A method and device for correcting point and linear obstacles in a digital elevation model

Abstract

The present invention provides a method and device for correcting point-line obstacles in an elevation surface model. The method includes: obtaining surface elevation data and establishing a surface elevation model; loading a acquisition observation system and a work area road onto the surface elevation model; meshing the loaded surface elevation model and constructing a grid in combination with the scattered points of the acquisition observation system; integrating the work area road into the grid; judging whether there are point-line obstacles for the elevation points within a set distance range around the work area road in the integrated grid by using the Least Median of Squares (LMedS) criterion, and removing the judged point-line obstacles; performing thin plate spline interpolation on the removed points to establish an irregular triangular grid. It can quickly locate the linear obstacles on both sides of the road, accurately remove the point-line outliers, use the thin plate spline interpolation method to smoothly fill the elevation at the obstacles, realize the correction of the point-line obstacles, achieve the smoothness of the observation system and the line along the road, be able to truly reflect the three-dimensional surface model, and is beneficial to the acquisition construction.

Description

Technical Field

[0001] The present invention relates to the technical field of geophysical exploration data processing, and particularly to a method and device for correcting point and linear obstacles in an elevation surface model. Background Art

[0002] This section aims to provide background or context for the embodiments of the present invention described in the claims. The description herein is not admitted to be prior art merely because it is included in this section.

[0003] In the field of petroleum seismic exploration, high-precision elevation data of the surface obtained by using an unmanned aerial vehicle is finally processed through a series of processes such as underlying image processing to realize three-dimensional surface modeling, so as to guide the layout of the observation system.

[0004] However, in the case of a complex surface, within a certain distance of the work area road, some small surface obstacles such as dot-shaped telegraph poles, trees, and linear billboards will affect the three-dimensional modeling.

[0005] Currently, there is no good method and technology to quickly eliminate these sharp outliers, thus affecting the accuracy of three-dimensional surface modeling and bringing difficulties to the layout of the observation system.

[0006] Therefore, how to provide a new solution that can solve the above technical problems is an urgent technical problem in this field. Summary of the Invention

[0007] An embodiment of the present invention provides a method for correcting point and linear obstacles in an elevation surface model, which realizes the correction of point and linear obstacles, achieves smooth lines along the observation system and the road, and is beneficial to acquisition construction. The method includes:

[0008] Obtain surface elevation data and establish a surface elevation model;

[0009] Load the acquisition observation system and the work area road onto the surface elevation model;

[0010] Grid the loaded surface elevation model and construct a grid in combination with the scattered points of the acquisition observation system;

[0011] Integrate the work area road into the grid;

[0012] For the grid after integration, use the Least Median of Squares (LMedS) criterion to determine whether there are point and linear obstacles for the elevation points within a set distance around the work area road, and eliminate the determined point and linear obstacles;

[0013] Perform thin plate spline interpolation on the eliminated points to establish an irregular triangular grid.

[0014] An embodiment of the present invention also provides a device for correcting point and linear obstacles in an elevation surface model, including:

[0015] A surface elevation model establishment module, configured to obtain surface elevation data and establish a surface elevation model;

[0016] A loading module, configured to load a collection observation system and a work area road onto the surface elevation model;

[0017] A gridification module, configured to gridify the loaded surface elevation model and construct a grid in combination with the scattered points of the collection observation system;

[0018] A fusion module, configured to fuse the work area road into the grid;

[0019] A point and line obstacle judgment and elimination module, configured to use the Least Significant Difference (LSD) criterion to determine whether there are point and line obstacles for the elevation points within a set distance around the work area road in the fused grid, and eliminate the determined point and line obstacles;

[0020] A thin plate spline interpolation module, configured to perform thin plate spline interpolation on the eliminated points and establish an irregular triangular grid.

[0021] An embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the above-mentioned method for correcting point and line obstacles in an elevation surface model is implemented.

[0022] An embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program for executing the above-mentioned method for correcting point and line obstacles in an elevation surface model.

[0023] A method and device for correcting point and line obstacles in an elevation surface model provided by an embodiment of the present invention first obtain surface elevation data and establish a surface elevation model; then load a collection observation system and a work area road onto the surface elevation model; then gridify the loaded surface elevation model and construct a grid in combination with the scattered points of the collection observation system; next, fuse the work area road into the grid; then, use the Least Significant Difference (LSD) criterion to determine whether there are point and line obstacles for the elevation points within a set distance around the work area road in the fused grid, and eliminate the determined point and line obstacles; finally, perform thin plate spline interpolation on the eliminated points and establish an irregular triangular grid. In the exploration of elevation data in seismic exploration in a work area, the embodiment of the present invention can quickly locate point and line obstacles such as electric poles, trees, and billboards within a certain distance on both sides of the road, accurately eliminate point and line outliers, use the thin plate spline interpolation method to smoothly fill the elevation at the obstacle location, realize the correction of point and line obstacles, achieve a smooth line along the observation system and the road, accurate elevation data after interpolation, and be able to quickly and clearly express the surface elevation, so as to truly reflect the three-dimensional surface model and facilitate the purpose of collection construction. Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings. In the accompanying drawings:

[0025] Figure 1 It is a schematic diagram of a method for correcting point and linear obstacles in an elevation surface model according to an embodiment of the present invention.

[0026] Figure 2 It is a plan view of an observation system and a work area road for a method for correcting point and linear obstacles in an elevation surface model according to an embodiment of the present invention.

[0027] Figure 3 It is a plan view after grid division of a method for correcting point and linear obstacles in an elevation surface model according to an embodiment of the present invention.

[0028] Figure 4 It is a schematic diagram of the Chauvenet's criterion for a method for correcting point and linear obstacles in an elevation surface model according to an embodiment of the present invention.

[0029] Figure 5 It is a thin plate spline surface diagram of a method for correcting point and linear obstacles in an elevation surface model according to an embodiment of the present invention.

[0030] Figure 6 It is a smoothed irregular triangular grid diagram of a method for correcting point and linear obstacles in an elevation surface model according to an embodiment of the present invention.

[0031] Figure 7 It is a schematic diagram of a computer device for running a method for correcting point and linear obstacles in an elevation surface model implemented by the present invention.

[0032] Figure 8 It is a schematic diagram of a device for correcting point and linear obstacles in an elevation surface model according to an embodiment of the present invention. Detailed implementation manners

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer and more understandable, the following will further elaborate on the embodiments of the present invention in conjunction with the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but not to limit the present invention.

[0034] Figure 1 It is a schematic diagram of a method for correcting point and linear obstacles in an elevation surface model according to an embodiment of the present invention, as Figure 1As shown in the figure, an embodiment of the present invention provides a method for correcting point and linear obstacles in an elevation surface model, which realizes the correction of point and linear obstacles, achieves the smoothness of the observation system and the lines along the road, and is beneficial to acquisition construction. The method includes:

[0035] Step 101: Obtain surface elevation data and establish a surface elevation model;

[0036] Step 102: Load the acquisition observation system and the work area road onto the surface elevation model;

[0037] Step 103: Mesh the loaded surface elevation model and construct a grid in combination with the scattered points of the acquisition observation system;

[0038] Step 104: Integrate the work area L road into the grid;

[0039] Step 105: For the grid after integration, use the Least Absolute Deviations (LAD) criterion to determine whether there are point and linear obstacles among the elevation points within a set distance around the work area road, and eliminate the determined point and linear obstacles;

[0040] Step 106: Perform thin plate spline interpolation on the eliminated points to establish an irregular triangular grid.

[0041] A method for correcting point and linear obstacles in an elevation surface model provided by an embodiment of the present invention first obtains surface elevation data and establishes a surface elevation model; then loads the acquisition observation system and the work area road onto the surface elevation model; then meshes the loaded surface elevation model and constructs a grid in combination with the scattered points of the acquisition observation system; next, integrates the work area road into the grid; then, for the grid after integration, uses the Least Absolute Deviations (LAD) criterion to determine whether there are point and linear obstacles among the elevation points within a set distance around the work area road, and eliminates the determined point and linear obstacles; finally, performs thin plate spline interpolation on the eliminated points to establish an irregular triangular grid. When the embodiment of the present invention explores the work area road in the elevation data of exploration seismic exploration, it can quickly locate point and linear obstacles such as utility poles, trees, billboards, etc. within a certain distance on both sides of the road, accurately eliminate point and linear outliers, and use the thin plate spline interpolation method to smoothly fill the elevation at the obstacles, realizing the correction of point and linear obstacles, achieving the smoothness of the observation system and the lines along the road, with accurate elevation data after interpolation, being able to quickly and clearly express the surface elevation, thus being able to truly reflect the three-dimensional surface model and being beneficial to the purpose of acquisition construction.

[0042] Specifically implementing the method for correcting point and linear obstacles in an elevation surface model provided by an embodiment of the present invention may include:

[0043] Obtain surface elevation data DEM (Digital Elevation Model) and establish a surface elevation model;

[0044] Load the acquisition observation system S(x, y) and the work area road L into the surface elevation model;

[0045] Grid the loaded surface elevation model and construct a grid by combining the scattered points of the acquisition observation system;

[0046] Integrate the work area road into the grid;

[0047] For the grid after integration, determine whether there are linear obstacles among the elevation points within a set distance range around the work area road using the Pauta criterion, and remove the determined linear obstacles;

[0048] Perform thin plate spline interpolation on the removed points to establish an irregular triangular grid.

[0049] Figure 2 This is a plan view of the observation system and the work area road for a method of correcting linear obstacles in an elevation surface model according to an embodiment of the present invention. The horizontal axis is the east coordinate in meters, and the vertical axis is the north coordinate in meters; as Figure 2 shown, when specifically implementing a method of correcting linear obstacles in an elevation surface model provided by an embodiment of the present invention, in one embodiment, the foregoing loading of the acquisition observation system and the work area road into the surface elevation model includes:

[0050] Load the acquisition observation system S(x, y) into the surface elevation model in the form of scattered points;

[0051] Load the work area road L into the surface elevation model in the form of a line segment.

[0052] Figure 3 This is a plan view after gridding for a method of correcting linear obstacles in an elevation surface model according to an embodiment of the present invention. The horizontal axis is the east coordinate in meters, and the vertical axis is the north coordinate in meters; as Figure 3 shown, when specifically implementing a method of correcting linear obstacles in an elevation surface model provided by an embodiment of the present invention, in one embodiment, gridding the loaded surface elevation model and constructing a grid by combining the scattered points of the acquisition observation system mainly includes: constructing a grid by combining the scattered points of the acquisition observation system S to realize gridding of the elevation data.

[0053] Figure 4 This is a schematic diagram of the Pauta criterion for a method of correcting linear obstacles in an elevation surface model according to an embodiment of the present invention, as Figure 4 shown, when specifically implementing a method of correcting linear obstacles in an elevation surface model provided by an embodiment of the present invention, in one embodiment, determine whether there are linear obstacles according to the following process:

[0054] Obtain a column of elevation data from the grid after integration;

[0055] Calculate the arithmetic mean according to the elevation data column;

[0056] Calculate the residual error according to the arithmetic mean;

[0057] Calculate the root mean square deviation according to Bessel's method, combining the arithmetic mean and the residual error;

[0058] Judge whether there are linear obstacles in the elevation data according to the residual error and the root mean square deviation.

[0059] In the embodiment, for the elevation points within a set distance range around the work area road in the fused grid, such as the linear obstacles like telegraph poles, trees, billboards, etc. within a certain distance on both sides of the road, the Chauvenet's criterion can be used for rapid positioning and determination. The specific process includes:

[0060] Obtain the elevation data column X from the fused grid 1 、X 2 、X 2 、…、X n ; Calculate the arithmetic mean according to the elevation data column According to the arithmetic mean Calculate the residual error V i ; According to Bessel's method, combining the arithmetic mean and the residual error V i , calculate the root mean square deviation σ X ; According to the residual error V i and the root mean square deviation σ X , judge whether there are linear obstacles in the elevation data.

[0061] In this embodiment, when prospecting the elevation data of the exploration work area road in seismic exploration, for the linear obstacles such as telegraph poles, trees, billboards, etc. within a certain distance on both sides of the road, the Chauvenet's criterion can be used for rapid positioning and accurate elimination of linear outliers.

[0062] When specifically implementing the method for correcting linear obstacles in the elevation surface model provided by the embodiment of the present invention, in one embodiment, calculate the arithmetic mean in the following manner:

[0063]

[0064] Wherein, is the arithmetic mean; the elevation data column is X 1 、X 2 、X 2 、…、X n .

[0065] The expression for calculating the arithmetic mean mentioned above is For illustration, those skilled in the art can understand that when implementing, the above formula can also be deformed in a certain form and other parameters or data can be added, or other specific formulas can be provided, and these variations should all fall within the protection scope of the present invention.

[0066] When specifically implementing a method for correcting point - linear obstacles in an elevation surface model provided by an embodiment of the present invention, in one embodiment, the residual error is calculated in the following manner:

[0067]

[0068] Among them, V i is the residual error; is the arithmetic mean.

[0069] The expression for calculating the residual error mentioned above is For illustration, those skilled in the art can understand that when implementing, the above formula can also be deformed in a certain form and other parameters or data can be added, or other specific formulas can be provided, and these variations should all fall within the protection scope of the present invention.

[0070] When specifically implementing a method for correcting point - linear obstacles in an elevation surface model provided by an embodiment of the present invention, in one embodiment, the root - mean - square deviation is calculated in the following manner:

[0071]

[0072] Among them, σ X is the root - mean - square deviation; is the residual error.

[0073] The expression for calculating the root - mean - square deviation mentioned above is For illustration, those skilled in the art can understand that when implementing, the above formula can also be deformed in a certain form and other parameters or data can be added, or other specific formulas can be provided, and these variations should all fall within the protection scope of the present invention.

[0074] When specifically implementing a method for correcting point - linear obstacles in an elevation surface model provided by an embodiment of the present invention, in one embodiment, it is judged whether there are point - linear obstacles in the elevation data in the following manner:

[0075] Then X i is a gross error and is determined as a point - linear obstacle; ④

[0076] Then X i is normal data; ⑤

[0077] Among them, σ Xis the root mean square deviation; is the residual error.

[0078] The expression for determining whether there are point-like obstacles in the elevation data mentioned above is For example, those skilled in the art can understand that during implementation, the above formula can also be deformed in a certain form and other parameters or data can be added, or other specific formulas can be provided, and these variations should all fall within the protection scope of the present invention.

[0079] Figure 5 is the thin plate spline surface diagram of a method for correcting point-like obstacles in an elevation surface model according to an embodiment of the present invention. As Figure 5 shown, when specifically implementing a method for correcting point-like obstacles in an elevation surface model provided by an embodiment of the present invention, in one embodiment, the following method is used to perform thin plate spline interpolation on the removed points:

[0080]

[0081] where z 0 is the elevation value of the point to be interpolated; x 0 and y 0 are the abscissa and ordinate of the point to be interpolated; a, b, c are scalars; n is the number of control points around the interpolation point, and its coordinates are (x i , y i , z i ), i = 1, 2,..., n; A ∈ R 1*n , * is the dot product; d j is the distance between the current point to be interpolated and the jth point in the known point set.

[0082] In the embodiment, the expression for performing thin plate spline interpolation on the removed points mentioned above is also called the thin plate spline interpolation formula. For example, those skilled in the art can understand that during implementation, the above formula can also be deformed in a certain form and other parameters or data can be added, or other specific formulas can be provided, and these variations should all fall within the protection scope of the present invention.

[0083] The thin plate spline interpolation method is used to smoothly fill the elevation at the obstacle, realizing the correction of point-like obstacles, achieving smooth lines along the observation system and the road, accurate elevation data after interpolation, being able to quickly and clearly express the surface elevation, thus being able to truly reflect the three-dimensional surface model and being beneficial to the purpose of construction surveying.

[0084] In the formula ⑥ for performing thin plate spline interpolation on the removed points mentioned above, there are a total of N + 3 coefficients, and the coefficients are determined by the following formula ⑦:

[0085]

[0086] The steps to solve the thin plate spline interpolation formula include:

[0087] 1. Solve the distance d between the known point and the interpolation point ij (i, j = 0, 1, ..., n);

[0088] 2. Calculate the coefficient value R of A in the formula according to the thin plate spline interpolation formula ij , that is, d ij 2 logd ij .

[0089] 3. Solve the interpolation coefficient A based on the simultaneous matrix equations of formula 1 as follows:

[0090]

[0091] 4. Solve the above matrix equation A=R using the least squares method -1 Z. Obtain coefficient A.

[0092] 5. Find the value of the interpolation point

[0093] The interpolation effect is as follows Figure 5 shown.

[0094] After performing thin plate spline interpolation on the removed points, the surface elevation data has been corrected. Next, Figure 6 The irregular triangular mesh diagram after smoothing of a method for correcting point and line obstacles of an elevation surface model according to an embodiment of the present invention is shown in FIG. Figure 6 As shown, an irregular triangulated network (TIN grid, Triangulated Irregular Network) is established based on the corrected surface elevation data.

[0095] The main purpose of the embodiment of the present invention is to target high-precision DEM elevation data; combine the seismic acquisition observation system with the characteristics of the work area road, and adopt the Rhineda criterion to quickly locate the point and line obstacles that need to be eliminated, and eliminate the obstacle elevation; use the thin plate spline interpolation algorithm to fill the elevation near the obstacle, realize the correction of the point and line obstacles, achieve the smoothness of the observation system and the line along the road, which is conducive to acquisition construction.

[0096] The embodiment of the present invention adopts DEM based on surface elevation data, grids it according to the loaded observation system, integrates it into the work area road, and then uses the Rhineda algorithm to quickly locate and eliminate point and line obstacles within a certain distance near the work area road. Finally, the elevation data of the points where the outliers are located are interpolated through the thin plate spline interpolation algorithm.

[0097] Embodiments of the present invention can quickly locate point and linear obstacles within a certain range of the exploration area road in seismic exploration elevation data. It can accurately eliminate point and linear outliers. The interpolated elevation data is accurate. It can quickly and clearly represent the surface elevation.

[0098] Embodiments of the present invention read a certain surface elevation data, load the acquisition observation system into the surface elevation model in the form of scatter points, grid the surface elevation at a certain interval in combination with the observation system, load the exploration area road into the surface elevation model, and integrate it into the grid. Using the Least Absolute Deviations (LAD) criterion, it can quickly locate point and linear obstacles such as utility poles, trees, billboards, etc. within a certain distance on both sides of the road, and eliminate their elevation values. The thin plate spline interpolation method is used to smoothly fill the elevation at the obstacle location, so as to truly reflect the surface three-dimensional model, which is beneficial to the purpose of acquisition construction.

[0099] Figure 7 The schematic diagram of a computer device for implementing a method for correcting point and linear obstacles in a surface elevation model of the present invention is as Figure 7 shown. Embodiments of the present invention also provide a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements the above-mentioned method for correcting point and linear obstacles in a surface elevation model.

[0100] Embodiments of the present invention also provide a computer-readable storage medium, which stores a computer program for implementing the above-mentioned method for correcting point and linear obstacles in a surface elevation model.

[0101] Embodiments of the present invention also provide a device for correcting point and linear obstacles in a surface elevation model, as described in the following embodiments. Since the principle of the device for solving problems is similar to that of a method for correcting point and linear obstacles in a surface elevation model, the implementation of the device can refer to the implementation of the method for correcting point and linear obstacles in a surface elevation model, and the repeated parts will not be elaborated.

[0102] Figure 8 The schematic diagram of a device for correcting point and linear obstacles in a surface elevation model according to an embodiment of the present invention is as Figure 8 shown. Embodiments of the present invention also provide a device for correcting point and linear obstacles in a surface elevation model. Specifically, it may include:

[0103] A surface elevation model establishment module 801, configured to obtain surface elevation data and establish a surface elevation model;

[0104] A loading module 802, configured to load the acquisition observation system and the exploration area road into the surface elevation model;

[0105] The grid module 803 is used to grid the loaded surface elevation model and construct a grid by combining the scattered points of the acquisition observation system;

[0106] The fusion module 804 is used to fuse the work area roads into the grid;

[0107] The point and line obstacle judgment and removal module 805 is used to judge whether there are point and line obstacles in the elevation points within a set distance around the work area roads for the grid after fusion by using the Least Absolute Deviations (LAD) criterion, and remove the judged point and line obstacles;

[0108] The thin plate spline interpolation module 806 is used to perform thin plate spline interpolation on the removed points to establish an irregular triangular grid.

[0109] When specifically implementing the point and line obstacle correction device for the elevation surface model provided by the embodiments of the present invention, in one embodiment, the aforementioned loading module is specifically used for:

[0110] Load the acquisition observation system into the surface elevation model in the form of scattered points;

[0111] Load the work area roads into the surface elevation model in the form of line segments.

[0112] When specifically implementing the point and line obstacle correction device for the elevation surface model provided by the embodiments of the present invention, in one embodiment, the aforementioned point and line obstacle judgment and removal module is specifically used for:

[0113] Obtain the elevation data column from the grid after fusion;

[0114] Calculate the arithmetic mean according to the elevation data column;

[0115] Calculate the residual error according to the arithmetic mean;

[0116] Calculate the root mean square deviation according to the Bessel method, combining the arithmetic mean and the residual error;

[0117] Judge whether there are point and line obstacles in the elevation data according to the residual error and the root mean square deviation.

[0118] When specifically implementing the point and line obstacle correction device for the elevation surface model provided by the embodiments of the present invention, in one embodiment, the aforementioned point and line obstacle judgment and removal module is further used to calculate the arithmetic mean in the following manner:

[0119]

[0120] Wherein, is the arithmetic mean; the elevation data column is X 1 、X 2 、X 2 、…、Xn 。

[0121] When specifically implementing an elevation surface model point and line obstacle correction device provided by an embodiment of the present invention, in one embodiment, the aforementioned point and line obstacle judgment and elimination module is further configured to calculate the remaining error in the following manner:

[0122]

[0123] Wherein, V i is the remaining error; is the arithmetic mean.

[0124] When specifically implementing an elevation surface model point and line obstacle correction device provided by an embodiment of the present invention, in one embodiment, the aforementioned point and line obstacle judgment and elimination module is further configured to calculate the root mean square deviation in the following manner:

[0125]

[0126] Wherein, σ X is the root mean square deviation; is the remaining error.

[0127] When specifically implementing an elevation surface model point and line obstacle correction device provided by an embodiment of the present invention, in one embodiment, the aforementioned point and line obstacle judgment and elimination module is further configured to judge whether there are point and line obstacles in the elevation data in the following manner:

[0128] Then X i is a gross error and is determined as a point and line obstacle;

[0129] Then X i is normal data;

[0130] Wherein, σ X is the root mean square deviation; is the remaining error.

[0131] When specifically implementing an elevation surface model point and line obstacle correction device provided by an embodiment of the present invention, in one embodiment, the aforementioned thin plate spline interpolation module is specifically configured to perform thin plate spline interpolation on the eliminated points in the following manner:

[0132]

[0133] Wherein, z 0 is the elevation value of the point to be interpolated; x 0 and y 0 are the abscissa and ordinate of the point to be interpolated; a, b, c are scalars; n is the number of control points around the interpolation point, and its coordinates are (xi ,y i ,z i ), i=1, 2,...,n; A∈R 1*n , * is the dot product; d j is the distance between the current point to be interpolated and the jth point in the known point set.

[0134] In summary, an embodiment of the present invention provides a method and device for correcting point and linear obstacles in an elevation surface model. First, surface elevation data is acquired to establish a surface elevation model; then the acquisition observation system and the work area roads are loaded into the surface elevation model; then the loaded surface elevation model is gridded, and a grid is constructed in combination with the scattered points of the acquisition observation system; next, the work area roads are integrated into the grid; next, the Rhineland criterion is used to determine whether there are point and linear obstacles for elevation points within a set distance range around the work area roads after the integration, and the determined point and linear obstacles are eliminated; finally, thin plate spline interpolation is performed on the eliminated points to establish an irregular triangular mesh. When exploring work area roads in the exploration seismic exploration elevation data, the embodiment of the present invention can quickly locate point and line obstacles such as telephone poles, trees, billboards, etc. within a certain distance on both sides of the road, accurately eliminate point and line outliers, and use the thin plate spline interpolation method to smoothly fill the elevation at the obstacle, realize the correction of point and line obstacles, and achieve smooth lines along the observation system and the road. The elevation data after interpolation is accurate and can quickly and clearly express the surface elevation, so that the three-dimensional surface model can be truly reflected, which is beneficial to the purpose of collection and construction.

[0135] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0136] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0137] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction device that implements the functions specified in one or more of the processes Figure 1 and / or boxes Figure 1 of one or more of the boxes.

[0138] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one or more of the processes Figure 1 and / or boxes Figure 1 of one or more of the boxes.

[0139] The specific embodiments described above further elaborate on the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the above are merely specific embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for correcting point and linear obstacles in an elevation surface model, characterized in that, it includes: Obtain surface elevation data and establish a surface elevation model; Load the acquisition observation system and the work area road onto the surface elevation model; Grid the loaded surface elevation model and construct a grid in combination with the scattered points of the acquisition observation system; Integrate the work area road into the grid; For the elevation points within a set distance around the work area road in the integrated grid, use the Chauvenet's criterion to determine whether there are point and linear obstacles, and eliminate the determined point and linear obstacles; Perform thin plate spline interpolation on the eliminated points to establish an irregular triangular grid; Loading the acquisition observation system and the work area road onto the surface elevation model includes: Loading the acquisition observation system onto the surface elevation model in the form of scattered points; Loading the work area road onto the surface elevation model in the form of line segments; Determine whether there are point and linear obstacles according to the following process: Obtain the elevation data column from the integrated grid; Calculate the arithmetic mean according to the elevation data column; Calculate the residual error according to the arithmetic mean; Calculate the root mean square deviation according to the Bessel method, combining the arithmetic mean and the residual error; Judge whether there are point and linear obstacles in the elevation data according to the residual error and the root mean square deviation.

2. The method according to claim 1, characterized in that, calculate the arithmetic mean in the following manner: wherein, is the arithmetic mean; the elevation data columns are X 1 , X 2 , X 2 , …, X n .

3. The method according to claim 1, characterized in that, calculate the residual error in the following manner: Among them, V i is the residual error; is the arithmetic mean.

4. The method according to claim 1, characterized in that, calculate the root mean square deviation in the following manner: Among them, σ X is the root mean square deviation; is the residual error.

5. The method according to claim 1, characterized in that, judge whether there are point and linear obstacles in the elevation data in the following manner: Then X i is a gross error and is determined as a dot-line obstacle; Then X i is normal data; Among them, σ X is the root mean square deviation; is the residual error.

6. The method according to claim 1, characterized in that, perform thin plate spline interpolation on the eliminated points in the following manner: Among them, z 0 is the elevation value of the point to be interpolated; x 0 and y 0 are the abscissa and ordinate of the point to be interpolated; a, b, c are scalars; n is the number of control points around the interpolation point, and its coordinates are (x i , y i , z i ), where i = 1, 2,..., n; A ∈ R 1*n , and * represents the dot product; d j is the distance between the current point to be interpolated and the j-th point in the known point set.

7. An apparatus for correcting point and linear obstacles in an elevation surface model, characterized in that, it includes: A surface elevation model establishment module for obtaining surface elevation data and establishing a surface elevation model; A loading module for loading the acquisition observation system and the work area road onto the surface elevation model; A gridification module for gridifying the loaded surface elevation model and constructing a grid in combination with the scattered points of the acquisition observation system; A fusion module for integrating the work area road into the grid; A point and linear obstacle judgment and elimination module for using the Chauvenet's criterion to determine whether there are point and linear obstacles for the elevation points within a set distance around the work area road in the integrated grid, and eliminating the determined point and linear obstacles; A thin plate spline interpolation module for performing thin plate spline interpolation on the eliminated points to establish an irregular triangular grid; The loading module is specifically used for: Loading the acquisition observation system onto the surface elevation model in the form of scattered points; Loading the work area road onto the surface elevation model in the form of line segments; The point and linear obstacle judgment and elimination module is specifically used for: Obtain the elevation data column from the integrated grid; Calculate the arithmetic mean according to the elevation data column; Calculate the residual error according to the arithmetic mean; Calculate the root mean square deviation according to the Bessel method, combining the arithmetic mean and the residual error; Judge whether there are point and linear obstacles in the elevation data according to the residual error and the root mean square deviation.

8. The device according to claim 7, wherein, the dot-like and linear obstacle judgment and elimination module is further configured to calculate the arithmetic mean in the following manner: wherein, is the arithmetic mean; the elevation data columns are X 1 , X 2 , X 2 , …, X n .

9. The device according to claim 7, wherein, the dot-like and linear obstacle judgment and elimination module is further configured to calculate the residual error in the following manner: Among them, V i is the residual error; is the arithmetic mean.

10. The device according to claim 7, wherein, the dot-like and linear obstacle judgment and elimination module is further configured to calculate the root mean square deviation in the following manner: Among them, σ X is the root mean square deviation; is the residual error.

11. The device according to claim 7, wherein, the dot-like and linear obstacle judgment and elimination module is further configured to judge whether there is a dot-like or linear obstacle in the elevation data in the following manner: Then X i is a gross error and is determined to be a dot-line obstacle; Then X i is normal data; Among them, σ X is the root mean square deviation; is the residual error.

12. The device according to claim 7, wherein, the thin plate spline interpolation module is specifically configured to perform thin plate spline interpolation on the eliminated points in the following manner: where z 0 is the elevation value of the point to be interpolated; x 0 and y 0 are the abscissa and ordinate of the point to be interpolated; a, b, c are scalars; n is the number of control points around the interpolation point, and their coordinates are (x i , y i , z i ), i = 1, 2,..., n; A ∈ R 1*n , * represents the dot product; d j is the distance between the current point to be interpolated and the j-th point in the known point set.

13. A computer device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein, when the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

14. A computer-readable storage medium, wherein, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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