Method for performing automatic cruise in selected range in three-dimensional map

Abstract

The invention discloses a method for performing automatic cruise in a selected range in a three-dimensional map. The method comprises the following steps: 1) acquiring depth data; 2) selecting an area to be monitored; 3) performing multi-layer division, and distinguishing each layer through a clustering algorithm; 4) calculating the focal length and magnification times required by cruising of the monitoring equipment in the area; 5) selecting other hierarchical regions; 6) calculating the window size of the view field of the monitoring equipment reflected in the depth map during cruising according to the magnification required by the monitoring equipment during cruising; (7) arranging the hierarchical regions selected in the step (6) according to the size of a window; according to the method, multi-level, high-definition and full-coverage monitoring of the monitored area is achieved, standardization of the operation process is achieved, the working quality is guaranteed, meanwhile, the working efficiency is improved, and the labor cost is saved.

Description

technical field [0001] The invention relates to an automatic cruising method, in particular to a method for automatic cruising in a selected range in a three-dimensional map. Background technique [0002] At present, in the fields of forest fire prevention, pest control, public security management, endangered animal detection, pollution source detection, poaching and deforestation control, aftershock detection, etc., it is necessary to scan and observe all-weather global or local key areas in large monitoring areas. Therefore, It is necessary to set appropriate preset positions, control parameters and cruise paths for the monitoring equipment installed in the above-mentioned areas to ensure the realization of multi-level, all-round, all-weather, fully automatic, high-definition, and high-frequency monitoring of the above-mentioned areas. [0003] The current common operation process is: according to the terrain, environment, and monitoring clarity requirements of the area wh...

AI Technical Summary

Problems solved by technology

The existing problem is that the parameter setting through the preset position is centered on the monitoring equipment, and some fan-shaped monitoring areas or monitoring angles are reserved or eliminated.

However, this invention patent application has the following disadvantages: the user needs to first set the target viewing angle in the full field of view, calculate the control parameters, and then perform automatic patrolling according to the order of the set viewing angles

However, this method has the following deficiencies: it cannot realize many monitoring objectives in the wide-area environment and generate preset position information at the same time

However, there are still the following deficiencies: although the panoramic image provides a more intuitive panoramic image, the use process still requires the operator to input control instructions, and must rely on the operator's assistance, which cannot realize unmanned automatic monitoring operations; For an operation instruction, the camera can only realize one-to-one action response according to the instruction requirements, and cannot realize automatic cruise operation of the delineated area or range

However, there are still problems as follows: although the preset position information table generated by the invention can include buildings, equipment, intersections, etc. that need to be monitored, it cannot include all objects in the monitored environment, so it cannot realize the monitoring of the monitored environment. Realize monitoring with no dead angle and full coverage; the user can quickly locate the camera to the selected position by selecting the preset position in the preset position information table. This process requires the user to participate and issue operation instructions, and the selected monitoring area cannot Automatic Cruise Monitoring

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