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

A technology of geographic coordinates and positioning methods, applied in image data processing, image analysis, navigation and other directions, can solve the problems of poor positioning accuracy, large amount of data, low precision positioning efficiency, etc., and achieve accurate and simple conversion and high stability. Effect

Active Publication Date: 2019-06-28
西安因诺航空科技有限公司
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  • Application Information

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Problems solved by technology

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 image. Due to the poor positioning accuracy on the original image, the geographical location of the target detection cannot be accurately located...

Method used

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

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Experimental program
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Effect test

Embodiment 1

[0059] Embodiment 1 Calculate geographic coordinates from pixel coordinates

[0060] Calculating the geographic coordinates corresponding to the point from the pixel coordinates of the image is a key step in inspection projects. Both target detection and recognition are processed on the original image. After the pixel coordinates of the target are locked on the image, the geographic coordinates of the point need to be calculated.

[0061] see Figure 4 , after the image is preprocessed, the 3D point cloud of the image is established by SFM;

[0062] The pentagon in the figure is the detected abnormal target point, and the dots around the abnormal target point are the reference points closest to the target point calculated by the Euclidean distance. These points can also express the height and position of the target point most accurately, that is, determine The geographic location of the target point, after determining the reference point set, can establish a one-to-one corre...

Embodiment 2

[0066] Embodiment 2 calculates pixel coordinates from geographic coordinates

[0067] Contrary to Embodiment 1, this embodiment calculates the position of the geographic coordinate in pixel coordinates when the geographic coordinate is known. In inspection applications, it is often necessary to mark oil wells, electric towers, pipelines, etc. with known geographic coordinates in the original image, and use this as the location and constraint of the detection range.

[0068] see Figure 5 , the geographic coordinates of a pipeline are known, and the position and direction of the pipeline need to be marked on the image. After the image is preprocessed, the 3D point cloud of the image is established through SFM;

[0069] Project the 3D point cloud into the UTM coordinate system; according to the known geographic coordinates of a pipeline, find the reference point set closest to the geographic coordinates on the UTM plane, Figure 5 The hollow dots are the feature points in the...

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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...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C11/04G06T7/80
Inventor 马泳潮雍旭东
Owner 西安因诺航空科技有限公司
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