Large-scale digital line map determination method, device and terminal equipment

Abstract

The present application discloses a method, device and terminal device for determining a large-scale digital line map. The method comprises obtaining the landform type of the area to be measured, obtaining an inclined three-dimensional model and a downward-looking stereo model, and determining the digital line map of the area to be measured according to the landform type of the area to be measured, the inclined three-dimensional model and the downward-looking stereo model. The method of the present application is not restricted by terrain, improves data collection efficiency, and greatly reduces the workload of subsequent field surveys.

Description

Technical Field

[0001] The present invention relates to the field of geographic information surveying and mapping technology, and in particular to a method, device and terminal equipment for determining a large-scale digital line map. Background Art

[0002] At present, there are four commonly used large-scale digital line map surveying methods on the market, namely vertical photography 3D mapping, oblique photography 3D mapping, stereo image pair mapping, and point cloud 3D mapping. When generating digital line maps, one of the above collection methods is generally selected according to the terrain. However, a single collection method will have limitations for complex terrain and cannot collect accurate data, which will result in low collection efficiency and a large workload for subsequent field surveys. Summary of the invention

[0003] In view of the above problems, the present application proposes a method, apparatus, terminal device and readable medium for determining a large-scale digital line map.

[0004] The present application proposes a method for determining a large-scale digital line map, the method comprising:

[0005] Acquire a landform type of the area to be measured, where the landform type includes at least one of a first landform type and a second landform type;

[0006] Obtaining an inclined three-dimensional model and a downward-looking stereo model;

[0007] A digital line map of the area to be measured is determined according to the landform type of the area to be measured, the inclined three-dimensional model and the downward-looking stereo model.

[0008] The large-scale digital line map determination method described in the present application, wherein the digital line map of the area to be measured is determined according to the landform type of the area to be measured, the inclined three-dimensional model and the downward-looking stereo model, comprises:

[0009] When the area to be measured is of the first landform type, obtaining all inclined three-dimensional data of the area to be measured collected by using the inclined three-dimensional model;

[0010] determining each deformation region from the entire tilted three-dimensional data;

[0011] Acquire each stereo data corresponding to each deformation area collected by using the downward-looking stereo model;

[0012] The digital line map of the area to be tested is determined by using the entire tilted three-dimensional data and the stereoscopic data corresponding to the deformed areas.

[0013] The large-scale digital line map determination method described in the present application, wherein the digital line map of the area to be measured is determined by using all the tilted three-dimensional data and the three-dimensional data corresponding to each deformed area, comprises:

[0014] first comprehensive data, and determining a first precision corresponding to the first comprehensive data according to a precision detection formula;

[0015] Determining whether the first accuracy is within a preset accuracy range;

[0016] If the first precision is within the preset precision range, performing office editing based on the first comprehensive data to obtain the digital line map;

[0017] If the first accuracy is not within the preset accuracy range, after all the tilted three-dimensional data of the area to be measured are re-collected using the tilted three-dimensional model, all the tilted three-dimensional data of the area to be measured re-collected using the tilted three-dimensional model are re-acquired.

[0018] The large-scale digital line map determination method described in the present application, wherein the digital line map of the area to be measured is determined according to the landform type of the area to be measured, the inclined three-dimensional model and the downward-looking stereo model, comprises:

[0019] When the area to be measured is of the second landform type, obtaining stereo data corresponding to the target position of the area to be measured collected by using the downward-looking stereo model;

[0020] Importing the stereoscopic data corresponding to the target position into the inclined three-dimensional model to determine the inclined three-dimensional data of other positions in the area to be measured except the target position that need to be collected by the inclined three-dimensional model;

[0021] The digital line map of the area to be measured is determined using the three-dimensional data corresponding to the target position and the inclined three-dimensional data of the other positions.

[0022] The large-scale digital line map determination method described in the present application, wherein the digital line map of the area to be measured is determined by using all the tilted three-dimensional data and the three-dimensional data corresponding to each deformed area, comprises:

[0023] Obtain second comprehensive data using the stereoscopic data corresponding to the target position and the tilted three-dimensional data of the target at the other positions, and determine a second precision corresponding to the second comprehensive data according to a precision detection formula;

[0024] Determining whether the second accuracy is within a preset accuracy range;

[0025] If the second precision is within the preset precision range, performing office editing based on the second comprehensive data to obtain the digital line map;

[0026] If the second accuracy is not within the preset accuracy range, after re-collecting the stereo data corresponding to the target position of the area to be measured using the downward-looking stereo model, re-acquire the stereo data corresponding to the target position of the area to be measured using the downward-looking stereo model.

[0027] The method for determining a large-scale digital line map described in the present application, based on the first comprehensive data or the second comprehensive data, performs office editing to obtain a digital line map, comprising:

[0028] Obtain supplementary survey data obtained through field supplementary survey;

[0029] Performing office editing based on the comprehensive data and the supplementary measurement data to generate an initial digital line map, and determining quality elements corresponding to the initial digital line map, wherein the comprehensive data is the first comprehensive data or the second comprehensive data;

[0030] Determine whether each quality element is greater than or equal to a corresponding preset quality element threshold;

[0031] If each of the quality elements is greater than or equal to the corresponding preset quality element threshold, using the initial digital line drawing map as the digital line drawing map;

[0032] If each of the quality elements is less than the quality element threshold, the process of re-executing the internal editing based on the comprehensive data and the supplementary survey data to generate the initial digital line map. The large-scale digital line map determination method described in the present application also includes pre-generating the inclined three-dimensional model and the downward-looking stereo model, wherein the inclined three-dimensional model includes a first contour line and a first elevation point;

[0033] Pre-generating the inclined three-dimensional model and the downward-looking stereoscopic model;

[0034] deriving the first contour line and the first elevation point from the inclined three-dimensional model;

[0035] The first contour line and the first elevation point are imported into the downward-looking stereo model, so as to correct the first contour line and the first elevation point imported into the downward-looking stereo model to obtain the second contour line and the second elevation point of the downward-looking stereo model.

[0036] The present application proposes a high-precision topographic map making device, the device comprising:

[0037] A landform acquisition module, which acquires a landform type of the area to be measured, wherein the landform type includes at least one of a first landform type and a second landform type;

[0038] A model acquisition module, which acquires an inclined three-dimensional model and a downward-looking stereo model;

[0039] A generating module determines a digital line map of the area to be measured according to the landform type of the area to be measured, the inclined three-dimensional model and the downward-looking stereo model.

[0040] The present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program runs on the processor, the method for determining a large-scale digital line map described in the present application is executed.

[0041] The present application provides a readable storage medium storing a computer program. When the computer program is run on a processor, the method for determining a large-scale digital line map described in the present application is executed.

[0042] The large-scale digital line map determination method proposed in the present application obtains the landform type of the area to be measured, obtains the inclined three-dimensional model and the downward-looking stereo model, and determines the digital line map of the area to be measured according to the landform type of the area to be measured, the inclined three-dimensional model and the downward-looking stereo model. The present application uses the inclined three-dimensional model and the downward-looking stereo model to jointly collect data. On the one hand, it can reduce the data loss caused by the blind spot of single model collection. On the other hand, it is not restricted by the terrain, improves the data collection efficiency, and greatly reduces the workload of subsequent field survey. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope of protection of the present invention. In each of the drawings, similar components are numbered similarly.

[0044] Figure 1 A schematic diagram showing a flow chart of a first large-scale digital line-drawn topographic map determination method proposed in an embodiment of the present application;

[0045] Figure 2 A schematic diagram of the process of extracting contour lines and elevation points in a method for determining a large-scale digital line-drawing topographic map proposed in an embodiment of the present application is shown;

[0046] Figure 3 A schematic diagram showing a flow chart of a second large-scale digital line-drawing topographic map determination method proposed in an embodiment of the present application;

[0047] Figure 4 A schematic diagram showing a flow chart of a third large-scale digital line-drawn topographic map determination method proposed in an embodiment of the present application;

[0048] Figure 5 A schematic diagram of the process of accuracy inspection in a method for determining a large-scale digital line-drawn topographic map proposed in an embodiment of the present application is shown;

[0049] Figure 6 A schematic diagram of the process of accuracy inspection in another large-scale digital line-drawing topographic map determination method proposed in an embodiment of the present application is shown;

[0050] Figure 7 A schematic diagram of a process for checking the quality of a digital line-drawn topographic map in a method for determining a large-scale digital line-drawn topographic map proposed in an embodiment of the present application is shown;

[0051] Figure 8 A schematic structural diagram of a large-scale digital line-marked topographic map determination device proposed in an embodiment of the present application is shown.

[0052] Description of main component symbols:

[0053] 10-large-scale digital line map determination device; 11-landform acquisition module; 12-model acquisition module; 13-generation module. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0055] The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0056] Hereinafter, the terms "including", "having" and their cognates, which may be used in various embodiments of the present invention, are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or adding the possibility of one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0057] In addition, the terms "primary", "secondary", "third", etc. are only used to distinguish the descriptions and should not be understood as indicating or implying relative importance.

[0058] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present invention belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present invention.

[0059] Example 1

[0060] See also Figure 1 In one embodiment of the present application, a method for determining a large-scale digital line map is provided, the method comprising the following steps S100 to S300:

[0061] Step S100: obtaining a landform type of the area to be measured, wherein the landform type includes at least one of a first landform type and a second landform type.

[0062] In the embodiment of the present application, the landform type of the area to be measured can be determined based on electronic maps such as Amap, Baidu Map and Google Map, so that according to the landform type of the area to be measured, the main acquisition model and the secondary acquisition model required for collecting terrain data can be selected in a targeted manner, so as to improve the efficiency of terrain data collection through the coordinated use of the main acquisition model and the secondary acquisition model. Aerial photography can also be performed through information such as aerial photography routes, aerial photography parameters and mapping scales to obtain multi-angle oblique images of the area to be measured. The landform type is mainly determined by technical personnel based on collection experience. The first landform type is mainly flat / mountainous areas, industrial and mining areas, and rural areas, which are areas with better effects when collecting data through three-dimensional models. The second landform type is mainly the main urban area, such as building areas with many corners and difficult to judge houses.

[0063] Step S200: Acquire an inclined three-dimensional model and a downward-looking stereoscopic model.

[0064] In the embodiment of the present application, oblique photogrammetry is performed by carrying a camera on an aerial photography aircraft, so as to obtain oblique photography image data from multiple angles. The camera can be in the form of a single lens, a double lens, a five-lens or a nine-lens lens, and one of the lenses is set at a downward viewing angle. The five-lens camera can collect oblique images from a total of five angles, namely, downward, left, right, front and rear. The aerial photography aircraft carrying the camera can be aircraft of various landform types, such as a drone or a helicopter. The specific content of obtaining the oblique three-dimensional model is as follows: based on the oblique photography image data, by arranging the image control points, using the Context Capture Center Master software to perform aerial triangulation on the oblique photography image data and evaluate the accuracy of the three-dimensional model data, and finally output the three-dimensional model when the camera posture is stable, all lens photos are aggregated at the same position without obvious dispersion, and there is no stratification at the connection points between the images. The accuracy evaluation standard refers to the accuracy of 1:500 topographic map surveying and mapping specified in the "Urban Surveying Specifications".

[0065] Obtaining the downward-looking stereo model includes: obtaining downward-looking oblique photography image data through oblique photogrammetry, etc., and using the "Pix4D mapper" software to perform automated aerial triangulation based on the downward-looking oblique photography image data. First, you need to build a project, import the pos file into the project, and set parameters such as the project pixel size and camera focal length. Add a control point file to the project. The control points are distributed within a reasonable range of the area to be measured. Usually, there are control points around and in the middle of the area to be measured; then perform automated aerial triangulation. After using Pix 4D mapper for adjustment, check the aerial triangulation report, and evaluate the accuracy of the stereo model. After checking the accuracy of the results, output the distortion-free image and the internal and external orientation elements, and import them into the ImageStationISAT software to create a stereo model. The accuracy assessment of the stereo model data is based on the 1:500 topographic map surveying specified in the "Urban Surveying Specifications", with a plane error of ±0.25m and an elevation error of ±0.15m.

[0066] For example, see Figure 2 , step S200 may include the following steps:

[0067] Step S210: deriving the first contour line and the first elevation point from the inclined three-dimensional model.

[0068] When acquiring the inclined three-dimensional model, the positions of the ground points in the area to be measured have been determined, and the first contour line and the first elevation point can be directly generated by the software.

[0069] Step S220: importing the first contour line and the first elevation point into the downward-looking stereo model, so as to correct the first contour line and the first elevation point imported into the downward-looking stereo model to obtain the second contour line and the second elevation point of the downward-looking stereo model.

[0070] The first contour line and the first elevation point can be directly matched and generated by the inclined three-dimensional model. However, the first contour line and the first elevation point generated by directly matching the inclined three-dimensional model may pass through houses, steep slopes or water systems, resulting in confusion in the display of the first contour line and the first elevation point on the map. Therefore, manual correction is required, and the inclined three-dimensional model is not conducive to manual correction of the first contour line and the first elevation point. The first contour line and the first elevation point can be imported into the downward-looking stereo model for correction to obtain the second contour line and the second elevation point of the downward-looking stereo model. It can be understood that the combination of the inclined three-dimensional model and the downward-looking stereo model can reduce the workload of technicians, improve the efficiency of landform collection, and reduce the collection cost.

[0071] Step S300: determining a digital line map of the area to be measured according to the landform type of the area to be measured, the inclined three-dimensional model and the downward-looking stereo model.

[0072] In an embodiment of the present application, the acquisition method of the inclined three-dimensional model and the downward-looking stereo model can be determined based on the landform type of the area to be measured, and the inclined three-dimensional model and the downward-looking stereo model are used to collect data of the area to be measured to determine a digital line map of the area to be measured. When using the downward-looking stereo model and the three-dimensional inclined model to collect data, the "MapMatrix3D" software can be used to load the downward-looking stereo model and the three-dimensional inclined model at the same time. It can be understood that the use of this software for joint acquisition can achieve consistency in the linearity, symbols, layer colors, and coding of the collected data under the two sets of models, avoiding redundant workload caused by inconsistent layer colors and coding when using two sets of software. The model can also be used to collect data as much as possible, avoiding the loss of elements due to model blind spots in a single model during the acquisition process, thereby reducing the workload of field measurement and reducing production costs.

[0073] For example, see Figure 3 , an embodiment of the present application is that when the area to be measured is of the first landform type, the method comprises the following steps:

[0074] Step S320: when the area to be measured is of the first landform type, all inclined three-dimensional data of the area to be measured collected by using the inclined three-dimensional model are obtained.

[0075] When the area to be measured is of the first landform type, all inclined three-dimensional data of the area to be measured are collected by the inclined three-dimensional model. It can be understood that the amount of image data obtained by the inclined three-dimensional model is small, the collection effect is good, and it is convenient for subsequent use. Moreover, by simultaneously obtaining the actual situation of the area to be measured from multiple angles through the inclined three-dimensional model, more comprehensive data can be collected.

[0076] Step S330: determining each deformation region from the entire tilted three-dimensional data.

[0077] Because the flight altitude is high when performing oblique photography in densely built-up areas, the generated oblique model may have vegetation markings and house obstructions, making it difficult to obtain ground elements. The oblique three-dimensional model cannot collect all geographic element data. In this case, the oblique three-dimensional data collected by the oblique three-dimensional model can be used to determine each deformation area, which includes an obstructed area, a pattern deformation area, and a missed area.

[0078] Step S340: Acquire each stereoscopic data corresponding to each deformation area collected by using the downward-looking stereoscopic model.

[0079] The inclined 3D model can obtain clearly collectable inclined 3D data such as house attributes, house floors, house bodies, and road surfaces. For deformed areas that cannot be collected, they can be transferred to the downward-looking stereo model for supplementary collection, and the stereo data corresponding to each deformed area collected by the downward-looking stereo model can be used.

[0080] Step S350: Determine a digital line map of the area to be tested using all the tilted three-dimensional data and the stereoscopic data corresponding to each deformed area.

[0081] It can be understood that when the area to be measured is of the first landform type, that is, the area to be measured is a flat / mountainous area, an industrial and mining area, a rural area, etc., where data collection through a three-dimensional model is more effective, there is no obvious deformation when collecting data through the inclined three-dimensional model. The inclined three-dimensional model can collect most of the data, and the three-dimensional model collection rate can reach 90%. Therefore, collection can be carried out directly through the inclined three-dimensional model, and the field workload can be reduced according to the predictive nature of the inclined three-dimensional model. After that, the missed areas can be supplemented through the downward-looking stereoscopic model, such as supplementing the missed poles and manhole covers, and finally the digital line map of the area to be measured is determined. In this case, the supplementary collection rate of the downward-looking stereoscopic model can reach 80%, and the field supplementary measurement workload can be saved by 60%.

[0082] It can be understood that by using all the tilted three-dimensional data and the stereo data corresponding to each deformed area to determine the digital line map of the area to be measured, the ground object can be located more accurately and the workload of field supplementary measurement can be reduced.

[0083] Further, such as Figure 5 As shown, in this embodiment, step S350 includes:

[0084] Step S351: obtaining first comprehensive data using all the tilted three-dimensional data and the stereoscopic data corresponding to the deformed regions, and determining a first precision corresponding to the first comprehensive data according to a precision detection formula.

[0085] The accuracy detection formula is the high-precision detection formula for topographic maps in the "Quality Inspection and Acceptance of Surveying and Mapping Results", and the first accuracy corresponding to the first comprehensive data is determined by calculating the error.

[0086] Step S352: Determine whether the first accuracy is within a preset accuracy range.

[0087] The preset accuracy range is based on the 1:500 topographic map surveying and mapping specified in the "Urban Surveying Specifications", with a plane error of ±0.25m and an elevation error of ±0.15m. When the first accuracy is within the accuracy range of the 1:500 topographic map surveying and mapping in the specifications, it is also within the specified range of 1:2000, 1:1000 and other topographic maps.

[0088] If the first accuracy is within the preset accuracy range, step S353 is executed; if the result accuracy is not within the preset accuracy range, step S320 is re-executed.

[0089] Step S353: Perform office editing based on the first comprehensive data to obtain a digital line map.

[0090] If the accuracy of the first comprehensive data is within the preset accuracy range, a digital line map can be obtained through office editing; if the accuracy of the first comprehensive data is not within the preset accuracy range, it is necessary to collect it through inclined three-dimensional models and downward-looking stereo models to improve the accuracy of the digital line map.

[0091] For example, see Figure 4 , an embodiment of the present application is that when the area to be measured is of the second landform type, the method comprises the following steps:

[0092] Step S360: When the area to be measured is of the second landform type, obtaining stereoscopic data corresponding to the target position of the area to be measured collected by using the downward-looking stereoscopic model.

[0093] When the area to be measured is of the second landform type, the accuracy of large scale cannot be guaranteed when collecting data through the inclined three-dimensional model. The stereo data corresponding to the target position of the area to be measured can be collected through the downward-looking stereo model, and the target position can be set according to needs.

[0094] Step S370: importing the stereoscopic data corresponding to the target position into the inclined three-dimensional model to determine the inclined three-dimensional data of other positions in the test area except the target position that need to be collected by the inclined three-dimensional model.

[0095] The stereo data of the target position collected by the downward-looking stereo model is only a part of the data of the area to be measured, and the remaining data can be collected by tilting the three-dimensional model.

[0096] Step S380: Determine a digital line map of the area to be measured using the stereoscopic data corresponding to the target position and the inclined three-dimensional data of the other positions.

[0097] It can be understood that when the area to be tested is of the second landform type, that is, when the area to be tested is a densely populated area, due to the reflection of trees or deformation of patterns, the location and edge data of the objects in some areas cannot be accurately obtained, and the data acquisition is difficult due to the obstruction of houses or the height of houses. The inclined three-dimensional model can only obtain the clear data of the house attributes, house floors, house bodies, and road surfaces, with a collection rate of 50%. The stereoscopic data of the target position of the area to be tested can be collected by the downward-looking stereoscopic model first. For other objects that cannot be collected, the inclined three-dimensional model can be used for collection to obtain the inclined three-dimensional data of other positions except the target position, and the digital line map can be determined based on the inclined three-dimensional data and the stereoscopic data. When collecting complex buildings, such as collecting complex houses in urban areas, it may be difficult to determine the structure of the house because there are many corners. The roof of the house can be collected first through the downward-looking stereoscopic model, and then the inclined three-dimensional data of other positions except the target position can be determined through the inclined three-dimensional model, so as to achieve the operation of determining the house body and shrinking the eaves.

[0098] For example, see Figure 6 , step S380 includes:

[0099] Step S381: obtain second comprehensive data using the stereoscopic data corresponding to the target position and the target tilted three-dimensional data at other positions, and determine the second accuracy corresponding to the second comprehensive data according to the accuracy detection formula.

[0100] Step S382: Determine whether the second accuracy is within a preset accuracy range.

[0101] The preset accuracy range is based on the 1:500 topographic map surveying specified in the "Urban Surveying Specifications", with a plane error of ±0.25m and an elevation error of ±0.15m.

[0102] If the second accuracy is not within the preset accuracy range, step S360 is executed again; if the second accuracy is within the preset accuracy range, step S383 is executed.

[0103] Step S383: Perform office editing based on the second comprehensive data to obtain a digital line map.

[0104] If the accuracy of the second comprehensive data is within a preset accuracy range, it can be determined that the accuracy meets the preset value, and a digital line map can be obtained through in-house editing based on the second comprehensive data.

[0105] Further, such as Figure 7 As shown, in this embodiment, step S350 or step S383 includes:

[0106] Step S3831: Acquire supplementary survey data obtained by field supplementary survey.

[0107] After the comprehensive data is judged to be correct, field inspections and supplementary surveys are carried out. The data collected based on the inclined three-dimensional model and the downward-looking stereo model may have errors or omissions, and the actual land use situation may also change. Field inspections and supplementary surveys can improve the accuracy of the map.

[0108] Step S3832: Perform office editing based on the comprehensive data and the supplementary survey data to generate an initial digital line map, and determine the quality elements corresponding to the initial digital line map, wherein the comprehensive data is the first comprehensive data or the second comprehensive data.

[0109] The quality elements include information items describing data quality, including position accuracy, attribute accuracy, logical consistency, completeness, currentness and data description, which are calculated using the formulas in the Technical Regulations for Quality Inspection of Digital Line Drawings (DLGs). After the supplementary survey is completed, the initial digital line drawing topographic map is edited by the internal work, and the initial digital line drawing map is quality checked. The quality of the results corresponding to the initial digital line drawing map is calculated and determined by sampling, and the quality is assessed using indicators such as mean error and error rate.

[0110] Step S3833: Determine whether each quality element is greater than or equal to the corresponding preset quality element threshold.

[0111] The preset quality element thresholds are set accordingly in accordance with the Technical Regulations for Quality Inspection of Digital Line Graphs (DLGs).

[0112] If each quality element is greater than or equal to the corresponding quality element threshold, step S3834 is executed; if each quality element is less than the corresponding quality element threshold, step S3832 is re-executed.

[0113] Step S3834: Use the initial digital line drawing map as the digital line drawing map.

[0114] If the initial digital line map is less than the preset accuracy threshold, it is determined that the initial line map does not meet the quality requirements and needs to be re-edited internally to generate the initial data line map again; if the initial digital line map is greater than or equal to the preset accuracy threshold, it indicates that the initial line map meets the quality requirements and the initial digital line map can be directly used as the digital line map.

[0115] This embodiment uses an inclined three-dimensional model and a downward-looking stereo model to jointly collect data. On the one hand, it can reduce data loss caused by blind spots in the collection of a single model. On the other hand, it is not restricted by terrain, thereby improving collection efficiency and reducing the workload of subsequent field surveys.

[0116] Example 2

[0117] like Figure 8 As shown, an embodiment of the present application proposes a large-scale digital line map determination device 10, which includes: a landform acquisition module 11, a model acquisition module 12 and a generation module 13.

[0118] A landform acquisition module 11 is used to acquire the landform type of the area to be measured, and the landform type includes at least one of a first landform type and a second landform type; a model acquisition module 12 is used to acquire an inclined three-dimensional model and a downward-looking stereo model; a generation module 13 is used to determine a digital line map of the area to be measured based on the landform type of the area to be measured, the inclined three-dimensional model and the downward-looking stereo model.

[0119] In this embodiment, the large-scale digital line map determination device 10 is used to execute the large-scale digital line map determination method described in the above embodiment through the coordinated use of the landform acquisition module 11, the model acquisition module 12 and the generation module 13. For a more detailed functional description of each of the above modules, please refer to the corresponding parts of the above embodiments and will not be repeated here.

[0120] Example 3

[0121] A third embodiment of the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program runs on the processor, the method for determining a large-scale digital line drawing described in the above embodiment is executed.

[0122] Example 4

[0123] A fourth embodiment of the present application provides a readable storage medium storing a computer program, wherein the computer program, when executed on a processor, executes the method for determining a digital line drawing described in the embodiment of the present application.

[0124] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or the flow chart, and the combination of boxes in the structure diagram and / or the flow chart, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0125] In addition, the functional modules or units in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0126] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0127] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A method for determining a large-scale digital line map, characterized in that: The method comprises: Acquire a landform type of the area to be measured, where the landform type includes at least one of a first landform type and a second landform type; Obtaining an inclined three-dimensional model and a downward-looking stereo model; Determine a digital line map of the area to be measured according to the landform type of the area to be measured, the inclined three-dimensional model and the downward-looking stereo model; The step of determining the digital line map of the area to be measured according to the landform type of the area to be measured, the inclined three-dimensional model and the downward-looking stereo model comprises: When the area to be measured is of the first landform type, all inclined three-dimensional data of the area to be measured collected by using the inclined three-dimensional model are obtained; each deformation area is determined from the all inclined three-dimensional data; each stereo data corresponding to each deformation area is obtained by using the downward-looking stereo model; and a digital line map of the area to be measured is determined by using the all inclined three-dimensional data and each stereo data corresponding to each deformation area; When the area to be measured is of the second landform type, obtain the stereo data corresponding to the target position of the area to be measured collected by using the downward-looking stereo model; import the stereo data corresponding to the target position into the inclined three-dimensional model to determine the inclined three-dimensional data of other positions in the area to be measured except the target position that need to be collected by the inclined three-dimensional model; and determine the digital line map of the area to be measured using the stereo data corresponding to the target position and the inclined three-dimensional data of the other positions.

2. A method for determining a large-scale digital line map according to claim 1, characterized in that: The method of determining the digital line map of the area to be tested by using all the tilted three-dimensional data and the three-dimensional data corresponding to each deformed area includes: Obtaining first comprehensive data using all the tilted three-dimensional data and each of the three-dimensional data corresponding to each of the deformed regions, and determining a first accuracy corresponding to the first comprehensive data according to an accuracy detection formula; Determining whether the first accuracy is within a preset accuracy range; If the first precision is within the preset precision range, performing office editing based on the first comprehensive data to obtain the digital line map; If the first accuracy is not within the preset accuracy range, after all the tilted three-dimensional data of the area to be measured are re-collected using the tilted three-dimensional model, all the tilted three-dimensional data of the area to be measured re-collected using the tilted three-dimensional model are re-acquired.

3. The method for determining a large-scale digital line map according to claim 1, characterized in that: Determining a digital line map of the area to be measured using the three-dimensional data corresponding to the target position and the inclined three-dimensional data of the other positions includes: Obtain second comprehensive data using the stereoscopic data corresponding to the target position and the tilted three-dimensional data of the target at the other positions, and determine a second precision corresponding to the second comprehensive data according to a precision detection formula; Determining whether the second accuracy is within a preset accuracy range; If the second precision is within the preset precision range, performing office editing based on the second comprehensive data to obtain the digital line map; If the second accuracy is not within the preset accuracy range, after re-collecting the stereo data corresponding to the target position of the area to be measured using the downward-looking stereo model, re-acquire the stereo data corresponding to the target position of the area to be measured using the downward-looking stereo model.

4. A large-scale digital line map determination method according to claim 2 or 3, characterized in that: Performing office editing based on the first integrated data or the second integrated data to obtain a digital line map includes: Obtain supplementary survey data obtained through field supplementary survey; Performing office editing based on the comprehensive data and the supplementary measurement data to generate an initial digital line map, and determining quality elements corresponding to the initial digital line map, wherein the comprehensive data is the first comprehensive data or the second comprehensive data; Determine whether each quality element is greater than or equal to a corresponding preset quality element threshold; If each of the quality elements is greater than or equal to the corresponding preset quality element threshold, using the initial digital line drawing map as the digital line drawing map; If each of the quality elements is less than the quality element threshold, the process of performing in-house editing based on the comprehensive data and the supplementary measurement data to generate an initial digital line map is re-executed.

5. The method for determining a large-scale digital line map according to claim 1, characterized in that: Also includes: deriving a first contour line and a first elevation point from the inclined three-dimensional model; The first contour line and the first elevation point are imported into the downward-looking stereo model, so as to correct the first contour line and the first elevation point imported into the downward-looking stereo model to obtain the second contour line and the second elevation point of the downward-looking stereo model.

6. A device for determining a large-scale digital line map, characterized in that: The device comprises: A landform acquisition module, which acquires a landform type of the area to be measured, wherein the landform type includes at least one of a first landform type and a second landform type; A model acquisition module, which acquires an inclined three-dimensional model and a downward-looking stereo model; A generation module is provided for determining a digital line map of the area to be measured according to the landform type of the area to be measured, the inclined three-dimensional model and the downward-looking stereo model, specifically comprising: when the area to be measured is of the first landform type, obtaining all inclined three-dimensional data of the area to be measured collected by using the inclined three-dimensional model; determining each deformation area from the all inclined three-dimensional data; obtaining each stereo data corresponding to each deformation area collected by using the downward-looking stereo model; and determining the digital line map of the area to be measured by using the all inclined three-dimensional data and each stereo data corresponding to each deformation area; When the area to be measured is of the second landform type, obtain the stereo data corresponding to the target position of the area to be measured collected by using the downward-looking stereo model; import the stereo data corresponding to the target position into the inclined three-dimensional model to determine the inclined three-dimensional data of other positions in the area to be measured except the target position that need to be collected by the inclined three-dimensional model; and determine the digital line map of the area to be measured using the stereo data corresponding to the target position and the inclined three-dimensional data of the other positions.

7. A terminal device, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is run on the processor, the method for determining a large-scale digital line map according to any one of claims 1 to 5 is executed.

8. A readable storage medium, characterized in that: The computer program is stored therein, and when the computer program is run on a processor, the method for determining a large-scale digital line map according to any one of claims 1 to 5 is executed.

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