby wireless connections are preferably used for real-time control of the sensor carrier and physical connections or cable connections are preferred for preprogramming the control of the Sensor carrier are used by the computer system or the computer.
  • connection to the computer system or the computer and a corresponding control over this connection allow a better secrecy of the place of use and a reduction of the data volume to be transferred.
  • the proposed method can be carried out in a highly advantageous manner highly autonomous. Because then can be controlled by the acquisition or recording of the sensor data by means of the sensor carrier in the context of a transit and / or overflight over the field to simulation of the simulation environment of the common computer and with the exception of the overflight or transit through or over the field the sensor carrier, all process steps are executed by the common and single computer. Also, this form of foreclosure as part of the implementation of the process, the secrecy of the military mission is further facilitated.
  • a likewise particularly advantageous embodiment of the method provides that a user has access via a computer system or computer. Connected operating device interacts with the simulation device.
  • the user can exert an influence on the simulation of the simulation environment via the operating device.
  • the virtual position of the user the so-called display position in the simulation environment can be changed via the operating device, so that the user can move through the simulation environment.
  • the display direction in the simulation environment can be changed by the operating device, so that the user can view the simulation environment not only from different locations but also from different directions.
  • the operating device connected to the computer or the computer system is also used for other interactions between the user and the computer system or the computer. It can be provided, for example, that the operating device is also used to control the sensor carrier. In a particularly advantageous embodiment it can be provided that the entire process can be carried out using a single operating device connected to the computer system or the computer.
  • the use of multifunctional operating devices has the advantage that the method as a whole can be implemented with a low expenditure on physical components or hardware. As a result, the method can again be used in a particularly mobile or location-independent manner. Examples of such operating devices with which different functions can be performed are touchpads, joysticks, headtrackers, motion capture systems as well as conventional keyboards and computer mice. According to a likewise preferred embodiment of the method, it is provided that the simulation environment is displayed by means of a display device.
  • a display device for example, a screen, a projection screen, a Kopfbefestigbares display (head-mounted display) or the like can be used.
  • the display device it may also be advantageous to use it in addition to the display of the simulation environment as an indicator for a user interaction for further tasks.
  • the control of the sensor carrier in real time or in advance, is likewise used via the display device or at least incorporating the display device as part of a user interaction.
  • the display device can still be used for a variety of other user interactions.
  • the sensor carrier is designed as an aircraft, in particular as an unmanned drone aircraft or as a vehicle, in particular as an unmanned drone or robotic vehicle.
  • the operational area is overflown with an aircraft, in particular an unmanned drone aircraft, and / or is traversed by a vehicle, in particular an unmanned drone or robotic vehicle.
  • the above-mentioned aircraft and vehicles have the advantage that they can go unnoticed and / or fly over the area to be detected or the field of operation unnoticed, so that also the necessary secrecy of the application area is maintained.
  • the area to be overflighted and / or the area of the deployment area to be traveled through are determined by means of the computer system, in particular by means of the computer.
  • a geographical area is defined as the area of use by means of a geographical map stored as software on the computer system or the computer and its output, for example via the above-mentioned display device, and via a user interface, such as the operating device.
  • the software comprising the geographical map is able to perform geo-referencing between the geographical map and the real environment, such that the area defined as an operational area in the map into the real environment and a coordinate system defined in the real environment can be transferred.
  • the software comprising the geographical map or other software which is used in the context of the proposed method is set up from the area defined as the area of application and, if appropriate, including the recording or imaging properties of the sensor device , a route o- if necessary, to generate the flight path for the sensor carrier together with the corresponding necessary control signals.
  • the computer system or the computer are able to autonomously determine a route or a route for the sensor carrier based on an area specified as the area of use and to generate the corresponding control signals for tracking the route or route.
  • the consideration of the recording properties or imaging properties of the sensor device of the sensor carrier can serve to ensure that the application area is recorded without gaps or possibly redundantly from different perspectives, so that the automatic generation of the database from the sensor data of the sensor device can be carried out particularly easily and effectively automatically.
  • a particularly advantageous embodiment of the method provides that the computer system, in particular the computer, determines a flight route and / or a travel route of the sensor carrier from the specified area.
  • the flight route and / or the route is transmitted from the computer system, in particular from the computer to the sensor carrier. This can happen both in the run-up to the overflight or the passage through the operational area as well as in the meantime.
  • the advantages of the embodiments described above are sometimes that they facilitate the implementation of the method on the one hand and on the other hand allow the implementation of the method with a minimum of operators.
  • the proposed embodiments make it possible to refer to a specific operator for the sensor carrier. be waived. It may be sufficient, for example, that a general user of the computer system or the computer defines the area of application as a geographical area in a simple interaction with the computer system or the computer and the subsequently necessary steps up to the control of the sensor carrier during the recording of the application area with the the sensor carrier arranged sensor device can be automated.
  • the minimization of the user required to carry out the method also has the advantage that even on the human level, the secrecy of the field of application can be better and more easily ensured, since only an absolute minimum of persons or users knowledge of the planned or actual application must have.
  • the method can also be carried out particularly advantageously by the task forces already located in the deployment region itself, that is to say without the involvement of a higher-level management, which further increases the flexibility and independence of the deployment forces carrying out the military deployment.
  • the image recordings can be image recordings in the visible spectral range. Alternatively or additionally, image recordings in other regions of the electromagnetic spectrum can also be made. For example, radar or infrared images can be taken.
  • the distance measurements can also be made in different ways. It can be provided, for example, that the distance measurements also via an optical or electromagnetic Measuring method can be made. For example, laser measuring devices for distance measurement can be used.
  • the continuous production of image recordings and / or distance measurements during the overflight and / or the passage of the application area leads to a particularly accurate detection of the application area, which in turn allows reliable automatic generation of the database from the sensor data by means of the database generator.
  • the image recordings and / or distance measurements are made at predetermined points of a travel route and / or flight route of the sensor carrier.
  • the predefined points can, for example, be determined by the computer system in advance of the overflight or transit in the context of the determination or calculation of the flight route and / or travel route of the sensor carrier.
  • the method can be executed either faster or with less computing power on the part of the database generator.
  • the sensor data of the sensor data obtained by the sensor device during the overflight and / or transit through / through the application area are stored in a sensor data memory of the sensor device or a sensor data memory of the sensor carrier.
  • the recordings of the application area, which are made with the sensor device of the sensor carrier, during transit through and / or overflight over the area of application, first locally in the sensor device itself or in the sensor device. carrier are stored in a corresponding sensor data memory.
  • the sensor data may also be advantageous for the sensor data to be transmitted at least in part already during the overflight or transit from the sensor device or from the sensor carrier to a computer system or a computer.
  • a correspondingly advantageous embodiment of the proposed method provides transmission of the sensor data with the computer system, in particular with the computer, in a particularly preferred manner with the database generator the computer system or the computer is connected.
  • an automatic transmission of the sensor data to the computer system or to the computer is initiated.
  • the sensor carrier returns after the passage and / or after the overflight to a place where the computer or a part of the computer system is located and by establishing a physical connection between the Sensor data memory and the computer system or the computer, the automatic transmission of the sensor data is initiated and executed.
  • the degree of automation of the method can be further increased and thus the necessary interaction of a user can be further reduced.
  • the method can thereby be carried out with an at least partially portable system, in which at least the database generator is arranged at the location which is reached after transit and / or overflight by the sensor carrier as the endpoint of a flight route and / or driving route.
  • the method is carried out with a computer, in particular exclusively with a computer, the establishment of a physical connection between the sensor data memory and the computer makes it possible to use the method for the preliminary simulation of a military mission in a field of application
  • the data technology infrastructure for communication between the computer and the sensor carrier can be reduced to a minimum, since the relatively extensive transmission of the sensor data after completion of the passage through or overflight over the field through a physical connection between computer and sensor carrier is carried out.
  • the automatic generation of the database from the sensor data using the database generator can only begin after the physical connection between the sensor carrier and the computer or computer system, resulting in an inevitable time offset between the recording or preparation of the sensor data and the completion of the generation of the database and the simulation of the simulation environment possible thereafter. Consequently, as far as in particular a communication between the sensor carrier and the computer system with a sufficiently high nikationsvolumen or data volume per unit time is ready or available, provided in a further advantageous embodiment of the method that the sensor data during the overflight over and / or during transit through the application to the computer system, in particular the computer transferred.
  • the generation of the database and the subsequent simulation of the simulation environment mapping the application area on the basis of the database can take place with a minimum amount of time offset between recording or production of the sensor data.
  • this could, for example, achieve that the generation of the database is essentially completed at the same time as the completion of the recording of sensor data and thus immediately after the overflight or transit through the operational area the preparatory simulation of the military It can be carried out by simulating the simulation environment that maps the application area on the basis of the database.
  • the sensor data in the context of the generation of the database is processed for pixels of the simulation environment to be displayed.
  • the sensor data is converted into raster data based on extrinsic and intrinsic properties of the sensor data as well as on the route and / or flight route.
  • the database generator creates a digital surface model, in particular a digital surface model of the application area spanned by screen dots.
  • a digital surface model of the application area spanned by screen dots.
  • grid points with two spatial coordinates and one altitude coordinate dinate form a 2.5-dimensional surface model of the application area.
  • a large number of textures can also be generated by the database generator during the generation of the database, which serve for texturing the surface model in the simulation of the simulation environment.
  • a further particularly preferred embodiment of the method provides that the database generator generates a classification for the pixels of the simulation environment.
  • the pixels can be either the raster data or the rasterized text data.
  • the classification of the individual pixels can be created, for example, from specially obtained sensor data, such as True-Ortho aerial images and the surface model derived from the sensor data.
  • the classification of the pixels can serve, for example, to differentiate the terrain of objects located in the terrain in the sensor data.
  • buildings, vehicles, but also part of the vegetation, such as trees, for example can be identified and classified as such and thus delimited from the terrain.
  • the classification allows a kind of subtraction in which objects can be extracted from the surface model.
  • This allows the surface model to be reduced to a terrain model that essentially maps the course of the terrain without the objects therein.
  • the objects included in the surface model of the database are at least partially reconstructed.
  • the reconstruction can for example be based on the classification and serves to reduce the amount of data in the database.
  • objects classified as deciduous trees in the surface model are reconstructed on the basis of a predefined model of a deciduous tree, and the reconstruction of the deciduous trees or the deciduous tree is placed in the terrain model obtained from the surface model or the corresponding data are linked together.
  • the data base underlying the simulation environment can be significantly streamlined, which in turn means that the simulation environment can be simulated in real time with less computational power.
  • the generated database is automatically provided to the simulation device so that the simulation of the simulation environment can take place.
  • the following describes a method for creating and displaying a computer-generated real-environment simulation environment.
  • the method described below relates to details of the method described above, in particular the generation of the database and the simulation of the simulation environment.
  • the method described below is thus a method for generating and displaying a computer-generated real-environment simulation environment with a database containing real-estate data and real-world real-world objects, the terrain and / or objects and in the representation of the simulation environment a user interacts with the terrain and / or objects according to the classification.
  • Related methods for generating and displaying a computer-generated real-environment simulation environment are used in various embodiments. Especially, but by no means exclusively, such methods are used for training and / or training purposes. The respective training and / or training purpose can be very different.
  • generic methods find use, for example, in the training and training of pilots and / or train drivers. More generally, such methods for generating and displaying a computer-generated simulation environment are preferably used if the interaction with the simulation environment carried out in the context of the simulation environment corresponds, in reality, to an activity that involves significant health and / or financial risks both for the real environment as a whole and for the person performing the activity.
  • related methods for generating and displaying a simulation environment are also known in the military field, where they are equally used both for training and training purposes of drivers and / or pilots as well as for the preparation of ground troops.
  • the training and / or training effects achieved or achievable with the simulation environment and interaction with the simulation environment are largely based on a realistic representation of the real world, ie Real environment in the context of the representation of the simulation environment as well as a realistic sense of interaction of the user of the method with the simulation environment.
  • preparation for deployment is more effective, the more the representation of the simulation environment resembles a real environment of a planned deployment, and the more realistic or realistic the interaction between the simulation environment user and the simulation environment act or be felt by the user.
  • the usability of computer-generated real-environment simulation environment also depends to a great extent on the real-time representation of the simulation environment or the real-time variability of the simulation environment.
  • This generally relates to any form of user interaction with the simulation environment that has an effect or impact on the simulation environment.
  • a change of the presentation position and / or the presentation direction of the simulation environment by the user can be considered, which simulate a movement in the simulation environment as well as a look around in the simulation environment.
  • Bigger problems are the data volumes generated by the mapping of the real environment and their meaningful and efficient use in the generation and representation of a computer-generated simulation environment derived therefrom.
  • the available data memory in particular the size and the read / Schreibe redesign of the available data storage and the computing power of in the generation and presentation of a computer-generated, a real environment imaging simulation environment for use coming computing units, in particular display calculation unit units as bottlenecks or bottlenecks in terms of the amount of data that can be processed.
  • the data of high-resolution geo-information systems that represent a real environment have the disadvantage that they are generally only suitable for viewing, ie for representing a simulation environment, for an interaction of a user with the simulation environment, the viewing or presentation different positions and directions, but are inappropriate.
  • the latter disadvantage is sometimes due to a lack of distinctness of terrain and terrain Objects when generating the data and when displaying the simulation environment.
  • the object of the method is to provide a method for creating and displaying a computer-generated real-environment simulation environment with a database that includes real-estate data and real-world real-estate objects and wherein the terrain and / or objects are classified and during the presentation of the simulation environment, a user interacting with the terrain and / or the objects in accordance with the classification, which allows a realistic and fast, in particular responsive representation of the simulation environment and interaction with the simulation environment.
  • This object is achieved in a method of the above-mentioned type by obtaining the data by evaluating image recordings taken in the event of an overlap and / or passing through the real environment, and a geospecific image of the real terrain and / or the real world Objects, ie the real environment include and at least one digital terrain model is created in the form of raster data in the generation of the database.
  • the proposed solution likewise makes possible a realistic reproduction of the real environment as well as a fast and / or responsive interaction and / or presentation of the simulation environment within the scope of the method.
  • a digital surface model of the real environment in the form of raster data is generated.
  • the surface model of the real environment also includes an image of the real terrain as well as real objects in real terrain.
  • the generation of such a surface model can advantageously be used in the representation of the simulation environment in special operating modes in which the interaction with the simulation environment is limited to the change of the presentation position and the presentation direction, in particular from a bird's-eye view.
  • the disadvantages of a surface model which is present in raster data, less or even not significant.
  • each grid point of the raster data is assigned a height value.
  • the grid points have for example three coordinates, two of which refer to a position in a horizontal reference plane and the third coordinate indicate a distance or a height from the reference plane.
  • the distance of the grid points in the reference plane can be, for example, 5 cm in both dimensions.
  • each grid point in a two-dimensional reference plane is assigned a height value and a point cloud lies in the fact that, for example, for a grid point with the coordinates X1 and Y1 of the reference plane for this grid data, only one height value is possible.
  • a point cloud for a certain value of a first space coordinate for example, X1 and a certain value of a second spatial coordinate
  • Y1 infinitely many points can be defined, each with different third spatial coordinates Z1 to ZN. Therefore, the raster data used in particular for the digital terrain model when generating the database also apply as 2.5-dimensional data and not as true 3-dimensional data, such as a point cloud or vector data.
  • the use of raster data is particularly advantageous for the imaging of a real terrain in the form of a digital terrain model, because real terrain rarely have extreme height differences in a small space, which can be mapped poorly with raster data.
  • the great advantage of generating a digital terrain model in the context of the generation of the database in the form of raster data that the raster data cause significantly less data volume therefore require less storage capacity and thus despite high spatial resolution in the context of representation and interaction with the Simulation environment can be processed quickly.
  • At least one digital color map is created in the form of raster data during the generation of the database, wherein one color value is assigned to each raster point.
  • Such a color raster is particularly advantageous when, in the context of the representation of the simulation environment, at least parts of the illustrated simulation environment are displayed in a large-scale representation, such as an overview or as a representation of distant parts of the simulation environment relative to the current display position.
  • a large-scale representation such as an overview or as a representation of distant parts of the simulation environment relative to the current display position.
  • the spatial resolution of, for example, 5 ⁇ 5 cm of the grid points in the reference plane is sufficient to produce a sufficiently realistic color or coloration of the corresponding grid, for example, the digital terrain model.
  • the particular advantage also lies in the generation and use of a color map in the form of raster data in that the corresponding color map only causes a relatively small volume of data, for example in comparison to color textures.
  • At least one digital classification map in the form of raster data is generated when the database is generated, with each type of cluster being assigned to each grid point. Since the interaction between the user and the simulation environment, in particular with the terrain and / or the objects can be based on the classification or depending on the classification, it is particularly desirable if the classification in the creation of the database on the one hand as accurate as possible and high-resolution and on the other hand as possible generated with a small volume of data, so that can be accessed as quickly as possible and also with a small amount of data on the classification map during the presentation of the simulation environment.
  • numerical values can be specified as different type classes, which are a measure of the densification of the near-surface terrain in the classification of the digital terrain model.
  • a paved road or a paved road could be assigned a correspondingly high numerical value of the type class, whereas a swamp, a bog or even a water surface would be assigned a correspondingly lower value than the type class.
  • there are individual discrete type classes which are assigned to the corresponding grid points, wherein the discrete type classes can determine one or more properties of the site.
  • a separate type class can be defined for swamp, stagnant water, running water, grassland and various types of roads and / or roads, with one or a plurality of properties being described by the corresponding type class.
  • all raster data described so far have a common reference system. This means that there is a matching arrangement of the screen dots with respect to the two spatial coordinates of the reference plane of the screen.
  • point clouds or vector data to represent real objects in the data of the database for mapping the real environment by means of the simulation environment is particularly advantageous, in particular when using a digital terrain model based on raster data.
  • point clouds or vector data are particularly suitable for objects which sometimes have a high proportion of vertical or approximately vertical surfaces, since such structures and surfaces can be imaged particularly effectively in a high-resolution form.
  • the amount of data required for this can also be kept to a reasonable extent. This means that creating real 3D objects is an optimal complement to a 2.5-dimensional digital terrain model.
  • the automatic generation of such three-dimensional models in the form of vector data and / or point clouds has the advantage that highly accurate and detailed objects of the database of the simulation environment can be used without manual or semi-automated modeling of the objects.
  • the manner in which, in particular, the automatic generation of the at least partially computer-generated objects takes place will be discussed in more detail in the context of the following embodiment.
  • a related embodiment of the proposed method provides that when the database is generated, the real objects, in particular in a surface model, are recognized and stored and / or classified as real-image-forming objects.
  • Suitable algorithms in a surface model of a real environment identify areas that represent objects.
  • it may also be particularly effective to identify in a surface model of the real environment those parts or areas that map terrain, ie real terrain, and to identify the unidentified or remaining parts or areas as objects accordingly.
  • a further method step it is then possible to deduce the type or type of object based on the surfaces of the identified objects that can be seen from the surface model. For example, characteristic features can be identified that indicate a building or a tree. Based on such an assignment, the identified object can be classified. On the basis of this identification and classification, it is possible to identify the images of real objects in a surface model of the real environment, to classify them and also to store them as a depiction of real objects, ie as real-image objects, in the database.
  • the method steps described above can be carried out largely automated, so that an automatic detection of real objects and corresponding real-imaging objects can be performed.
  • the real-imaging objects are stored in an object database which has a corresponding reference to the real-imaging terrain of the terrain model for each object.
  • At least partially computer-generated objects are generated during the generation of the database from recognized real-imaging objects, in particular with a reference grid point of the raster data of the surface. chenmodells.
  • recognition and classification in particular after the automatic recognition and classification of real objects or real-imaging objects, it may be provided that these, if necessary, are converted into an at least partially computer-generated object, in particular a 3D model in the form of vector data and / or Point cloud is transferred and further optionally provided with a corresponding reference point, namely a reference grid point, the raster data of the surface and / or terrain model.
  • sections of the digital terrain model are stored as separate tiles in the database.
  • a plurality of tiles are stored which store different properties of the terrain model, such as the color map, the classification map or the like.
  • separate tiles are stored in the database for one and the same section of the digital terrain model, in each of which one property, several properties or all properties of the terrain model are stored in different resolutions. Using tiles in general has the advantage that data from the database can be better structured and therefore read faster.
  • the provision of multiple tiles, which maps a corresponding section of the terrain model in different spatial resolutions can have particularly advantageous effects in the representation of the simulation environment and in the interaction with the simulation environment, since it allows different sections of the terrain model, each with the requirements adapted to represent different spatial resolutions, with a representation with a reduced resolution correspondingly easier, faster, ie can be done with less computational effort and memory requirements.
  • the sections of the digital terrain model and / or the surface model captured by the respective tiles are designed so that the entirety of the separate tiles comprises the entirety of the digital terrain and / or surface model.
  • the tiles are stored multiple times and in different resolution in the database.
  • the tiles described here are primarily used to organize the database.
  • a further application of tiling of the data of the simulation environment may also be used, the presentation tiles used there being optimal reading of the data from a primary memory, including, for example, the database and an optimal or efficient representation the data in the simulation environment by the processing with a presentation memory and a display calculation unit.
  • Such an embodiment of the representation of the simulation environment may be part of the method proposed here.
  • the data comprise a geospecific image of the real estate and / or the real objects and the data at least also as raster data in the database are stored in a primary memory, wherein for displaying a part of the simulation environment depending on a freely selectable display position and / or presentation direction of the representation of the simulation environment, a part of the database is transmitted to a presentation memory, wherein predefined in the presentation memory memory areas with a certain size and the data of the database to be transferred to the presentation memory are adapted to the size of the predefined memory areas before transmission in at least one property.
  • the predefined memory areas used can already be read out particularly effectively and quickly by a corresponding display calculation unit.
  • database data which have only a small influence on the realism of the representation of the simulation environment, are more simplified, compressed and subsequently transferred into smaller memory areas than data from the database, which has a major impact on reality have the representation of the simulation environment.
  • a display tile serves to image a part of the simulation environment which corresponds in the real environment to an area of 200 m ⁇ 200 m.
  • a display tile serves to image a part of the simulation environment which corresponds in the real environment to an area of 200 m ⁇ 200 m.
  • a matrix of nine contiguous display tiles in a 3x3 array it would be possible to image or render part of the simulation environment that corresponds to a 600 mx 600 m area of the real environment. Accordingly, in this example, nine environment storage areas would be defined in the predefined storage areas.
  • the presentation tiles represent or depict a part of the simulation environment that is located in the environment of the freely selectable display position of the simulation environment.
  • the presentation position is selected such that the presentation position is at any time in the second presentation tile of the second row Matrix arrangement of the presentation tiles is located.
  • presentation tiles of the simulation environment in the vicinity of the freely selectable display position are assigned to larger environment memory areas than representations. simulation tiles that are farther away from the arbitrary display position.
  • this design could be implemented such that the second display tile of the second row, in which the display position is associated with a correspondingly larger environmental storage area than the remaining eight display tiles arranged around this display tile.
  • Said eight presentation tiles may accordingly be associated with a small environment storage area of the predefined storage areas.
  • a realistic representation of a computer-generated, a real-environment simulation environment is also further improved by making more and, overall, smaller or finer details perceptible in the immediate or immediate vicinity of the presentation position. This is made possible or simplified by means of a corresponding assignment of larger environment memory areas to display tiles in the vicinity of the display position and a corresponding assignment of smaller environment memory areas to display tiles with a correspondingly greater distance to the display position of the simulation environment.
  • the parts of the database which are adapted for transmission to the presentation memory to the respective size of the predefined storage areas, have to be adapted less with correspondingly large storage areas or environmental storage areas than with small storage areas. This ultimately allows greater detail to be achieved in the representation of the simulation environment in the immediate vicinity of the display position, which decreases with increasing distance from the display position, in particular gradually at the boundaries of different presentation tiles.
  • presentation tiles of the simulation environment in the vicinity of the display direction are assigned larger environment memory areas than presentation tiles of the simulation environment that are further away from the display direction.
  • mapping of large environmental memory areas to presentation tiles of the simulation environment that extend along or near the current presentation direction of the simulation environment may reflect this natural characteristic of human perception.
  • the corresponding assignment of the environmental storage areas of the predefined storage areas should in this case be carried out dynamically in order to allow a corresponding change in the assignment of the presentation tiles to the environmental storage areas when the presentation direction of the simulation environment changes.
  • the adaptation or preprocessing of the data of the database prior to the transmission to the display memory can be influenced correspondingly causally in an assignment depending on the distance from the display direction.
  • the environmental storage areas are predefined as a pyramid with a small number of memory areas of large size and an increasing number of memory areas, each of decreasing size.
  • the environment storage areas are predefined as a distribution with fewer memory areas having a large size and many memory areas having a small size. It may also be particularly advantageous if the storage areas include far-sight storage areas that are predefined as a few large-sized storage areas.
  • the first mode of operation may be, for example, a normal or natural display state or viewing state that operates the simulation environment so as to come as close as possible to real viewing of the real environment by the viewer, especially without the use of technical aids.
  • the proposed method could operate the simulation environment such that the representation corresponds to a user's perception using a technical tool such as binoculars, sighting optics, or other engineering optical magnification ,
  • Another particularly preferred embodiment of the method provides that at least sections of fictitious terrain areas and / or fictitious objects and / or fictitious type classes are introduced into the simulation environment during the presentation of the simulation environment.
  • the fictitious terrain areas can represent changes in the real or real-image terrain of the digital terrain model.
  • changes of the digital terrain model can be realized, which are a direct consequence of the representation of the simulation environment and the interaction with the simulation environment, such as explosion craters.
  • changes in the digital terrain model that are presented without the interaction with the simulation environment, but rather to modify a scenario simulated in the context of the simulation environment, such as the creation of trenches or the like, in the real terrain or real-imaging digital terrain model.
  • minor or even serious changes of the type class can be made. For example, changes in the weather and / or changes in the season can be reflected by fictitious type classes.
  • fictitious type classes can provide frozen terrain, such as can be encountered in winter.
  • fictitious terrain areas, fictitious objects and / or fictitious type classes in the context of the representation of the simulation environment allow the simulation environment in their perception and in the form in which they interact with the user to be adapted and customized in a wide range, thereby reducing the complexity of the simulation environment with the representation of the simulation environment and the interaction with the simulation environment achieved training and / or training effect can be further improved.
  • data-technically compressed, real-like objects are generated during the generation of the database from real objects and / or real-imaging objects.
  • real-like objects it may be provided, for example, that their surface or contour does not have every detail of the real-imaging objects. This is done in particular with the aim of reducing the amount of data or the data volume for generating, storing and displaying objects, in particular when using vector data or point clouds.
  • real-imaging objects and / or real-like objects with real-imaging or real-like surface textures are displayed during the representation of the simulation environment.
  • the real-image surface textures can, for example, be taken from the image recordings taken during an overflight over and / or a transit through the real environment be identified within the framework of a projection process as a real-image surface texture and presented accordingly in the representation of the simulation environment. Such a projection method will be described in more detail below.
  • a clear and reversible transformation exists between the terrain and / or surface model of the simulation environment and the real environment.
  • a georeferencing can be provided. This assigns each point, in particular the grid point, a corresponding point to the real environment. In general, however, it is necessary that the spatial coordinates of the real environment can be transferred to a corresponding coordinate system of the simulation environment and back.
  • the method for generating real-image surface color textures based on a projection of at least a part of an image recording on a surface of the simulation environment for determining the color texture, a projection of several image recordings on the corresponding surface, in particular a through Spatial points spanned surface is performed, the color texture of the surface is determined as the average value of the determined from the respective projections color textures.
  • advantage is taken of the fact that, in the case of a high image sequence of the image recordings of the real environment, the surfaces which are to be provided with a projected surface color texture in the simulation environment are contained several times from different recording positions.
  • the projections of the at least one image acquisition onto the surface of the simulation environment take place during the representation, in particular during the runtime of the simulation environment.
  • a likewise advantageous embodiment of the method can be provided: this provides that the image recording or the image recordings used for the projection onto the surface of the Simulation environment are used, in particular with regard to the resolution of image acquisition pre-processed.
  • this takes into account the circumstance that the image recordings of the real environment which serve to generate the data base of the simulation environment sometimes have a resolution that is clearly above the resolution that mediates or perceives a user during the execution of the method can be. It is possible that both the user himself and the system, wel It is used to perform the method, which is the limiting factor of the resolution.
  • the necessary computing power for the execution of the projections can be significantly reduced and the projection can be carried out accordingly fast.
  • the user-perceivable maximum resolution depends on the distance between the viewing position and the subject being viewed.
  • a further particularly advantageous embodiment of the method provides that the preprocessing of the image recording prior to the execution of the projections depending on a freely selectable viewing position of the representation of the simulation environment, in particular depending on the distance between the viewing position of the simulation environment and the position of the surface Simulation environment onto which the image acquisition is projected.
  • the viewer of the simulation environment or the user of the method of representing the simulation environment selects a viewing position in the simulation environment located near a large surface of the simulation environment, such as a house wall or a steep slope, projection at least one image acquisition is made on this surface, without reducing the resolution of the image acquisition in the context of a preprocessing.
  • the resolution be reduced as part of a preprocessing of the image recordings used for the projection.
  • an advantageous embodiment of the method provides that the projections of the image recording take place as a function of the recording position in the real environment and the resulting recording position in the simulation environment.
  • each image acquisition in the simulation environment can have a correspondingly virtual or si mulated recording position to be assigned. This, in turn, establishes a relationship between the image capture of the simulation environment that is particularly advantageous for performing the projections of image capture to produce a surface color texture.
  • the accuracy of the determination of a surface color texture of a surface of the simulation environment by the projections of an image acquisition can be further improved by the projection of the image acquisition depending on the recording direction in the real environment and the resulting recording direction in the simulation environment.
  • the recording direction in the real environment can be derived, for example, from the movement of the device used to record the image recordings and the respective orientations of the recording device with respect to the movement and transferred to the simulation environment as described above.
  • the results of the projections for determining a surface color texture are further improved by the following embodiment of the method:
  • This provides that the projections of the image recording are made as a function of imaging properties of the recording device with which the image acquisition was generated.
  • imaging properties of the recording device may be, for example, the solid angle, which is detected or imaged starting from the position of the recording device.
  • other imaging properties can also improve the quality of the projections to be performed.
  • the angle I range can be transmitted, for example, together with the recording position and / or the recording direction as described above into the simulation environment, in particular into the simulation environment, whereby the assignment of a part of a Image acquisition to a surface in the simulation environment can be further improved or specified.
  • the projection comprises a control method which controls whether a part of a surface of the simulation environment is from the currently freely selectable viewing position the simulation environment is visible or hidden.
  • real-like surface textures can also be obtained from the image recordings taken during the overflight or transit through the real environment together with a data-compression, but on the other real-like surface textures can also be stored in the database as object-like real-like surface textures and displayed as real-like surface textures for the corresponding objects become.
  • a real-like surface texture for example, generalized, computer-generated texture similar to a tree bark of a deciduous tree, in particular a tree bark of a plurality of deciduous trees, may be stored in the database and instead of a real-image surface.
  • chentextur are used in the representation of a real-like tree or a real-imaging tree for texturing the trunk of the corresponding tree in the context of the representation of the simulation environment.
  • terrain areas with real-image-forming or real-like terrain textures are displayed during the representation of the simulation environment, wherein the real-estate terrain textures are created on the basis of the type classes.
  • the real-image terrain textures can also be generated from the images captured during an overflight over or transit through the real environment.
  • Such terrain textures have the advantage that they sometimes have an even higher spatial resolution than the raster data of the terrain model, so that an even more detailed and realistic representation of the terrain can be achieved in the context of the representation of the simulation environment.
  • the real-like terrain textures can realize two extreme and opposing configurations.
  • an extremely high degree of detail can be realized by means of real-like terrain textures, which can be located clearly above the order of magnitude of the spatial resolution of the raster data of the terrain model.
  • a real-like terrain texture can be created and displayed during the simulation environment display, which is so fine; that individual gravel or pebbles are perceptible.
  • the other extreme of a real-like terrain texture may have a particularly poor or low spatial resolution of the terrain texture.
  • the spatial resolution Accordingly, compared to the color chart described above, it may be even lower than the spatial resolution of the raster data of the terrain model.
  • Such real-like terrain textures are preferably and advantageously used during the presentation of the simulation environment when larger terrain areas are represented, for example because of their relatively large distance from the current display position of the simulation environment, only a relatively low resolution, ie a relatively low level of detail necessary is to create an equally realistic sensory impression.
  • the terrain model and / or the at least partially computer-generated objects can be dynamically and / or permanently changed by the interaction with the simulation environment during the presentation of the simulation environment.
  • objects such as buildings
  • the permanent storage of changes in the computer-generated objects and / or the terrain model can be provided that the result of a dynamic change for a certain time is maintained.
  • a building which is displayed as a fire ruin after a fire remains as such for the remaining time of the representation of the simulation environment and is displayed as such.
  • the dynamic change of the surface model can serve, for example, for the representation of explosion craters, for the representation of chain furrows of tracked vehicles or the like. Again, it may be provided that after a dynamic change of the surface chenmodells the change for the remaining time of the representation of the computer-generated, a real environment imaging simulation environment is maintained.
  • the dynamic change of the surface model can also be realized in such a way that the dynamic change of the simulation environment for all users is represented and possibly retained in the context of a networked representation of the simulation environment for a plurality of users, in particular a plurality of users interacting with the simulation environment.
  • the interaction with the simulation environment takes place on the basis of a physical model, in particular taking into account the classification of the objects and of the terrain.
  • a physical model in particular taking into account the classification of the objects and of the terrain.
  • the interaction of the user with the simulation environment as part of the representation of the simulation environment is subject to general physical laws, such as gravity.
  • Such a physical model enables a particularly realistic interaction of the user with the simulation environment.
  • the consideration of the classification of the objects and the terrain further enhances the realistic interaction. For example, this makes it possible to realize that an explosion that is displayed in uncompacted terrain, such as a meadow, is displayed differently due to the classification of the terrain, such as an explosion on compacted terrain, such as a road or on or in a building.
  • FIG. 1 shows an exemplary representation of a system for carrying out the method according to the invention
  • FIG. 2 is a schematic flow diagram of the method according to the invention according to an embodiment
  • FIG. 3 shows an exemplary representation of a surface model, a terrain model and a terrain model with reconstructed objects.
  • 4a-e a schematic representation of various, exemplary method steps in the context of generating a computer-generated, a real-environment imaging simulation environment
  • FIG. 5 is a schematic representation of digital terrain model and surface model divided into multiple tiles
  • Presentation tiles in the presentation of the simulation environment shows a schematic representation of a method for producing surface textures of real-imaging objects by means of projections of image recordings
  • FIG. 8 shows an alternative schematic illustration of a method for producing surface textures of real-imaging objects by means of projection of an image recording.
  • the computer 1 shows a computer system designed as a local computer 1, which has an operating device 2, a first display device 3, a second display device 4, a cable connection 5 for physically connecting the computer 1 to a sensor data memory and a wireless communication interface 6 for wireless data communication having.
  • the computer 1 comprises a data base generator 7, a database 22 and a simulation device 8.
  • the operating device is configured in the example of FIG. 1 as a combined operating device with which both general operator inputs can be made as well as the simulation device can be influenced or controlled. This means that, for example, the simulation of the simulation environment generated by the simulation device can be influenced, in particular changed, via the operating device 2. However, unlike the representation of FIG. 1, it can also be provided that one or more separate operating devices are provided for interaction with the simulation device 8.
  • inertial and / or gyroscopic sensors can be provided as parts of special operating devices that detect a movement of a user and, based thereon, interact with the simulation device such that the change in the simulation of the simulation environment corresponds to a movement of the user.
  • a first display device 3 in the form of a screen and a second display device 4 in the form of a head-mounted display are provided.
  • the first display device 3 can be used to define a region, in particular a map shown on the display device 3, for defining the application area.
  • the display device 3 can also be used for a variety of other, general display purposes in the proposed method.
  • simulation of the simulation environment can also be carried out by means of the display device 3. This has the advantage that possibly more than one user can perceive the simulation of the simulation environment shown on the display device 3.
  • an individual display device such as, for example, the second display device 4, is particularly advantageous for displaying the simulation environment. It can be provided that a plurality of individual second display devices 4 is provided, so that it is made possible that different users can individually perceive the simulation environment visually via the second display devices 4.
  • the cable connection 5 of the computer 1 can optionally be provided, depending on whether it is provided that the transmission of the sensor data from the sensor data memory of the sensor carrier 9 should already take place during the overflight over the application area 10 by means of the wireless communication interface 6 or following a completed overflight via the application area 10 by a physical connection between the sensor data memory of the sensor carrier 9 and the computer 1 should take place.
  • the system provided for carrying out the disclosed method also comprises the sensor carrier 9, which has a sensor device 11, be made with the continuous image recordings 12 of the application area 10. During this, the sensor carrier tracks a flight route 20 with waypoints 21. The flight route can be controlled by an operator during the overflight, as well as predetermined in advance of the overflight by means of appropriate programming.
  • the sensor carrier 9 also includes a second sensor device 13, with the distance measurements 14 are continuously made. Alternatively, it can also be provided that the sensor devices only make image recordings 12 or distance measurements 14 at selected waypoints 21.
  • the real application area 10 comprises in addition to the area 15 also located in the field objects 16, where the aim of the proposed method is in the context of the representation of the simulation environment, the application area based on a database with geospecific data of the terrain of the application area and the objects located in the field reproduce as realistic as possible and within a very short time after the sensor data has been prepared and thus simulate the military mission in a preparatory manner.
  • the sensor carrier 9 also comprises a wireless communication interface 17, with which the sensor carrier 9 as well as the sensor devices 1 1 and 13 arranged on the sensor carrier 9 receive data wirelessly and can also transmit data wirelessly. Accordingly, it may be provided, for example, that data such as control data for the control of the sensor carrier 9 or sensor data are transmitted between the wireless communication interface 6 of the computer 1 and the wireless communication interface 17 of the sensor carrier 9 during the overflow of the sensor carrier 9 via the application area 10.
  • the sensor data are processed or processed by the data base generator 7 after receipt by the computer 1.
  • the database generator can, for example, a processor, include a memory and a long-term memory.
  • the work results of the database generator are supplied to the database 22.
  • the database 22 may also include one or more storage devices. It may also be provided that the database generator 7 and the database 22 access the same storage facilities.
  • the simulation device 8 is configured to generate at least one image signal which can be displayed by the display devices 3 and 4 as a representation of the simulation environment.
  • the simulation device 8 can access the database 22 for this purpose.
  • the simulation device 8 can have one or more processors, which are preferably designed as graphics processors.
  • One or more memory devices may also be included in the simulation device 8. However, it may alternatively or additionally also be provided that the simulation device 8 accesses memory devices used by a plurality of components of the computer.
  • Fig. 1 shows the components of a system which may be used in the implementation of the method for generating and displaying a computer-generated simulation environment.
  • 1 shows a computer system embodied as a local computer 1 which has an operating device 2, a first display device 3, a second display device 4, a cable connection 5 for physically connecting the computer 1 to a sensor data memory and a wireless communication interface 6 for wireless data communication.
  • the computer 1 comprises a database generator 7, a database 22 and a simulation device 8.
  • the embodiment of the computer shown in FIG. puter systems is an embodiment which is particularly suitable for a local or locally concentrated execution of the described method, in which all method steps at the location of the computer 1 can be carried out from the generation of the database of the simulation environment up to the representation of the simulation environment.
  • a networked and decentrally distributed computer system over any number of locations can be used.
  • the data base generator 7 and the database 22 are arranged at a first location
  • the simulation device 8 is arranged at a second location and the corresponding parts of the computer system communicate with one another via a data connection, in particular sending and receiving data.
  • the image recordings 12 recorded by a sensor device and its recording device 11.1 include, for example, the entire real environment 10.2 to be covered by the simulation environment, together with the real terrain 15 and the real objects 16 located in the real terrain 15.
  • images 12 represent the real environment redundantly, that is to say certain or all regions of the real environment from different positions. It is also particularly advantageous if, during the overflight of the sensor carrier 9 via the real environment 10.2, a position determining device 11.2 detects, records and in particular records the position of the sensor carrier 9 and its recording device 11.1 in a coordinate system of the real environment 10.2. that the position can be linked to a corresponding image recording 12 and also determines and records the position so frequently that the movement direction and the movement speed of the sensor carrier 9 can be derived from the change in position and preferably linked to the image recordings 12.
  • each of the recorded image recordings 12 for example, a GPS location coordinate and a course indication and a speed indication is assigned. It is also particularly advantageous if, in addition to the image recordings 12 themselves, also further extrinsic and intrinsic data relating to the image recordings 12 with the image recordings 12 are stored. These can be stored together in the form of metadata with the respective image recordings 12 or the image data of the respective image recordings 12, for example.
  • the intrinsic properties of the image recordings 12 may be, for example, properties of the recording device 11.1.
  • geospecific and possibly geo-referenced true to scale three-dimensional surface models of the real environment can be generated from the images 12 and the associated information. This can take place, for example, as the first processing step of a data base generator in the context of generating the database.
  • the operating device 2 is configured in the example of FIG. 1 as a combined operating device with which both general operator inputs can be made and the simulation device 8 can be influenced or controlled. This means that, for example, the simulation of the simulation environment generated by the simulation device 8 can be influenced, in particular changed, via the operating device 2. However, deviating from the representation of FIG. be seen that one or more separate operating devices for interaction with the simulation device 8 are provided.
  • inertial and / or gyroscopic sensors can be provided as parts of special operating devices that detect a movement of a user and, based thereon, interact with the simulation device such that the change in the simulation or representation of the simulation environment corresponds to a movement of the user ,
  • a first display device 3 in the form of a screen and a second display device 4 in the form of a head-mounted display are provided.
  • the first display device 3 can be used to define an area, in particular a map shown on the display device 3, to define the area of use.
  • the display device 3 may also be used for a variety of other general purposes within the scope of the proposed method.
  • the simulation of the simulation environment can also take place. This has the advantage that possibly more than one user can perceive the simulation of the simulation environment shown on the display device 3.
  • an individual display device such as, for example, the second display device 4, is particularly advantageous for displaying the simulation environment. It can be provided that a plurality of individual second display devices 4 is provided so that it is made possible for different users to individually perceive the simulation environment visually via the second display devices 4.
  • the cable connection 5 of the computer 1 can optionally be provided, depending on whether it is provided that the transmission of sensor data of a Sensor data storage of the sensor carrier 9 is to take place already during the overflight on the real environment 10.2 by means of the wireless communication interface 6 or following a completed overflight over the real environment 10.2 by a physical connection between the sensor data memory of the sensor carrier 9 and the computer 1.
  • the system provided for carrying out a method for generating a database 22 also comprises the sensor carrier 9, which has a pick-up device 1 1 .1, with which continuous image recordings 12 of the real environment 10. 2 are produced.
  • the sensor carrier tracks a flight route 20 with waypoints 21.
  • the flight route can be controlled by an operator during the overflight as well as predetermined in advance of the overfull by means of appropriate programming.
  • the sensor carrier 9 can also comprise a second receiving device, which is not shown in FIG. 1, with which continuous distance measurements are made.
  • the recording devices produce image recordings 12 or distance measurements 14 only at selected waypoints 21.
  • Real environment 10.2 includes in addition to the area 15 also located in the field objects 16, where it is one of the objectives of the proposed method, as part of the representation of the simulation environment, the application area based on a database with geospecific data of the terrain of the area and the field located Imagine objects as realistically as possible and within a very short time after the sensor data has been prepared, thus for example simulating a military mission in a preparatory manner.
  • the sensor carrier 9 also comprises a wireless communication interface 17 with which the sensor carrier 9 can receive both the receiving device 1 1. 1 arranged on the sensor carrier 9 wirelessly, and also transmit data wirelessly.
  • data such as control data for the control of the sensor carrier 9 or sensor data are transmitted between the wireless communication interface 6 of the computer 1 and a wireless communication interface of the sensor carrier 9 during the overflow of the sensor carrier 9 via the real environment 10 ,
  • the sensor data regardless of the transmission path, processed or processed by the data base generator 7 after receiving the computer 1.
  • the database generator may include, for example, a processor, a working memory and a long-term memory.
  • the work results of the database generator are supplied to the database 22.
  • the database 22 may also include one or more storage devices. It may also be provided that the database generator 7 and the database 22 access the same storage facilities.
  • the simulation device 8 is configured to generate at least one image signal which can be displayed by the display devices 3 and 4 as a representation of the simulation environment.
  • the simulation device 8 can access the database 22 for this purpose.
  • the simulation device 8 can have one or more processors, which are preferably designed as graphics processors or display calculation units.
  • One or more memory devices may also be included in the simulation device 8.
  • the simulation device 8 accesses memory devices used by a plurality of components of the computer. It is particularly advantageous that the described system enables a method in which the database generator 7 automatically generates from the sensor data a database 22 with geospecific data of the terrain 15 of the real environment 10.2 and the objects 16 located in the field and by means of a simulation device 8 the Representation of the real environment 10.2 mapping can be done from the database generated simulation environment.
  • an exemplary sequence of the method according to the invention is outlined in a first embodiment.
  • the method is initiated, for example, by activating the computer system or the computer 1.
  • the determination or definition of an area to be overflowed or passed through as the area of application follows by means of the computer 1. This can, as already described with reference to FIG. 1, take place in the context of an interaction of a user with the computer system or Computers take place in which a corresponding area in a display on the display device 3 is determined on a display device 3 of the computer 1 by means of an operating device 2.
  • step S2.1 for example, from the area to be overflowed or to be traveled in step S2, the computer system or computer 1 generates a corresponding route and / or route using real location coordinates.
  • the travel route and / or flight route 20 can be transmitted from the computer 1 to the sensor carrier 9 on the basis of the real location coordinates and corresponding control commands for driving the individual location coordinates.
  • FIG. 2 provides for the method sequence that the transmission of the flight route and / or travel route is completed within the scope of method step S2.2 before the method is continued with method step S3. This corresponds to an embodiment in which, for example in the context of a physical connection between the sensor carrier 9 and the computer 1 before the start of the sensor carrier 9, the flight route and / or route is transmitted to this.
  • the method features described in method step S2.2 and possibly also the method features described in step S2.1 are executed in parallel, in particular via corresponding wireless communication interfaces 6 and 17 in parallel to other, in particular subsequent method steps of the flowchart of FIG become.
  • the determination of the flight route and / or travel route as well as the transmission of the corresponding data for controlling the sensor carrier 9 to the sensor carrier 9 can take place only during the overflight and / or during transit.
  • the overpass and / or the passage of the sensor carrier 9 over / or through the application area 10 commences.
  • the sensor data 11 and 13 are commenced.
  • the sensor data obtained or prepared are additionally produced in method step S4.
  • a sensor data memory transferred to a sensor data memory.
  • the sensor data stored in the sensor data memory after completion of the overflight and / or after completion of the passage in step S5 in the context of a physical connection between the sensor carrier 9, in particular between the sensor data memory of Sensorträ- 9 and Computer 1 are transmitted.
  • the sensor data temporarily stored in the sensor data memory are transferred to the computer 1, in particular via the wireless communication interfaces 6 and 17, during the overflight or transit in method step S4.2.
  • the automatic generation can be performed without any user interaction.
  • the user initiates the automatic generation via a user input to an operating device 2 or confirms the beginning of the generation.
  • the generation of the database comprises the automatic creation of a surface model in the course of the method step S6.1, followed by an automatic classification of the surface model for the identification of objects 15 located in the area 15 in method step S6.2 and one in method step S6 .3 reconstruction of parts of the identified in step S6.2 in the context of the classification objects 16.
  • the generated database of the simulation device 8 is provided.
  • the simulation device 8 creates in the final method step S8 via a corresponding display on the first display device 3 and / or the second insulvor- direction 4 and controlled by appropriate operator inputs on the Operator device 2, the simulation of the simulation environment in preparation for military deployment.
  • FIG. 3 shows how, for example, in the context of method steps S6 to S6.3, a streamlining of the database can be achieved.
  • FIG. 3a shows a side view of a section of the simulation environment.
  • the simulation environment initially has a surface model 18 generated from sensor data, which images the terrain 15 in the area of use 10 and the objects 16 located in the area.
  • the database thus comprises at least temporary data which, in addition to a real-imaging terrain 15.1, also has real-imaging objects 16.1.
  • FIG. 3 b shows the method state in which, in the surface model 18 of FIG. 3 a, by means of a classification of the surface model, real-imaging objects 16. 1 were identified and extracted, and the remaining surface model 18 was extrapolated to a terrain model 19.
  • FIG. 3c shows a method state in which apart from the terrain model 19 derived from the surface model 18, three-dimensionally reconstructed objects 16.2 are also included.
  • the three-dimensionally reconstructed objects 16.2 can be represented with a significantly smaller amount of data.
  • the use of reconstructed objects 16.2 allows a temporary or permanent modification of the objects 16.2 in the context of the simulation environment simulating the military mission, such as the damage caused by simulated explosions.
  • the execution of a scenario generator can also be provided as part of the method according to the invention, which is dependent on the sensor data of the application system.
  • 4a shows in a two-dimensional section or in a side view a point cloud 25, in particular a true three-dimensional point cloud 25, which in a first step of generating a database generates a computer-generated real-environment simulation environment.
  • the three-dimensional model of the real environment of FIG. 4a can be obtained directly from the image recordings 12 taken during transit through or overflight over the real environment.
  • a surface model 18 are generated, which is the course of the surface of the real environment 10 in the form of real-forming terrain 15.1 and real-imaging objects 16.1.
  • the surface model 18 can be provided as a three-dimensional model, which requires a considerable amount of memory.
  • a classification of the surface model can be made in FIG. 2b.
  • the classification takes place automatically, for example on the basis of image processing and image recognition algorithms known per se, as well as shape recognition and shape processing algorithms.
  • different types of classes are assigned to different parts of the surface model.
  • a first region 30 of the surface model 18 can be classified as a sloping meadow or as a meadow overgrown with grass.
  • the real-imaging objects 16.1 of the surface model 18 can be classified, for example, as buildings, in particular as houses become.
  • Another area 31 of the surface model 18 can be recognized as a paved road by the image processing and image recognition algorithms and classified accordingly by the assignment of a corresponding type class.
  • a third region 32 of the surface model 18 can, for. B. recognized as a ditch or riverbed and classified.
  • the classification can also be carried out only in a later method step, for example in a method step as can be seen in FIG. 4c.
  • the classification of the terrain model 19 and of the objects 16.1 thereby enables various particularly preferred embodiments of the method.
  • the classification can be used to improve the interaction between a user and the simulation environment in the context of the simulation environment, for example by taking into account the classification of the objects and / or the terrain based on the physical model on which the interaction between the user and the simulation environment is based .
  • the classification also allows the use of real-like surface textures both for the objects 16.1 and for the terrain 19.
  • the classification is also an important part in the reduction of the surface model 18 to the terrain model 19, as without recognition and classification of Objek- te 16.1 a corresponding conversion to the terrain model 19 is not possible.
  • a reference grid point 42 is determined, which makes it possible to re-insert the extracted objects 16.1 into the simulation environment as part of the representation of the simulation environment.
  • two such reference grid points 42 are exemplified for one of the objects 16.1.
  • the real imaging objects 16. 1 in the surface model 18 can be recognized, classified as real imaging objects 16. 1 and extracted from the surface model 18 so that a terrain model 19 is formed from the surface model 18 , It can be provided that the terrain
  • FIG. 4c represents a two-dimensional reference plane for the screen dots.
  • each grid point with two location coordinates in the reference plane 26 is assigned a height value 27.
  • the terrain model 19 is created as a digital terrain model in the form of raster data 28 and stored in the database of the simulation environment. It may be provided that the earlier processing stages, such as, for example, the surface model 18 of FIG. 4b and the point cloud 25 of FIG. 4a, are also retained in the database.
  • FIG. 4 d shows the result of a further method step.
  • These computer-generated 3D models 16.3 can then be superimposed with the terrain model 19 using the reference grid points 42 or inserted into the terrain model 19.
  • FIG. 4e furthermore illustrates further method steps of the proposed method, which concern both the generation of the database of the simulation environment and the representation of the simulation environment.
  • FIG. 4e shows the result of a method step in which real-like objects 16.4 were generated from the real-imaging objects 16.1 and / or the 3D models 16.3.
  • the real-like objects 16.4 can be simplified with respect to their surface contour in order to achieve a data-related compression of the real-like objects 16.4 compared to the 3D models 16.3 and the real-imaging objects 16.1.
  • the real-like objects 16.4 are provided with real-like surface elements. For example, in the example of FIG.
  • the real-like objects 16.4 are provided with a real-like surface texture which, for example, represents a typical house wall, but has no direct relation to the wall of the real object of the real environment, as they do for example, taken during the overflight images 12 can be seen.
  • FIG. 4e it can be seen from FIG. 4e that in the context of the representation of the simulation environment it is also possible to introduce fictitious terrain areas and / or fictitious objects and / or fictitious type classes into the simulation environment at least in sections.
  • fictitious objects 24 that represent a watchtower and a sandbag barricade
  • a vehicle can be introduced as a fictitious dynamic object in the simulation environment and displayed in the context of the representation of the simulation environment.
  • fictitious dynamic objects move around other objects rather than through them, such as locomotion in the terrain with regard to the mode of travel and the speed of travel based on the classification, in particular taking into account the respective type classes.
  • fictitious dynamic objects such as vehicles
  • fictitious dynamic objects move on areas of the terrain model classified as paved roads and / or that they move faster than off-field on areas of the terrain model classified as paved roads.
  • this dynamic, fictitious vehicle does not move through river courses, such as, for example, in the region 32 of the terrain model 19.
  • FIG. 5 illustrates the method features according to which, when generating the database, sections of the digital terrain model are stored as separate tiles in the database.
  • the terrain model 19, in particular with the reference grid points 42 for the arrangement of the objects 16. 1 is subdivided into individual tiles 25.
  • the tiles 25 also extend in the direction of the plane of the drawing, so that the tiles 25 capture a cuboid, in particular a square of the surface model 19.
  • FIG. 5 also shows that the division into cages 25 can equally be carried out for a surface model 18.
  • the separate tiles 25 each have only one property, for example the height grid, the color grid or the classification grid of the terrain model.
  • a corresponding plurality of tiles are required for the respective properties of the terrain model 19 in order to store all information about the terrain model 19 or surface model 18 in the database 22.
  • all information about the respective section of the digital terrain model 19 or surface model 18 is stored in a separate tile 25 in the database 22.
  • the tiles 25 are stored multiple times in the database, wherein tiles 25, each of which depict one and the same section of the digital terrain model 19, are present in different resolutions.
  • the different resolution may preferably relate to the spatial resolution. However, there may be other resolutions for describing the digital terrain model that are stored in the corresponding tiles for a portion of the terrain model in varying degrees.
  • each presentation tile 34 depicts a part of the simulation environment 35 with a fixed base area.
  • Each of the presentation tiles 34 is assigned an environment storage area of the presentation memory of the computer 1.
  • the size of the respective environment storage area of the corresponding display tile 34 is illustrated by the letters A, B and C shown in FIG. 6a, where the letter A stands for a large predefined environmental storage area of the presentation memory, the letter B for a correspondingly smaller one predefined environment storage area and the letter C finally represents an even smaller predefined environment storage area.
  • the display tile in which the display position 36 is located is assigned the largest environment storage area with the size A, and that the display area surrounding the display tile with the largest environment storage area A Tile each having a size B environment storage area. Only the display tiles furthest from the display position 36 are linked to a size C environment storage area.
  • a correspondingly lower level of detail is achieved, which is caused by the environmental storage areas with the sizes B and C. However, this also corresponds to the natural human perception of more distant surroundings.
  • a part of the database 22 is sent to a presentation memory memory areas with a certain size A, B, C are predefined and the data of the database 22 to be transferred to the display memory before transmission in at least one property to the size A, B, C of the predefined memory areas be adjusted.
  • the representation of FIG. 6 b serves to illustrate the reloading, that is to say a renewed adaptation of data of the database 22 to the respective size of the predefined memory areas, and subsequent transmission of the data thus adapted to the presentation memory as a result of a change in the display position 36.
  • the display tile 34 in which the display position 36 is located, is still assigned to the largest possible predefined environmental memory area with the size A. With the distance from the display position 36, the sizes A, B and C of the display memory tiles 34 associated environmental storage areas from. Consequently, the described method enables the user to always perceive the advantageous, realistic representation of the simulation environment 35 even if the display position 36 of the user changes.
  • FIG. 7 shows a section of a simulation environment 23 in plan view, that is to say with a view of the plane of the screen dots 29, wherein the height values 27 associated with the screen dots 29 are perpendicular to the plane of the drawing.
  • the section of the simulation environment 23 is likewise a real imaging object. Project 16.1 in the form of a house.
  • the supposed image planes 39 of two different image recordings 12 are shown in FIG. 7.
  • the image planes 39 can also have a vertical component, which in the example of FIG. 7 is at least partially perpendicular to the plane of the drawing and is not shown in FIG. 7 for the sake of clarity and clarity. Nevertheless, it can be seen from FIG. 7 how, using the image recordings 12 and their image planes 39, a projection is made by which a color texture is assigned to at least part of the surfaces 38 of the simulation environment 23. Using the lines shown in dotted lines in FIG.
  • a mapping rule or projection rule is sketched, on the basis of which a first projection area 40.1 is projected from the image capture 12 with the imaging plane 39.1 onto the first surface-forming surface 38.1 of the real-imaging object 16.1.
  • mapping rules of the projections that is to say the course of the dotted lines illustrated by way of example, as well as the projections, not shown therebetween, of points of the imaging plane 39.1 on the surfaces 38.1 and 38.2 are determined on the one hand by the data determined on the other hand by the present in the generation of the image pickup 12 properties such as recording position, recording direction and the like, which are simply reflected in the orientation and extension of the imaging plane 39.1.
  • the imaging plane 39.2 of a second image acquisition 12 can also be used to provide the surfaces 38.1 and 38.2 with a surface color texture generated from the corresponding image acquisition 12, in accordance with the projection rules shown in dashed lines in FIG. It can also be provided that the corresponding projection regions 40.3 and 40.4 of the image acquisition 12 with the image plane 39.2 are first averaged with the corresponding projection regions 40.1 and 40.2 of the image acquisition 12 with the image plane 39.1.
  • the image acquisition 12 with the imaging plane 39.2 also allows, at least for a part of the side wall 38.3 of the real imaging object 16.1, the generation of a surface color texture in the context of a projection of the image acquisition 12 onto the simulation environment 23.
  • the projection region 40.5 of the image acquisition 12 with the Image plane 39.2 can be projected onto a part of the surface 38.3 of the real image forming object 16.1.
  • FIG. 6 likewise shows a projection of part of an image acquisition 12 onto a substantially vertical surface 38.1.
  • the representation of FIG. 8 is a strong schematization of an image recording 12. This is not least the clarity of Fig. 8 owed.
  • a variety of other contents such as vegetation, other objects, vehicles, people and animals, would also be encompassed by a realistic image acquisition 12.
  • the illustration of the side view of the object 16 in the image recording 12 of FIG. 8 is a deliberately simplified representation which, however, can not completely reproduce the advantages of the method according to the invention.
  • the side view of the object 16 of the image pickup 12 is just not a photorealistic representation, as they can be used in the projection process for the production of real image-forming surface textures. From the illustration of FIG. 8, however, the basic principle becomes apparent, according to which the surfaces of the real environment captured in the image recordings 12, in particular the surfaces of real objects 16 covered by the image recordings 12, are used in the simulation environment 23 or in the representation the simulation environment 23 cause a correspondingly realistic impression in the viewer.
  • the assignment of the image acquisition 12 and the real object 16 depicted therein to the real imaging object 16. 1 of the simulation environment 23, in particular to the surface 38. 1, can be clearly linked between the acquisition of the image acquisition 12 documented spatial coordinates and / or spatial directions of the real environment 10 to the coordinates of Simulation environment 23 are enabled.
  • the simulation environment 23 may preferably have a link to the real environment 10.
  • the surface 38. 1 of the simulation environment 23 is formed by the side wall of a real imaging object 16. 1 of the simulation environment 23.
  • FIG. 8 shows the real-imaging object 16.1 as a three-dimensional object from a specific perspective, which, for example, goes back to a corresponding viewing position on the object 16.1 in the simulation environment 23.
  • the indicated perspective view of the real imaging object 16.1 illustrates some of the challenges to the method of generating real imaging surface textures by projecting portions of image captures 12.
  • a portion of the surface 38.1 is at the upper right edge of the sidewall a part of the house roof 41 is covered.
  • 6 also show that, for example, the window arranged below the roof gable and the surrounding truss structure, as can be seen on the image recording 12, of the viewing position of the simulation environment 23 and of the object 16 Fig. 8 are hidden from the house roof 41.
  • An appropriate texturing of the surface 38.1 will thus take into account the partial covering of the surface 38.1 by the house roof 41. This can be accomplished, for example, by a depth map which provides information about which parts of the simulation environment 23 are visible from the respective viewing position ,
  • the projection texture generated from the image acquisition 12 can then be processed as a surface texture in a corresponding manner, For example, be cut to that non-visible parts of the surface 38.1 from the viewing position of Fig. 8 are not visible.
  • the image capture 12 shows the real object 16 from a perspective that differs from the perspective of the simulation environment 23.
  • the part of the image recording 12 imaging the surface 38.1 is thus tilted in the context of the projection or by the mapping rule, as indicated by the dot-dashed lines in FIG and / or are distorted such that, from the viewing position of the simulation environment 23 of FIG. 8, the part of the image acquisition 12 which images the visible part of the surface 38. 1 is correspondingly arranged on the surface 38. 1, ie projected onto the surface 38. 1.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Remote Sensing (AREA)
  • Computer Graphics (AREA)
  • Processing Or Creating Images (AREA)

Abstract

Procédé de simulation préparatoire d'une intervention militaire dans une zone d'intervention (10), selon lequel la zone d'intervention (10) est survolée et/ou parcourue au moyen d'un support de détection (9), un dispositif de détection (11, 13) agencé sur le support de détection (9) enregistre des données de détection de la zone d'intervention (10), un générateur de base de données (7) génère automatiquement à partir des données de détection une base de données (22) contenant des données géospécifiques concernant le terrain (15) de la zone d'intervention (10) et les objets (16) situés dans le terrain, et un dispositif de simulation (8) simule l'intervention militaire dans un environnement de simulation (23) reproduisant la zone d'intervention (10) sur la base de la base de données (23).
EP16818975.1A 2015-12-02 2016-12-01 Procédé de simulation préparatoire d'une intervention militaire dans une zone d'intervention Ceased EP3384480A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102015120929.2A DE102015120929A1 (de) 2015-12-02 2015-12-02 Verfahren zur vorbereitenden Simulation eines militärischen Einsatzes in einem Einsatzgebiet
DE102015120999.3A DE102015120999A1 (de) 2015-12-02 2015-12-02 Verfahren zur Erzeugung und Darstellung einer computergenerierten, eine Realumgebung abbildenden Simulationsumgebung
PCT/DE2016/100562 WO2017092733A1 (fr) 2015-12-02 2016-12-01 Procédé de simulation préparatoire d'une intervention militaire dans une zone d'intervention

Publications (1)

Publication Number Publication Date
EP3384480A1 true EP3384480A1 (fr) 2018-10-10

Family

ID=57614100

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16818975.1A Ceased EP3384480A1 (fr) 2015-12-02 2016-12-01 Procédé de simulation préparatoire d'une intervention militaire dans une zone d'intervention

Country Status (2)

Country Link
EP (1) EP3384480A1 (fr)
WO (1) WO2017092733A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109597309B (zh) * 2019-01-18 2024-02-27 北京瀚科科技集团有限公司 一种虚实结合的靶机机动同步方法及***
CN111899333B (zh) * 2020-07-28 2023-10-10 南京邮电大学 基于模型的复杂装备***可视化仿真方法、***及其存储介质
CN112040215B (zh) * 2020-08-30 2022-05-03 河北军云软件有限公司 电磁环境裸眼立体显示***

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5949425A (en) * 1997-11-25 1999-09-07 Terrain Experts, Inc. Terrain representation with polygonal seams
KR102038856B1 (ko) * 2012-02-23 2019-10-31 찰스 디. 휴스턴 환경을 생성하고 환경내 위치기반 경험을 공유하는 시스템 및 방법
JP5882951B2 (ja) * 2013-06-14 2016-03-09 株式会社トプコン 飛行体誘導システム及び飛行体誘導方法

Also Published As

Publication number Publication date
WO2017092733A1 (fr) 2017-06-08

Similar Documents

Publication Publication Date Title
DE102015120999A1 (de) Verfahren zur Erzeugung und Darstellung einer computergenerierten, eine Realumgebung abbildenden Simulationsumgebung
DE102009041431B4 (de) Fahrsimulationsvorrichtung, Weitwinkelkamera-Videosimulationsvorrichtung und Bilddeformierungs-/-zusammensetzungsvorrichtung
EP2491530B1 (fr) Déterminer la pose d'une caméra
DE69907644T2 (de) Echtzeit system zur dreidimensionalen realistischen virtuellen-bildanzeige
EP1631938B1 (fr) Procede de production d'un modele topographique tridimensionnel
DE102006028086A1 (de) Verfahren zur Erzeugung eines dreidimensionalen Computermodells einer Stadt
DE202011110887U1 (de) Wiedergeben und navigieren fotografischer Panoramen mit Tiefeninformationen in einem geographischen Informationssystem
EP2747032A1 (fr) Procédé de visualisation photoréaliste d'un ensemble de données tridimensionnelles de terrain en temps réel
WO2017092733A1 (fr) Procédé de simulation préparatoire d'une intervention militaire dans une zone d'intervention
DE102018130597A1 (de) 3d-kartierung mit hoher bildschärfe
Rhodes UAS as an inventory tool: a photogrammetric approach to volume estimation
Zietara Creating Digital Elevation Model (DEM) based on ground points extracted from classified aerial images obtained from Unmanned Aerial Vehicle (UAV)
Cilek et al. Generation of high-resolution 3-D maps for landscape planning and design using UAV technologies
DE102009054214B4 (de) Verfahren und Vorrichtung zum Erzeugen einer Darstellung einer Umgebung
DE19746639A1 (de) Verfahren zur digitalen Erfassung räumlicher Objekte und Szenen für eine 3D-Bildkarte sowie 3D-Bildkarte
DE102017118993A1 (de) Verfahren zur Identifizierung eines Schiffes
DE102012103373A1 (de) Verfahren zur Erstellung eines 3D-Modells urbaner Umgebungen
DE19735175A1 (de) Verfahren zur digitalen Erfassung räumlicher Szenen sowie zur Bestimmung von Objektkoordinaten
DE102017118992A1 (de) Verfahren zur Erzeugung eines ISAR-Bildes
WO2017144033A1 (fr) Procédé de détermination et de visualisation de changements dans un environnement réel comportant un terrain réel et des objets réels se trouvant sur ce terrain
DE102012213336A1 (de) Verfahren und Vorrichtung zur Ergänzung einer digitalen Karte um Höhenangaben an vorbestimmten geografischen Positionen
WO2017182021A1 (fr) Procédé et système pour représenter un environnement de simulation
DE102015120929A1 (de) Verfahren zur vorbereitenden Simulation eines militärischen Einsatzes in einem Einsatzgebiet
DE4209936C2 (de) Gelände-Bildsimulator
Xuejia et al. Application of 3d model from uav photogrammetry in virtual field education

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20180626

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20200114

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

REG Reference to a national code

Ref country code: DE

Ref legal event code: R003

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN REFUSED

18R Application refused

Effective date: 20210531