Tower inclination model registration method and device

Abstract

The present invention provides a method and device for registering a tower inclination model. The method for registering the tower inclination model includes: determining the characteristic points of the tower model according to the tower model data; determining the inclination model data corresponding to the characteristic points of the tower model as the characteristic points of the inclination model; determining the vertical axis transformation value of the inclination model according to the characteristic points of the tower model and the characteristic points of the inclination model; and adjusting the inclination model data according to the characteristic points of the tower model, the characteristic points of the inclination model and the vertical axis transformation value of the inclination model to obtain the tower registration model. The present invention can realize the elevation value registration of large-area oblique photography, meet the accuracy requirements required by applications, and has high working efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional modeling. Specifically, it relates to a method and device for registering a tower inclination model. Background Art

[0002] The oblique photography technology can quickly form three-dimensional geospatial data with multiple scales, multiple types, and multiple contents for three-dimensional modeling data. By using the rich visual details of the oblique photography model, it realizes the technology of displaying the results of the three-dimensional model of the transmission line channel by oblique photography and the comprehensive visual management of the transmission line channel, providing reliable support for the operation and maintenance of transmission lines. The oblique photography technology is an improvement and development of conventional aerial photography, which can obtain the elevation texture information and geometric information of ground objects that cannot be obtained by conventional aerial photography. In order to improve the accuracy of the point positions of the results of unmanned aerial vehicle oblique photography measurement, it is necessary to arrange image control points. Arranging image control points in oblique photography can make the generated models evenly distributed, clearly depicted, and clearly visible in the images. The quality of the selection of image control point targets and the accuracy of the indicated point positions directly affect the accuracy of the results, and there are also relevant requirements for the number, arrangement method, and arrangement principle of image control points in different areas. However, since most of the environments where transmission line channels are located are areas with large terrain undulations and many mountains, arranging phase control points may not necessarily meet the accuracy requirements. Therefore, there is a large difference between the generated oblique photography model and the true coordinates. In order to improve the display effect of the three-dimensional model of the transmission line channel by oblique photography and the subsequent improvement of the superposition display effect with laser point cloud data and other three-dimensional models, it is necessary to register the coordinate elevation values of the oblique model. Summary of the Invention

[0003] The main purpose of the embodiments of the present invention is to provide a method and device for registering a tower inclination model, so as to realize the registration of elevation values of large-area oblique photography, meet the accuracy requirements required for applications, and have high working efficiency.

[0004] To achieve the above purpose, an embodiment of the present invention provides a method for registering a tower inclination model, including:

[0005] Determining tower model feature points according to tower model data;

[0006] Determining the corresponding oblique model data of the tower model feature points as oblique model feature points;

[0007] Determining the vertical axis transformation value of the oblique model according to the tower model feature points and the oblique model feature points;

[0008] Adjusting the oblique model data according to the tower model feature points, the oblique model feature points, and the vertical axis transformation value of the oblique model to obtain a tower registration model.

[0009] In one embodiment, adjusting the tilt model data according to the pole tower model feature points, tilt model feature points, and tilt model vertical axis transformation value to obtain the pole tower registration model includes:

[0010] Determining the tilt model vertical axis change value according to the pole tower model feature points, tilt model feature points, and tilt model vertical axis transformation value;

[0011] Adjusting the tilt model data according to the tilt model vertical axis change value to obtain the pole tower registration model.

[0012] In one embodiment, determining the pole tower model feature points according to the pole tower model data includes:

[0013] Determining the pole tower vertices according to the pole tower model data;

[0014] Constructing an oriented bounding box based on the pole tower vertices;

[0015] Determining the pole tower vertices corresponding to the bottom vertices of the oriented bounding box as the pole tower model feature points.

[0016] In one embodiment, determining the tilt model data corresponding to the pole tower model feature points as the tilt model feature points includes:

[0017] Constructing a tile bounding box according to the tilt model data;

[0018] Determining the tilt model data corresponding to the pole tower model feature points as the tilt model feature points according to the positional relationship between the tile bounding box and the oriented bounding box.

[0019] An embodiment of the present invention further provides a pole tower tilt model registration device, including:

[0020] A pole tower model feature point module, configured to determine pole tower model feature points according to pole tower model data;

[0021] A tilt model feature point module, configured to determine the tilt model data corresponding to the pole tower model feature points as the tilt model feature points;

[0022] A vertical axis transformation value module, configured to determine the tilt model vertical axis transformation value according to the pole tower model feature points and the tilt model feature points;

[0023] A pole tower registration model module, configured to adjust the tilt model data according to the pole tower model feature points, the tilt model feature points, and the tilt model vertical axis transformation value to obtain the pole tower registration model.

[0024] In one embodiment, the pole tower registration model module includes:

[0025] A vertical axis change value unit, configured to determine the tilt model vertical axis change value according to the pole tower model feature points, the tilt model feature points, and the tilt model vertical axis transformation value;

[0026] The tower registration model unit is used to adjust the tilt model data according to the vertical axis change value of the tilt model to obtain the tower registration model.

[0027] In one of the embodiments, the tower model feature point module includes:

[0028] The tower vertex unit is used to determine the tower vertex according to the tower model data;

[0029] The oriented bounding box construction unit is used to construct an oriented bounding box according to the tower vertex;

[0030] The tower model feature point unit is used to determine the tower vertex corresponding to the bottom vertex of the oriented bounding box as the tower model feature point.

[0031] In one of the embodiments, the tilt model feature point module includes:

[0032] The tile bounding box unit is used to construct a tile bounding box according to the tilt model data;

[0033] The tilt model feature point unit is used to determine the tilt model data corresponding to the tower model feature point as the tilt model feature point according to the positional relationship between the tile bounding box and the oriented bounding box.

[0034] The embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored on the memory and running on the processor. When the processor executes the computer program, the steps of the tower tilt model registration method are implemented.

[0035] The embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the tower tilt model registration method are implemented.

[0036] In the tower tilt model registration method and device of the embodiment of the present invention, first, the tower model feature points are determined according to the tower model data, then the tilt model data corresponding to the tower model feature points are determined as the tilt model feature points, and then the vertical axis transformation value of the tilt model is determined according to the tower model feature points and the tilt model feature points to adjust the tilt model data to obtain the tower registration model, which can realize the elevation value registration of large-area oblique photography, meet the accuracy requirements required by the application, and has high working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] 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 drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0038] Figure 1 is the flowchart of the tower inclination model registration method in the embodiment of the present invention;

[0039] Figure 2 is the flowchart of the tower inclination model registration method in another embodiment of the present invention;

[0040] Figure 3 is the flowchart of S101 in the embodiment of the present invention;

[0041] Figure 4 is the flowchart of finding the feature points of the tower model in the embodiment of the present invention;

[0042] Figure 5 is the flowchart of S104 in the embodiment of the present invention;

[0043] Figure 6 is the schematic diagram of the tile organization form in the embodiment of the present invention;

[0044] Figure 7 is the schematic diagram of the feature points of the tower model in the embodiment of the present invention;

[0045] Figure 8 is the schematic diagram of the feature points of the tower model and the corresponding feature points of the inclination model in the embodiment of the present invention;

[0046] Figure 9 is the distance semi - variance scatter plot in the embodiment of the present invention;

[0047] Figure 10 is the structural block diagram of the tower inclination model registration device in the embodiment of the present invention;

[0048] Figure 11 is the structural block diagram of the computer device in the embodiment of the present invention. Detailed implementation manners

[0049] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0050] Those skilled in the art know that the embodiments of the present invention can be implemented as a system, device, equipment, method, or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms: completely hardware, completely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software.

[0051] In view of the large difference between the oblique photography model generated by the prior art and the real coordinates, the embodiment of the present invention provides a tower oblique model registration method and device, which can realize the elevation value registration of large-area oblique photography, meet the accuracy requirements of the application, and have high work efficiency. The present invention is described in detail below with reference to the accompanying drawings.

[0052] The present invention is a scheme for registering a 3D Tiles format oblique photogrammetry model that does not meet the accuracy requirement based on a tower model generated by laser radar point cloud data. The coordinates of the four corner points of the tower are extracted according to the tower model generated by the laser point cloud, and then the four corner point coordinates corresponding to the oblique model are traversed through the four corner point coordinates. The plane of the elevation transformation value is fitted by the Kriging interpolation algorithm and output as a tif image with an accuracy of 0.5m. Finally, the elevation change value of the corresponding point of the oblique photogrammetry model is read by the tif image to modify the elevation value. The elevation value registration of large-area oblique photography can be automatically realized without manual point selection, and the work efficiency is very high.

[0053] The oblique photography format modified by the present invention is the 3D Tiles format. 3D Tiles is a layered LOD structural product, a format specially designed for streaming and massive rendering of large amounts of geographic 3D data, and is currently the official format of the open source WebGL framework Cesium. Figure 6 Schematic diagram of the tile organization form in an embodiment of the present invention. Figure 6 As shown, 3D Tiles is very similar to the tile organization in 2D maps. In 3D Tiles, a tile is a tree structure composed of a series of child tiles. Each tile can reference one of b3dm, i3dm, pnts and cmpt. Batch 3D models (b3dm) and instance 3D models (i3dm) are built based on glTF. Tiles are organized in a tree structure, which combines the concept of hierarchical LOD (HLOD) to render spatial data as quickly and optimally as possible. In the tree structure, each tile has a bounding box attribute that can completely surround the tile and the data of the child node in space, such as Figure 6 The 3D Tiles format stores the position information of the vertices of the oblique photography model, that is, the position information of the three axes of the geographic space x-axis (horizontal axis), y-axis (vertical axis) and z-axis (vertical axis). In the present invention, the vertical axis direction value, that is, the elevation value, is modified by the horizontal axis data and the vertical axis data.

[0054] Figure 1 It is a flow chart of the tower tilt model registration method in an embodiment of the present invention. Figure 2 FIG. 1 is a flow chart of a tower tilt model registration method according to another embodiment of the present invention. Figure 1 - Figure 2 As shown in FIG. 1 , the tower tilt model registration method includes:

[0055] S101: Determine the characteristic points of the pole tower model based on the pole tower model data.

[0056] The pole tower model is an obj model generated based on laser point cloud data. Finding the pole tower vertices and the data volume of the four characteristic points of the pole tower model based on the obj model is small, and the operation is simple and convenient. First, an oriented bounding box is generated according to the point cloud data of the pole tower model. The oriented bounding box has directionality and can be rotated. Compared with the AABB bounding box, it can approximate the object more closely. Therefore, the four characteristic points corresponding to the pole tower model can be traversed based on the minimum distances from the four corner points of the bottom surface of the oriented bounding box. When making the minimum distance determination, a threshold can be set, and the points above 1 / 3 or 1 / 2 of the pole tower are not involved in the traversal to accelerate the traversal process. Figure 7 It is a schematic diagram of the characteristic points of the pole tower model in the embodiment of the present invention. As Figure 7 shown, Figure 7 the points in are the four characteristic points of the pole tower model found.

[0057] Figure 3 It is a flowchart of S101 in the embodiment of the present invention. Figure 4 It is a flowchart of finding the characteristic points of the pole tower model in the embodiment of the present invention. As Figure 3 - Figure 4 shown, S101 includes:

[0058] S201: Determine the pole tower vertices according to the pole tower model data.

[0059] Among them, the pole tower model data format is obj (a three-dimensional model data storage format). S201 extracts the position information of the pole tower vertices stored in the obj file (with the character v as the key identifier and separated by spaces representing x, y, and z in three-dimensional space). Specifically, when implementing, find the lines starting with the key character v in the obj, and split out the three-dimensional vertex data.

[0060] S202: Construct an oriented bounding box according to the pole tower vertices.

[0061] Specifically, when implementing, the oriented bounding box (Obb, Oriented bounding box) of the pole tower model data can be found by traversing the three-dimensional pole tower vertices.

[0062] S203: Determine that the pole tower vertices corresponding to the bottom surface vertices of the oriented bounding box are the characteristic points of the pole tower model.

[0063] Specifically, when implementing, find the pole tower vertices with the closest distance to the four vertex coordinates based on the bottom surface vertices of the oriented bounding box as the characteristic points of the pole tower model. For example, traverse the vertex data. If it is less than the set vertical axis threshold, find the closest points to the four bottom surface vertices of the oriented bounding box as the characteristic points of the pole tower model.

[0064] S102: Determine that the tilt model data corresponding to the pole and tower model feature points is the tilt model feature points.

[0065] In one embodiment, S102 includes: constructing a tile bounding box according to the tilt model data; determining that the tilt model data corresponding to the pole and tower model feature points is the tilt model feature points according to the positional relationship between the tile bounding box and the oriented bounding box.

[0066] Since the 3D Tiles format is in a form similar to an octree, there is an entry file tileset.json with a root node of 3DTiles, which is a description of the entire tile set and stores the spatial organizational structure of the tiles. The tile data is responsible for storing all three-dimensional geographic information data within a single tile. Therefore, when looking for the corresponding pole and tower model feature points, this feature can be utilized to accelerate the search process. The information of the tile bounding box is stored in the json file. Therefore, only the tiles that intersect with the pole and tower model may have corresponding points, and the non-intersecting tiles will not have corresponding points, nor will their corresponding sub-tiles, thus accelerating the traversal process.

[0067] Specifically, when implementing, determine the intersection between the oriented bounding box and the tile bounding box. If the positional relationship between the tile bounding box and the oriented bounding box is intersection or inclusion, traverse the vertex information stored in the tile to find the nearest point of the pole and tower model feature points as the tilt model data; determine whether there are sub-tiles for this tile. If there are sub-tiles, continue to traverse until all tiles are traversed. At this time, there may be multiple pieces of tilt model data corresponding to the pole and tower model feature points. Therefore, calculate the average value of the three axes of the horizontal axis, vertical axis, and vertical axis of the tilt model data as the tilt model feature points. Figure 8 It is a schematic diagram of the pole and tower model feature points and the corresponding tilt model feature points in an embodiment of the present invention. As Figure 8 shown, the square points are the pole and tower model feature points, and the circular points are the tilt model feature points corresponding to the pole and tower model feature points.

[0068] Among them, when the three axes of the horizontal axis, vertical axis, and vertical axis are non-intersecting, the positional relationship between the tile bounding box and the oriented bounding box is non-intersecting; when the three axes of the horizontal axis, vertical axis, and vertical axis intersect, the positional relationship between the tile bounding box and the oriented bounding box is intersection, and the rest is inclusion.

[0069] S103: Determine the vertical axis transformation value of the tilt model according to the pole and tower model feature points and the tilt model feature points.

[0070] S104: Adjust the tilt model data according to the pole and tower model feature points, the tilt model feature points, and the vertical axis transformation value of the tilt model to obtain the pole and tower registration model.

[0071] Figure 5 It is a flowchart of S104 in an embodiment of the present invention. As Figure 5 shown, S104 includes:

[0072] S301: Determine the vertical axis change value of the tilt model based on the characteristic points of the pole tower model, the characteristic points of the tilt model, and the vertical axis transformation value of the tilt model.

[0073] When executing S301, the horizontal and vertical coordinate values of the characteristic points of the pole tower model, the horizontal and vertical coordinate values of the characteristic points of the tilt model, and the vertical axis transformation value Δz of the tilt model can be used as the Kriging interpolation input data to interpolate the vertical axis change value of the corresponding horizontal and vertical positions of the tilt model.

[0074] Kriging interpolation is an advanced geostatistics that generates an estimated surface through a set of scattered points with z values. In the present invention, it is an advanced geostatistics that generates an estimated surface through scattered points of elevation value change. The Kriging method assumes that the distance or direction between sampling points can reflect the spatial correlation explaining the surface change. The Kriging tool can fit a mathematical function with a specified number of points or all points within a specified radius to determine the output value at each position, including exploratory statistical analysis of data, variogram modeling, and creating a surface, and also includes studying the variance surface. The specific steps are as follows:

[0075] 1. Calculate the distances between all the characteristic points of the pole tower model. Suppose there are n characteristic points of the pole tower model in total, then there are n(n - 1) / 2 distance data. n is four times the number of pole towers, and one pole tower corresponds to four characteristic points of the pole tower model. The distance calculation formula is as follows:

[0076]

[0077] where h is the distance, x i is the abscissa of one of the characteristic points, x j is the abscissa of another characteristic point, y i is the ordinate of one of the characteristic points, y j is the ordinate of another characteristic point.

[0078] 2. Substitute the distances into the semi-variance formula to calculate the semi-variance corresponding to each group of distances, as follows:

[0079]

[0080] where r(h) is the semi-variance corresponding to h, Δz(x i ) is the vertical axis transformation value (tilt model registration value) corresponding to x i , and Δz(x i + h) is the vertical axis transformation value corresponding to x i + h.

[0081] 3. Find the fitting curve to fit the relationship between the distance and the semi-variance, and draw a scatter plot of the distance semi-variance based on the calculated semi-variance. Figure 9It is the distance semi-variance scatter plot in the embodiments of the present invention. As Figure 9 shown, as Figure 9 shown, the horizontal axis represents the distance and the vertical axis represents the semi-variance. According to this graph, the best-fitting theoretical variogram model can be found (mainly including the spherical model, the exponential function model, the Gaussian model, etc.). In the present invention, the exponential function model is selected.

[0082] The standard exponential function model is as follows:

[0083]

[0084] Among them, a is the actual fitting parameter. As Figure 9 shown, when a takes the value of 24, the exponential model fits better with the vertical axis transformation value.

[0085] 4. Use the fitted exponential function model to estimate the attribute value of the unknown point, which is the elevation transformation value (vertical axis change value) of the oblique photography model in the present invention. The specific formula is as follows:

[0086]

[0087] Among them, is the estimated value at the point (x0, y0), which is the vertical axis change value corresponding to (x0, y0) in the present invention, z i is the original vertical axis data of the i-th feature point of the oblique model, and λ i is the weight of the i-th feature point of the oblique model, which is calculated according to and obtained.

[0088] S302: Adjust the oblique model data according to the vertical axis change value of the oblique model to obtain the tower registration model.

[0089] In specific implementation, output the vertical axis change value of the oblique model as a tif file, and adjust the vertical axis data at the corresponding position of the oblique model according to the tif file to obtain the tower registration model.

[0090] Figure 1 shown, the execution subject of the tower oblique model registration method can be a computer. From Figure 1 shown in the process, the tower oblique model registration method in the embodiments of the present invention first determines the tower model feature points according to the tower model data, then determines the oblique model data corresponding to the tower model feature points as the oblique model feature points, and then determines the vertical axis transformation value of the oblique model according to the tower model feature points and the oblique model feature points to adjust the oblique model data to obtain the tower registration model, which can realize the elevation value registration of large-area oblique photography, meet the accuracy requirements required by the application, and has high work efficiency.

[0091] The specific process of the embodiments of the present invention is as follows:

[0092] 1. Determine the pole tower vertices based on the pole tower model data, and construct an oriented bounding box according to the pole tower vertices.

[0093] 2. Determine the pole tower vertices corresponding to the bottom vertices of the oriented bounding box as the pole tower model feature points.

[0094] 3. Construct a tile bounding box according to the tilt model data.

[0095] 4. Determine the tilt model data corresponding to the pole tower model feature points as the tilt model feature points according to the positional relationship between the tile bounding box and the oriented bounding box.

[0096] 5. Determine the vertical axis transformation value of the tilt model according to the pole tower model feature points and the tilt model feature points.

[0097] 6. Determine the vertical axis change value of the tilt model according to the pole tower model feature points, the tilt model feature points and the vertical axis transformation value of the tilt model.

[0098] 7. Adjust the tilt model data according to the vertical axis change value of the tilt model to obtain the pole tower registration model.

[0099] In summary, the pole tower tilt model registration method provided by the embodiments of the present invention has the following beneficial effects:

[0100] (1) It automatically detects the pole tower feature points without manual operation, effectively improving the production efficiency; when displayed on the later platform, the tilt photogrammetry model can be effectively matched with the point cloud data and the tower model data, improving the model accuracy;

[0101] (2) The pole tower model is directly generated based on the pole tower point cloud data, and the data is easy to obtain and the acquisition efficiency is relatively high;

[0102] (3) The Kriging interpolation method is used to interpolate the elevation transformation value, and the fitted elevation transformation value has a smooth transition, and the fitted plane conforms to the actual situation.

[0103] Based on the same inventive concept, the embodiments of the present invention also provide a pole tower tilt model registration device. Since the principle of solving problems by this device is similar to that of the pole tower tilt model registration method, the implementation of this device can refer to the implementation of the method, and the repeated parts will not be described again.

[0104] Figure 10 It is the structural block diagram of the pole tower tilt model registration device in the embodiments of the present invention. As Figure 10 shown, the pole tower tilt model registration device includes:

[0105] The pole tower model feature point module is used to determine the pole tower model feature points according to the pole tower model data;

[0106] The inclined model feature point module is used to determine that the inclined model data corresponding to the tower model feature points is the inclined model feature points;

[0107] The vertical axis transformation value module is used to determine the inclined model vertical axis transformation value according to the tower model feature points and the inclined model feature points;

[0108] The tower registration model module is used to adjust the inclined model data according to the tower model feature points, the inclined model feature points and the inclined model vertical axis transformation value to obtain the tower registration model.

[0109] In one embodiment, the tower registration model module includes:

[0110] The vertical axis change value unit is used to determine the inclined model vertical axis change value according to the tower model feature points, the inclined model feature points and the inclined model vertical axis transformation value;

[0111] The tower registration model unit is used to adjust the inclined model data according to the inclined model vertical axis change value to obtain the tower registration model.

[0112] In one embodiment, the tower model feature point module includes:

[0113] The tower vertex unit is used to determine the tower vertex according to the tower model data;

[0114] The oriented bounding box construction unit is used to construct an oriented bounding box according to the tower vertex;

[0115] The tower model feature point unit is used to determine that the tower vertex corresponding to the bottom vertex of the oriented bounding box is the tower model feature point.

[0116] In one embodiment, the inclined model feature point module includes:

[0117] The tile bounding box unit is used to construct a tile bounding box according to the inclined model data;

[0118] The inclined model feature point unit is used to determine that the inclined model data corresponding to the tower model feature points is the inclined model feature points according to the positional relationship between the tile bounding box and the oriented bounding box.

[0119] In summary, the tower inclination model registration device of the embodiments of the present invention first determines the tower model feature points according to the tower model data, then determines that the inclined model data corresponding to the tower model feature points is the inclined model feature points, and then determines the inclined model vertical axis transformation value according to the tower model feature points and the inclined model feature points to adjust the inclined model data to obtain the tower registration model, which can realize the elevation value registration of large-area oblique photography, meet the accuracy requirements required by the application, and has high working efficiency.

[0120] An embodiment of the present invention also provides a specific implementation manner of a computer device that can implement all steps in the tower inclination model registration method in the above embodiment. Figure 11 It is a structural block diagram of the computer device in the embodiment of the present invention. Refer to Figure 11 The computer device specifically includes the following:

[0121] A processor 1101 and a memory 1102.

[0122] The processor 1101 is used to call a computer program in the memory 1102. When the processor executes the computer program, all steps in the tower inclination model registration method in the above embodiment are implemented. For example, when the processor executes the computer program, the following steps are implemented:

[0123] Determine the tower model feature points according to the tower model data;

[0124] Determine the inclination model data corresponding to the tower model feature points as the inclination model feature points;

[0125] Determine the inclination model vertical axis transformation value according to the tower model feature points and the inclination model feature points;

[0126] Adjust the inclination model data according to the tower model feature points, the inclination model feature points and the inclination model vertical axis transformation value to obtain the tower registration model.

[0127] In summary, the computer device in the embodiment of the present invention first determines the tower model feature points according to the tower model data, then determines the inclination model data corresponding to the tower model feature points as the inclination model feature points, and then determines the inclination model vertical axis transformation value according to the tower model feature points and the inclination model feature points to adjust the inclination model data to obtain the tower registration model, which can realize the elevation value registration of large-area oblique photography, meet the accuracy requirements required by the application, and has high working efficiency.

[0128] An embodiment of the present invention also provides a computer-readable storage medium that can implement all steps in the tower inclination model registration method in the above embodiment. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, all steps in the tower inclination model registration method in the above embodiment are implemented. For example, when the processor executes the computer program, the following steps are implemented:

[0129] Determine the tower model feature points according to the tower model data;

[0130] Determine the inclination model data corresponding to the tower model feature points as the inclination model feature points;

[0131] Determine the vertical axis transformation value of the tilt model based on the characteristic points of the pole tower model and the characteristic points of the tilt model;

[0132] Adjust the tilt model data according to the characteristic points of the pole tower model, the characteristic points of the tilt model, and the vertical axis transformation value of the tilt model to obtain the pole tower registration model.

[0133] In summary, the computer-readable storage medium of the embodiment of the present invention first determines the characteristic points of the pole tower model according to the pole tower model data, then determines the tilt model data corresponding to the characteristic points of the pole tower model as the characteristic points of the tilt model, and then determines the vertical axis transformation value of the tilt model according to the characteristic points of the pole tower model and the characteristic points of the tilt model to adjust the tilt model data to obtain the pole tower registration model, which can realize the elevation value registration of large-area oblique photography, meet the accuracy requirements required by the application, and has high work efficiency.

[0134] In the above specific embodiments, the purpose, technical solution, and beneficial effects of the present invention have been further described in detail. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0135] Those skilled in the art can also understand that the various illustrative logical blocks, units, and steps listed in the embodiments of the present invention can be implemented by electronic hardware, computer software, or a combination of both. To clearly show the interchangeability of hardware and software, the above various illustrative components, units, and steps have been generally described in terms of their functions. Whether such functions are implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art can use various methods to implement the described functions for each specific application, but such implementation should not be construed as exceeding the protection scope of the embodiments of the present invention.

[0136] In the embodiments of the present invention, the various illustrative logical blocks, or units, or devices described can be implemented or operate the described functions by a general-purpose processor, a digital signal processor, an application specific integrated circuit (ASIC), a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of the above designs. The general-purpose processor can be a microprocessor. Optionally, the general-purpose processor can also be any conventional processor, controller, microcontroller or state machine. The processor can also be implemented by a combination of computing devices, such as a digital signal processor and a microprocessor, multiple microprocessors, one or more microprocessors combined with a digital signal processor core, or any other similar configuration.

[0137] The steps of the methods or algorithms described in the embodiments of the present invention can be directly embedded in hardware, software modules executed by the processor, or a combination of both. The software modules can be stored in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, a CD-ROM or any other form of storage medium in the art. Exemplarily, the storage medium can be connected to the processor so that the processor can read information from the storage medium and write information to the storage medium. Optionally, the storage medium can also be integrated into the processor. The processor and the storage medium can be disposed in an ASIC, and the ASIC can be disposed in a user terminal. Optionally, the processor and the storage medium can also be disposed in different components of the user terminal.

[0138] In one or more exemplary designs, the functions described in embodiments of the present invention may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. The computer-readable medium includes both computer storage media and communication media facilitating transfer of a computer program from one place to another. The storage media may be any available media that can be accessed by a general or special purpose computer. By way of example, and not limitation, such computer-readable media can include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a general or special purpose computer, or a general or special purpose processor. Additionally, any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave, it is included in the definition of computer-readable medium. The disk and disc include compact disk, laser disk, optical disk, DVD, floppy disk, and Blu-ray disk, where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

Claims

1. A method for registering a tower inclination model, characterized in that, Including: Determine the characteristic points of the pole tower model according to the pole tower model data; Determine the corresponding tilt model data of the characteristic points of the pole tower model as the characteristic points of the tilt model; Determine the vertical axis transformation value of the tilt model according to the characteristic points of the pole tower model and the characteristic points of the tilt model; Adjust the tilt model data according to the characteristic points of the pole tower model, the characteristic points of the tilt model and the vertical axis transformation value of the tilt model to obtain the pole tower registration model; Among them, determining the characteristic points of the pole tower model according to the pole tower model data includes: Determine the pole tower vertices according to the pole tower model data; Construct an oriented bounding box according to the pole tower vertices; Determine the pole tower vertices corresponding to the bottom vertices of the oriented bounding box as the characteristic points of the pole tower model.

2. The method for registering a pole and tower inclination model according to claim 1, characterized in that Adjusting the tilt model data according to the characteristic points of the pole tower model, the characteristic points of the tilt model and the vertical axis transformation value of the tilt model to obtain the pole tower registration model includes: Determine the vertical axis change value of the tilt model according to the characteristic points of the pole tower model, the characteristic points of the tilt model and the vertical axis transformation value of the tilt model; Adjust the tilt model data according to the vertical axis change value of the tilt model to obtain the pole tower registration model.

3. The method for registering a pole and tower inclination model according to claim 1, wherein Determining the corresponding tilt model data of the characteristic points of the pole tower model as the characteristic points of the tilt model includes: Construct a tile bounding box according to the tilt model data; Determine the corresponding tilt model data of the characteristic points of the pole tower model as the characteristic points of the tilt model according to the positional relationship between the tile bounding box and the oriented bounding box.

4. A tower tilt model registration device, characterized in that, Including: A pole tower model characteristic point module, used to determine the characteristic points of the pole tower model according to the pole tower model data; A tilt model characteristic point module, used to determine the corresponding tilt model data of the characteristic points of the pole tower model as the characteristic points of the tilt model; A vertical axis transformation value module, used to determine the vertical axis transformation value of the tilt model according to the characteristic points of the pole tower model and the characteristic points of the tilt model; A pole tower registration model module, used to adjust the tilt model data according to the characteristic points of the pole tower model, the characteristic points of the tilt model and the vertical axis transformation value of the tilt model to obtain the pole tower registration model; Among them, the pole tower model characteristic point module includes: A pole tower vertex unit, used to determine the pole tower vertices according to the pole tower model data; An oriented bounding box construction unit, used to construct an oriented bounding box according to the pole tower vertices; A pole tower model characteristic point unit, used to determine the pole tower vertices corresponding to the bottom vertices of the oriented bounding box as the characteristic points of the pole tower model.

5. The tower inclination model registration device according to claim 4, characterized in that The pole tower registration model module includes: A vertical axis change value unit, used to determine the vertical axis change value of the tilt model according to the characteristic points of the pole tower model, the characteristic points of the tilt model and the vertical axis transformation value of the tilt model; A pole tower registration model unit, used to adjust the tilt model data according to the vertical axis change value of the tilt model to obtain the pole tower registration model.

6. The tower inclination model registration device according to claim 4, wherein, The tilt model characteristic point module includes: A tile bounding box unit, used to construct a tile bounding box according to the tilt model data; A tilt model characteristic point unit, used to determine the corresponding tilt model data of the characteristic points of the pole tower model as the characteristic points of the tilt model according to the positional relationship between the tile bounding box and the oriented bounding box.

7. A computer device, comprising a memory, a processor, and a computer program stored on the memory and running on the processor, characterized in that When the processor executes the computer program, the steps of the tower inclination model registration method according to any one of claims 1 to 3 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the tower inclination model registration method according to any one of claims 1 to 3 are implemented.

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