Geographical coordinate positioning system and method based on 3D point cloud aerial photographing images

Abstract

The invention discloses a geographical coordinate positioning system and method based on 3D point cloud aerial photographing images. The system comprises a 3D point cloud establishment module, a homography module and a conversion module. Correspondingly, the method comprises the following steps: firstly, performing three-dimensional digitization on an image sequence according to an SFM method, rapidly acquiring 3D sparse point cloud in a world coordinate system, and establishing a homography H for representing the relationship of a geographical coordinate and a pixel coordinate of characteristic points in the 3D point cloud; respectively processing two different positioning requirements. According to the method, 3D point cloud with high precision is introduced into positioning of 2D images, so that positioning difficulties caused by non-normal incidence of the 2D images are substantially solved; when the relationship of the geographical coordinate and the pixel coordinate is established, positioning precision is ensured to the maximum extent in such a mode that reference points are searched within a minimum range; therefore, the method is high in positioning precision, and has great significances for modules of range constraint, target positioning, geographical marking and the like in aerial photographing patrol items.

Description

【Technical field】

[0001] The invention belongs to the application field of drone aerial photography data, and relates to a geographical coordinate positioning system and method based on 3D point cloud aerial photography images. 【Background technique】

[0002] With the country's strict control over drone airspace, the safety and stability of industrial drones have been greatly improved. Immediately after that, industrial-level applications based on drones emerged one after another, among which aerial photography inspections were the most prominent, such as power inspections, oil pipeline inspections, photovoltaic inspections, etc. These applications use drones to mount camera sensors, detect abnormal targets through image processing, and finally notify accident handlers of the specific geographic location of the target. There are two difficulties in this type of application: 1) In order not to affect the detection accuracy, the target detection is processed on the original i...

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