A surveying and mapping image processing method and device, electronic equipment and medium

Abstract

The application relates to the field of image mapping technology, in particular to a mapping image processing method and device, electronic equipment and a medium, which comprises the following steps: acquiring image information of a region to be mapped and recording the acquisition time; if a dark region exists in the image information, acquiring dark boundary information corresponding to the dark region; determining a source object according to the dark boundary information and acquiring shape information of the source object; determining a projection region of the source object based on the shape information of the source object; judging whether the dark region is similar to the projection region, if yes, determining that the dark region is the projection of the source object, if not, determining unknown position information of an unknown region according to the dark region and the projection region, and generating a moving instruction information according to the unknown position information to control an image acquisition device to re-acquire the unknown region. The application has the effect of improving the accuracy of identifying the dark region in the image information.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of image mapping technology, and in particular to a mapping image processing method and device, electronic equipment and medium. BACKGROUND

[0002] Mapping, as the name implies, is to measure and draw. It refers to selecting existing ground feature points and boundaries to measure, collect and draw natural geographical elements or the shape, size, spatial position and attributes of surface artificial facilities, for engineering construction, planning and design, and administrative management, with global navigation satellite system (GNSS), remote sensing (RS) and geographic information system (GIS) as the technical core.

[0003] The commonly used measurement technology is to collect images of the area to be mapped, and to map according to the collected images. The main feature of photogrammetry is to measure and interpret on the photograph, without the need to touch the object itself, so it is less limited by natural and geographical conditions. However, during image collection, the position and intensity of light will change with time, and when the light is blocked by an object, a shadow of the object will be generated. The color of the shadow area is darker, but when the area to be mapped is imaged, the area corresponding to the river and pond in the area to be mapped is also darker, so it is difficult to distinguish whether the dark area is the shadow of the object or the feature point of the area to be mapped.

[0004] In related technologies, when processing the dark area in the image, the dark part is usually segmented, but some dark feature points are also segmented, which may result in incomplete images. Therefore, there is an urgent need for a method that can improve the recognition of dark areas. SUMMARY

[0005] In order to improve the accuracy of identifying dark areas in image information, the present application provides, in particular, a mapping image processing method and device, electronic equipment and medium.

[0006] In the first aspect, the present application provides a mapping image processing method, which adopts the following technical scheme:

[0007] A mapping image processing method, comprising:

[0008] Obtaining image information of an area to be mapped, and recording the time of acquisition;

[0009] If there is a dark area in the image information, obtaining dark boundary information corresponding to the dark area;

[0010] According to the dark boundary information, determining a source object and obtaining shape information of the source object;

[0011] determine a projection region of the source object based on the shape information of the source object;

[0012] determine whether the dark region is similar to the projection region, and if yes, determine that the dark region is the projection of the source object;

[0013] if no, determine unknown position information of an unknown region according to the dark region and the projection region, and generate movement instruction information according to the unknown position information to control the image acquisition device to re-acquire the unknown region.

[0014] By adopting the technical solution, after obtaining the image information of the region to be surveyed, the acquisition time is recorded, and it is determined whether the image information contains a dark region. If the dark region is contained, the boundary information of the dark region is further determined, the source object is determined according to the boundary information, the shape information of the source object is obtained, the projection region of the source object is determined based on the shape information of the source object, and then the projection region and the dark region are compared in similarity. When the projection region is similar to the dark region, it is determined that the dark region is the projection of the source object. If the projection region is not similar to the dark region, the position information of the unknown region is determined based on the projection region and the dark region, and the instruction information capable of controlling the image acquisition device to move is generated according to the position information of the unknown region. The image acquisition device is controlled to move to the unknown region, and the unknown region is re-acquired to identify the unknown region. This helps to improve the accuracy of identifying the dark region in the image information.

[0015] In a possible implementation manner, before the source object is determined according to the dark boundary information, the method further includes:

[0016] obtaining geographical position information of the region to be surveyed, the geographical position information including longitude information and latitude information of the region to be surveyed;

[0017] obtaining light information of the region to be surveyed according to the acquisition time and the geographical position information.

[0018] By adopting the technical solution, the longitude information and the latitude information of the region to be surveyed are determined, and the geographical position information is generated. The light information at the acquisition time is determined by the geographical position information and the acquisition time of the image information. The geographical position information is used to determine the light information, which improves the accuracy of determining the light information.

[0019] In a possible implementation manner, the source object is determined according to the dark boundary information, including:

[0020] determining a plurality of initial source objects from the image information according to the light information;

[0021] According to the dark color boundary information, a contact edge length of each initial source object and the dark color region is calculated;

[0022] A source object is determined according to the plurality of contact edge lengths.

[0023] By using the above technical solution, the plurality of objects in the image information is screened through the light information, and the plurality of initial source objects is obtained. Then, the contact edge length of each initial source object and the dark color region is calculated, and the initial source object corresponding to the maximum contact edge length is determined as the source object. The calculation of the contact edge length helps to improve the accuracy of determining the source object.

[0024] In a possible implementation manner, the judging whether the dark color region is similar to the projection region comprises:

[0025] The projection region is introduced into a preset coordinate system to obtain a plurality of key point coordinates;

[0026] According to the plurality of key point coordinates, projection boundary information corresponding to the projection region is determined;

[0027] The projection boundary information is compared with dark color boundary information corresponding to the dark color region in terms of similarity, and a similarity comparison value is generated;

[0028] If the similarity value is higher than a preset standard comparison value, it is determined that the projection region is similar to the dark color region.

[0029] If the similarity value is not higher than the preset standard comparison value, it is determined that the projection region is not similar to the dark color region.

[0030] By using the above technical solution, the projection boundary information corresponding to the projection region and the dark color boundary information corresponding to the dark color region are introduced into the preset coordinate system, the two regions are superimposed, the overlapping area and the non-overlapping area of the projection region and the dark color region are calculated, and the similarity comparison value is generated. If the similarity comparison value is higher than a preset standard similarity value, it is determined that the projection region is similar to the dark color region. If the similarity comparison value is not higher than the preset standard similarity value, it is determined that the projection region is not similar to the dark color region. The determination of whether the projection region is similar to the dark color region through the calculation of the overlapping area improves the accuracy of the similarity result.

[0031] In a possible implementation manner, the generating a moving instruction information according to the unknown position information, and controlling the image acquisition device to re-acquire the unknown region comprises:

[0032] Obtaining first position information of the image acquisition device and a panoramic image of the region to be surveyed;

[0033] According to the first position information, the unknown position information and the panoramic image of the region to be mapped, path planning is performed to form movement instruction information, wherein the movement instruction information comprises path information;

[0034] The movement instruction information is sent to the image acquisition device to enable the image acquisition device to move according to the movement instruction information.

[0035] When the image acquisition device moves to the region corresponding to the unknown position information, the image acquisition device is controlled to perform image acquisition again.

[0036] By using the above technical solution, the first position information of the image acquisition device and the panoramic image of the region to be mapped are acquired, and then the path information of the first position information and the unknown position information is planned based on the unknown position information to generate movement instruction information, so as to control the image acquisition device to move. When it is detected that the image acquisition device reaches the region corresponding to the unknown position information, the image acquisition device is controlled to perform image acquisition on the unknown region, thereby improving the accuracy of identifying the unknown region.

[0037] In a possible implementation manner, after the movement instruction information is sent to the image acquisition device, the following steps are further included:

[0038] Real-time acquisition of second position information, movement speed and movement direction of the image acquisition device is performed.

[0039] According to the second position information, the relative position of the image acquisition device in the path information is determined.

[0040] According to the relative position, the movement speed and the movement direction, a turning instruction is generated and sent to the image acquisition device to enable the image acquisition device to move according to the movement instruction information.

[0041] By using the above technical solution, after the generated movement instruction is sent to the image acquisition device, the second position information, the movement speed and the movement direction of the image acquisition device are acquired in real time, the relative position of the image acquisition device in the movement process and the unknown position information is determined according to the second position information, and then a turning instruction is generated according to the relative position, the movement speed and the movement direction. After the turning instruction is sent to the image acquisition device, it is helpful to control the image acquisition device to move according to the instruction information.

[0042] In a possible implementation manner, the following steps are further included:

[0043] The image information containing the dark region is subjected to gray scale processing to obtain a gray scale image.

[0044] The gray scale image is subjected to image region division to obtain a plurality of division regions.

[0045] calculate the average gray value of each division region, and compare it with the preset standard average gray value;

[0046] If the average gray value of the current division region exceeds the preset standard average gray value, it is determined that the current division region has superposition anomaly, and a detection instruction is generated to control the image acquisition device to acquire images of the current division region and detect.

[0047] By using the above technical scheme, by performing gray processing on the image information containing the dark region, the gray image is obtained, and the gray image is divided into regions, and the average gray value corresponding to each division region is calculated, and the average gray value is compared with the preset standard average gray value. If the average gray value corresponding to the current division region exceeds the preset standard average gray value, it is determined that the current division region may have a superposition region, and a detection instruction is generated, which is used to control the image acquisition device to re-detect the current division region, which helps to accurately identify the superposition region in the current division region.

[0048] In a second aspect, the present application provides a surveying and mapping image processing device, which adopts the following technical scheme:

[0049] A surveying and mapping image processing device, comprising:

[0050] An acquisition module is configured to acquire image information of a region to be surveyed and recorded the acquisition time;

[0051] An acquisition boundary information module is configured to acquire deep color boundary information corresponding to a deep color region in the image information if the deep color region exists;

[0052] An acquisition shape information module is configured to determine a source object and acquire shape information of the source object according to the deep color boundary information;

[0053] A determination projection region module is configured to determine a projection region of the source object based on the shape information of the source object;

[0054] A similarity judgment module is configured to judge whether the deep color region is similar to the projection region, and if so, determine that the deep color region is the projection of the source object;

[0055] An execution module is configured to determine unknown position information of an unknown region according to the deep color region and the projection region if not, and generate a movement instruction information according to the unknown position information to control the image acquisition device to re-acquire the unknown region.

[0056] By adopting the technical scheme, after the image information of the to-be-mapping area is acquired, the acquisition time is recorded, and it is judged whether the image information contains a dark color area. If the dark color area is contained, the boundary information of the dark color area is further determined, the source object is determined according to the boundary information, the shape information of the source object is acquired, the projection area of the source object is determined based on the shape information of the source object, the projection area is compared with the dark color area in similarity, when the projection area is similar to the dark color area, it is determined that the dark color area is the projection of the source object, if the projection area is not similar to the dark color area, the position information of the unknown area is determined based on the projection area and the dark color area, and the instruction information capable of controlling the image acquisition device to move is generated according to the position information of the unknown area, the image acquisition device is controlled to move to the unknown area, and the unknown area is re-acquired to identify the unknown area, which helps to improve the accuracy of identifying the dark color area in the image information.

[0057] In a third aspect, the present application provides an electronic device, which adopts the technical scheme as follows:

[0058] An electronic device, comprising:

[0059] at least one processor;

[0060] a memory;

[0061] at least one application program, wherein the at least one application program is stored in the memory and is configured to be executed by the at least one processor, and the at least one application program is configured to execute the above-mentioned mapping image processing method.

[0062] In a fourth aspect, the present application provides a computer readable storage medium, which adopts the technical scheme as follows:

[0063] A computer readable storage medium, comprising: a computer program stored therein and capable of being loaded and executed by a processor to execute the above-mentioned mapping image processing method.

[0064] In summary, the present application has at least one of the following beneficial technical effects:

[0065] 1. After obtaining the image information of the to-be-mapping region, record the acquisition time, and determine whether the image information contains a dark region, if it contains a dark region, further determine the boundary information of the dark region, then determine the source object according to the boundary information, and obtain the shape information of the source object, based on the shape information of the source object, determine the projection area of the source object, then compare the similarity between the projection area and the dark region, when the projection area is similar to the dark region, determine that the dark region is the projection of the source object, if the projection area is not similar to the dark region, determine the position information of the unknown region based on the projection area and the dark region, and generate instruction information capable of controlling the image acquisition device to move to the unknown region, control the image acquisition device to move to the unknown region, and re-acquire the image of the unknown region, to identify the unknown region, which helps to improve the accuracy of identifying the dark region in the image information. BRIEF DESCRIPTION OF DRAWINGS

[0066] Figure 1 is a flowchart of a mapping image processing method in the embodiment of the present application;

[0067] Figure 2 is a structural diagram of a mapping image processing device in the embodiment of the present application;

[0068] Figure 3 is a structural diagram of an electronic device in the embodiment of the present application. DETAILED DESCRIPTION

[0069] The following will be described in detail in combination with the accompanying Figures 1-3 Further detailed description will be made to the present application.

[0070] Those skilled in the art can make modifications to the present embodiment without creative contribution after reading the present specification, but as long as it is within the scope of the claims of the present application, it is protected by the patent law.

[0071] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme of the embodiments of the present application will be described clearly and completely in combination with the drawings of the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0072] Before mapping the to-be-mapped region, the image information of the to-be-mapped region usually needs to be collected. When mapping the to-be-mapped region through image acquisition, the natural geographical elements or ground artificial facilities appearing in the image information can be measured and interpreted through the reference object in the image information, without touching the object. The image information is a true reflection of objective things or targets, and is rich and realistic.

[0073] However, since the angle of light changes over time, when image information is collected for the survey area, the collected image information can include shadows of natural geographical elements or surface artificial facilities, resulting in dark areas in the image information. However, some natural geographical elements or surface artificial facilities can also change due to changes in light, resulting in some dark areas in the image information. Therefore, when determining feature points in the survey area based on image information containing dark areas, if the dark areas in the image information are not accurately identified, the survey result can be biased.

[0074] To improve the accuracy of identifying dark areas in image information, in the embodiments of the present application, after obtaining image information of the survey area, the acquisition time is recorded, and it is determined whether the image information contains dark areas. If it contains dark areas, the boundary information of the dark areas is further determined, the source object is determined according to the boundary information, the shape information of the source object is obtained, the projection area of the source object is determined based on the shape information of the source object, and the projection area is compared with the dark area in terms of similarity. When the projection area is similar to the dark area, it is determined that the dark area is the projection of the source object. If the projection area is not similar to the dark area, the position information of the unknown area is determined based on the projection area and the dark area, and the instruction information for controlling the image acquisition device to move is generated according to the position information of the unknown area. The image acquisition device is controlled to move to the unknown area, and the unknown area is re-acquired to identify the unknown area, thereby improving the accuracy of identifying dark areas in image information.

[0075] Specifically, the embodiments of the present application provide a survey image processing method, which is executed by an electronic device. The electronic device can be a server or a terminal device. The server can be a physical server, a server cluster composed of multiple physical servers, or a distributed system. It can also be a cloud server providing cloud computing services. The terminal device can be a smartphone, a tablet computer, a notebook computer, a desktop computer, etc., but is not limited thereto. The terminal device and the server can be directly or indirectly connected through wired or wireless communication, which is not limited in the embodiments of the present application.

[0076] Reference Figure 1 , Figure 1 is a flowchart of a survey image processing method in the embodiments of the present application. The method includes steps S110, S120, S130, S140, S150, and S160.

[0077] Step S110: Obtain image information of a survey area and record the acquisition time.

[0078] Specifically, a plurality of image acquisition devices are arranged in the to-be-mapped area, so that the image acquisition devices can collect images of the to-be-mapped area, and the collected image information can be acquired by the electronic device.

[0079] The image acquisition device records the collection time when collecting the image of the to-be-mapped area, and the acquisition time when the electronic device acquires the image information from the image acquisition device corresponds to the collection time. The image acquisition device can be a UAV acquisition device. Since the UAV acquisition device is simple to operate and easy to control, a large number of mapping tasks in the field of geographic information mapping are carried out based on the UAV acquisition device.

[0080] Step S120: If there is a dark region in the image information, the dark boundary information corresponding to the dark region is acquired.

[0081] Specifically, the dark region can be the projection or the shadow of a natural geographical element or an artificial facility in the mapping image. The projection is the shadow left by an object blocking light, which is projected on the surface of other objects. The shadow is the position of the object itself that is not illuminated by light, or the color of the object in the image information is darker due to shooting reasons, such as a pond, a river, etc.

[0082] When identifying the dark region from the image information, the to-be-identified image information can be imported into a pre-trained shadow identification model. The training process of the shadow identification model is to acquire a large number of sample images containing shadow region labels, import the large number of sample images into the to-be-trained shadow identification model for training, and if the to-be-identified image information contains a dark region, the to-be-identified image information is imported into the trained shadow identification model to obtain labeled image information with dark region labels.

[0083] The labeled image information is imported into a pre-established coordinate system to determine the coordinates of a plurality of edge points. The coordinates of the plurality of edge points are connected to obtain the boundary information of the dark region.

[0084] Step S130: According to the dark boundary information, the source object is determined, and the shape information of the source object is acquired.

[0085] Specifically, the source object is an object connected to the dark region. The shape information of the source object can be determined based on a reference object in the image information. For example, when the source object is a residential building, the image information containing the source object can be imported into a pre-established coordinate system to obtain the coordinates of a plurality of key points of the residential building. According to the reference coordinates of the reference object in the source object, the shape information of the residential building is determined. The determined shape information can be the same as the actual shape information of the residential building, or the shape information of the residential building can be different from the actual shape information due to the deviation of the image information.

[0086] Step S140: determining the projection area of the source object based on the shape information of the source object.

[0087] Specifically, the projection area of the source object at a certain time is related to the shape information of the source object itself and the light information at the current time. The light information is the geographical position of the source object at the current time and the height and inclination information of the sun. According to the light information and the shape information of the source object, the projection area of the source object at the current time can be determined. Since the light information changes with time, for example, the projection area corresponding to the same building is different at 7 am and at 10 am. Therefore, by determining the light information at the current time, the projection area formed by the source object at the current time can be determined.

[0088] Step S150: judging whether the dark color area is similar to the projection area. If the dark color area is similar to the projection area, it is determined that the dark color area is the projection of the source object.

[0089] Specifically, by comparing the similarity of the projection area and the dark color area, if the dark color area is similar to the projection area, it is proved that the dark color area is the projection of the source object. When comparing the similarity of the dark color area and the projection area, the similarity of the boundary information of the dark color area and the projection area can be compared, or the similarity of the corresponding areas of the dark color area and the projection area can be compared. As long as the dark color area and the projection area can be compared, it is OK.

[0090] Step S160: if the dark color area is not similar to the projection area, the unknown position information of the unknown area is determined according to the dark color area and the projection area, and the moving instruction information is generated according to the unknown position information to control the image acquisition device to reacquire the image of the unknown area.

[0091] Specifically, when the dark color area is not the same as the projection area of the source object, there are the following cases:

[0092] Case one, the dark color area contains the projection area of the source object, and also includes other projection areas. The other projection areas can be the projection of other objects, or the shadow of other natural elements or artificial facilities. The shadow is the position of the object itself which is not illuminated by light, or the color of the object in the image information is relatively deep due to shooting reasons. The projection area can be removed from the dark color area to obtain the unknown area.

[0093] Case two, the dark color area does not contain the projection area of the source object, and the dark color area is the unknown area.

[0094] The unknown region can be a projection region of other objects, or can be a shadow of other natural elements or artificial facilities. Therefore, after the unknown region is determined, the image acquisition device can be controlled to move, so that the image acquisition device can re-shoot the unknown region, and the accuracy of identifying the dark region is improved.

[0095] The instruction information is formed according to the motion speed, the motion direction, the real-time relative position with the unknown region, and the curvature information of the image acquisition device. The instruction information is sent to a control chip in the image acquisition device, and the control chip can control the image acquisition device to move after receiving the instruction information.

[0096] In the embodiment of the application, after the image information of the region to be surveyed is acquired, the acquisition time is recorded, and it is determined whether the image information contains a dark region. If the image information contains a dark region, the boundary information of the dark region is further determined, the source object is determined according to the boundary information, the shape information of the source object is acquired, the projection region of the source object is determined based on the shape information of the source object, the projection region is compared with the dark region in terms of similarity, and when the projection region is similar to the dark region, it is determined that the dark region is the projection of the source object. If the projection region is not similar to the dark region, the position information of the unknown region is determined based on the projection region and the dark region, the instruction information capable of controlling the image acquisition device to move is generated according to the position information of the unknown region, the image acquisition device is controlled to move to the unknown region, and the unknown region is re-acquired to identify the unknown region, which helps to improve the accuracy of identifying the dark region in the image information.

[0097] Further, the embodiment of the application further includes steps S1 (not shown in the drawing) and S2 (not shown in the drawing), wherein:

[0098] Step S1: acquiring geographical position information of the region to be surveyed.

[0099] The geographical position information includes longitude information and latitude information of the region to be surveyed.

[0100] Specifically, the geographical position information of the region to be surveyed can be acquired by installing a GPS (Global Positioning System) global positioning system on the image acquisition device.

[0101] Step S2: acquiring light information of the region to be surveyed according to the acquisition time and the geographical position information.

[0102] Specifically, the light information is used to represent the solar elevation of the to-be-mapped region at the current time, where the solar elevation is the angle between the sunlight and the ground plane, or the elevation of the sun on the ground plane. The light information helps improve the accuracy of determining the projection region.

[0103] In the embodiments of the present application, the longitude information and the latitude information of the to-be-mapped region are determined, and the geographic position information is generated. The light information at the time of acquisition is determined by the geographic position information and the acquisition time of the image information. The light information is determined by the geographic position information, which improves the accuracy of determining the light information.

[0104] Further, in step S130, the source object is determined according to the dark color boundary information, which can specifically include step S1301 (not shown in the figure), step S1302 (not shown in the figure), and step S1303 (not shown in the figure), wherein:

[0105] In step S1301, a plurality of initial source objects are determined from the image information according to the light information.

[0106] Specifically, the light information can be used to screen a plurality of natural elements or artificial facilities in the to-be-mapped image. The light information is used to determine the objects in the to-be-mapped region that can cause the projection region, and the objects that can cause the projection are determined as the initial source objects.

[0107] In step S1302, the contact edge length of each initial source object and the dark color region is calculated according to the dark color boundary information.

[0108] Specifically, the contact edge length is the length of the edge of the initial source object in contact with the dark color region. The contact edge length can be determined by the dark color boundary information. Since the projection region caused by the object is connected to the object itself, calculating the contact edge length of each initial source object and the dark color region helps to confirm the source object.

[0109] In step S1303, the source object is determined according to the plurality of contact edge lengths.

[0110] Specifically, the plurality of contact edge lengths are sorted, and the initial source object corresponding to the maximum contact edge length is determined as the source object.

[0111] In the embodiments of the present application, the light information is used to screen a plurality of objects in the image information, and a plurality of initial source objects are obtained. Then, the contact edge length of each initial source object and the dark color region is calculated, and sorted. The initial source object corresponding to the maximum contact edge length is determined as the source object. The calculation of the contact edge length helps to improve the accuracy of determining the source object.

[0112] Further, the step S150 of judging whether the projection region is similar to the dark region can specifically include a step S1501 (not shown in the drawings), a step S1502 (not shown in the drawings), a step S1503 (not shown in the drawings), a step S1504 (not shown in the drawings), and a step S1505 (not shown in the drawings), wherein:

[0113] The step S1501 is to introduce the projection region into a preset coordinate system to obtain a plurality of key point coordinates.

[0114] The step S1502 is to determine projection boundary information corresponding to the projection region according to the plurality of key point coordinates.

[0115] Specifically, the plurality of key points can be determined according to requirements, and the plurality of key points can be a plurality of boundary key points or turning points, which are not specifically limited in the embodiment of the present application, as long as the projection boundary information of the projection region can be determined through the plurality of key points, wherein the projection boundary information includes an area size and an area shape.

[0116] The step S1503 is to compare the projection boundary information with dark boundary information corresponding to the dark region in terms of similarity, and to generate a similarity comparison value.

[0117] Specifically, the projection region and the dark region are introduced by superimposition in the preset coordinate system according to the projection boundary information and the dark boundary information, and the projection region and the dark region are represented by different colors, the overlapping area and the non-overlapping area of the projection region and the dark region are determined, and finally the overlapping area and the non-overlapping area are compared, and the similarity value is multiplied. For example, the area of the projection region is 8 square meters, the area of the dark region is 10 square meters, and the overlapping area of the projection region and the dark region is 7 square meters, and the non-overlapping area is (8-7)+(10-7)=4, the overlapping area / non-overlapping area=8 / 4=2, and the similarity comparison value is 2.

[0118] The step S1504 is to determine that the projection region is similar to the dark region if the similarity value is higher than a preset standard comparison value.

[0119] The step S1505 is to determine that the projection region is not similar to the dark region if the similarity value is not higher than the preset standard comparison value.

[0120] Specifically, the preset standard comparison value can be modified according to requirements, which is not specifically limited in the embodiment of the present application, and the projection region is determined to be similar to the dark region when the similarity comparison value exceeds the preset standard comparison value.

[0121] In the embodiment of the present application, the projection boundary information corresponding to the projection region and the dark color boundary information corresponding to the dark color region are introduced into a preset coordinate system, the two regions are superimposed, the overlapping area and the non-overlapping area of the projection region and the dark color region are calculated, and a similarity comparison value is generated. If the similarity comparison value is higher than a preset standard similarity value, it is determined that the projection region and the dark color region are similar. If the similarity comparison value is not higher than the preset standard similarity value, it is determined that the projection region and the dark color region are not similar. Whether the projection region and the dark color region are similar is determined by calculating the overlapping area, which improves the accuracy of the similarity result.

[0122] Further, in step S160, the mobile instruction information is generated according to the unknown position information, and the image acquisition device is controlled to reacquire the unknown region. Specifically, step S160 can include steps S1601 (not shown in the figure), S1602 (not shown in the figure), S1603 (not shown in the figure), and S1604 (not shown in the figure), wherein:

[0123] Step S1601: Obtain the first position information of the image acquisition device and the panoramic image of the region to be surveyed.

[0124] Specifically, the panoramic image of the region to be surveyed at least includes the image acquisition device and the unknown region. The set region corresponding to the panoramic image of the region to be surveyed can be modified according to requirements, as long as the image acquisition device and the unknown region can be covered at the same time.

[0125] The image acquisition device can be a standby image acquisition device or an image acquisition device that is currently working.

[0126] Step S1602: According to the first position information, the unknown position information, and the panoramic image of the region to be surveyed, path planning is performed to form the mobile instruction information, and the path information is included in the mobile instruction information.

[0127] Step S1603: Send the mobile instruction information to the image acquisition device, so that the image acquisition device moves according to the mobile instruction information.

[0128] Specifically, the path information is the shortest path between the image acquisition device at the first position information and the unknown region at the unknown position information, wherein the unknown position information is a position at the same height as the first position information, for example, the first position information is (0, 0, 8), the unknown region is (5, 2, 0), and the unknown position information is (5, 2, 8). The shortest distance can be determined by determining the position coordinates of the two points, and can be realized by using the breadth-first algorithm or the depth-first algorithm.

[0129] Step S1604: When the image acquisition device moves to the region corresponding to the unknown position information, image acquisition is performed again.

[0130] Specifically, when the image acquisition device moves to the position, the electronic device can receive the arrival signal sent by the image acquisition device to control the image acquisition device to perform image acquisition. Image acquisition of the unknown area at the unknown position helps to improve the accuracy of identification of the unknown area.

[0131] In the embodiment of the application, the first position information of the image acquisition device and the panoramic image of the area to be surveyed are acquired, and then the path information of the first position information and the unknown position information is planned based on the unknown position information, the moving instruction information is generated, the image acquisition device is controlled to move, and when it is detected that the image acquisition device reaches the area corresponding to the unknown position information, the image acquisition device is controlled to perform image acquisition of the unknown area, thereby improving the accuracy of identification of the unknown area.

[0132] Further, after the step S1603 of sending the moving instruction information to the image acquisition device, the method further comprises steps Sa (not shown in the figure), Sb (not shown in the figure), and Sc (not shown in the figure), wherein:

[0133] Step Sa: real-time acquisition of second position information, motion speed and motion direction of the image acquisition device.

[0134] Specifically, the image acquisition device is internally provided with a GPS positioning chip, by which the real-time second position information of the image acquisition device can be acquired, and the motion speed of the image acquisition device can be determined according to the path traveled within a preset time period, and the motion direction of the image acquisition device during movement can be determined through the GPS positioning chip.

[0135] Step Sb: determining the relative position of the image acquisition device in the path information according to the second position information.

[0136] Specifically, the relative position refers to the relative distance between the current second position information and the unknown position information of the image acquisition device, which changes in real time according to the movement of the image acquisition device.

[0137] Step Sc: generating a turning instruction according to the relative position, the motion speed and the motion direction, and sending the turning instruction to the image acquisition device to make the image acquisition device move according to the moving instruction information.

[0138] Specifically, the turning instruction is formed according to the second position information, the motion speed and the motion direction of the image acquisition device, and is sent to the control chip in the image acquisition device to control the image acquisition device to turn and avoid.

[0139] In the embodiment of the present application, after the generated movement instruction is sent to the image acquisition device, the second position information, the movement speed and the movement direction of the image acquisition device are acquired in real time, the relative position of the image acquisition device to the unknown position information in the movement is determined according to the second position information, and the turning instruction is generated according to the relative position, the movement speed and the movement direction, which is sent to the image acquisition device, so as to help the image acquisition device to move according to the instruction information.

[0140] Further, the embodiment of the present application also includes:

[0141] The image information containing the dark area is subjected to gray scale processing to obtain a gray scale image.

[0142] The gray scale image is subjected to image region division to obtain a plurality of division regions.

[0143] The gray scale mean value of each division region is calculated and compared with a preset standard gray scale mean value.

[0144] If the gray scale mean value of the current division region exceeds the preset standard gray scale mean value, it is determined that the current division region has superposition abnormality, and a detection instruction is generated to control the image acquisition device to acquire and detect the image of the current division region.

[0145] Specifically, the original color picture is composed of RGB three colors (that is, each pixel point has three values), after the image information is subjected to gray scale processing, each pixel point in the image information has only one value in (0-255) to represent the depth of color, that is, (R=G=B), the image information subjected to gray scale processing presents black and white effect, and the gray scale value corresponding to the darkest area is 0 and the gray scale value corresponding to the whitest area is 255.

[0146] When it is detected that the image information of the to-be-mapped area has a dark area, since the dark area may be a natural element or a projection, a self-shadow, a superposition of the projection and the self-shadow caused by the shielding of light by artificial facilities, the color of the superposition area is deeper than that of the projection and the self-shadow area, so the superposition area can be determined by calculating the gray scale value in the image information.

[0147] The preset standard gray scale mean value can be modified according to requirements, which is not specifically limited in the embodiment of the present application, and is determined based on the gray scale values corresponding to a plurality of image information containing shadows or self-shadows when the preset standard gray scale mean value is determined.

[0148] The detection instruction is used to control the image acquisition device to re-detect the current division region, which helps to accurately identify the dark area in the current division region.

[0149] In the embodiment of the present application, the image information containing the dark region is subjected to gray scale processing to obtain a gray scale image, the gray scale image is subjected to region division, the gray scale mean value corresponding to each division region is calculated, and the gray scale mean value is compared with the preset standard gray scale mean value. If the gray scale mean value corresponding to the current division region exceeds the preset standard gray scale mean value, it is determined that the current division region may contain an overlapping region, and a detection instruction is generated. The detection instruction is used to control the image acquisition device to re-detect the current division region, which is helpful to accurately identify the overlapping region in the current division region.

[0150] The above embodiment introduces a surveying and mapping image processing method from the perspective of method flow. The following embodiment introduces a surveying and mapping image processing device from the perspective of virtual module or virtual unit. For details, see the following embodiment.

[0151] The embodiment of the present application provides a surveying and mapping image processing device, as shown in Figure 2 The device can specifically include an acquisition module 210, an acquisition boundary information module 220, an acquisition shape information module 230, a determination projection region module 240, a similarity judgment module 250, and an execution module 260.

[0152] The acquisition module 210 is configured to acquire image information of a region to be surveyed and recorded.

[0153] The acquisition boundary information module 220 is configured to acquire deep color boundary information corresponding to a deep color region in the image information.

[0154] The acquisition shape information module 230 is configured to determine a source object according to the deep color boundary information and acquire shape information of the source object.

[0155] The determination projection region module 240 is configured to determine a projection region of the source object based on the shape information of the source object.

[0156] The similarity judgment module 250 is configured to judge whether the deep color region is similar to the projection region. If yes, it is determined that the deep color region is a projection of the source object.

[0157] The execution module 260 is configured to determine unknown position information of an unknown region according to the deep color region and the projection region if the deep color region is not similar to the projection region, and generate a movement instruction information according to the unknown position information to control the image acquisition device to re-acquire the unknown region.

[0158] In a possible implementation manner, the device further includes:

[0159] The acquisition geographic information module is configured to acquire geographic position information of the region to be surveyed.

[0160] The geographic position information includes longitude information and latitude information of the region to be surveyed.

[0161] A light information determining module is configured to acquire light information of the region to be mapped according to the time information and the geographic position information.

[0162] In a possible implementation, the shape information acquiring module 230 includes:

[0163] An initial source object determining unit is configured to determine a plurality of initial source objects from the image information according to the light information.

[0164] A contact edge length calculating unit is configured to calculate a contact edge length of each initial source object and the dark region according to the dark boundary information.

[0165] A source object determining unit is configured to determine a source object according to the plurality of contact edge lengths.

[0166] In a possible implementation, the similarity judging module 250 includes:

[0167] A key point coordinate determining unit is configured to import the projection region into a preset coordinate system to obtain a plurality of key point coordinates.

[0168] A projection boundary information determining unit is configured to determine projection boundary information corresponding to the projection region according to the plurality of key point coordinates.

[0169] A similarity comparison unit is configured to compare the projection boundary information with dark boundary information corresponding to the dark region, and generate a similarity comparison value.

[0170] A first determining unit is configured to determine that the projection region is similar to the dark region if the similarity value is higher than a preset standard comparison value.

[0171] A second determining unit is configured to determine that the projection region is not similar to the dark region if the similarity value is not higher than the preset standard comparison value.

[0172] In a possible implementation, the execution module 260 includes:

[0173] An image information acquiring unit is configured to acquire first position information of an image acquisition device and a panoramic image of the region to be mapped.

[0174] An instruction information generating unit is configured to perform path planning according to the first position information, the unknown position information and the panoramic image of the region to be mapped, and form movement instruction information, the movement instruction information including path information.

[0175] A sending unit is configured to send the movement instruction information to the image acquisition device, so that the image acquisition device moves according to the movement instruction information.

[0176] The control starting unit is configured to control the image acquisition device to re-acquire images after the image acquisition device moves to the area corresponding to the unknown position information.

[0177] In a possible implementation manner, the method further includes:

[0178] The information acquisition module is configured to acquire the second position information, the motion speed and the motion direction of the image acquisition device in real time.

[0179] The relative position determination module is configured to determine the relative position of the image acquisition device in the path information according to the second position information.

[0180] The turning instruction generation module is configured to generate a turning instruction according to the relative position, the motion speed and the motion direction, and send the turning instruction to the image acquisition device, so that the image acquisition device moves according to the moving instruction information.

[0181] In a possible implementation manner, the method further includes:

[0182] The gray scale processing module is configured to perform gray scale processing on the image information containing the dark area to obtain a gray scale image.

[0183] The region division module is configured to perform image region division on the gray scale image to obtain a plurality of division regions.

[0184] The mean value calculation module is configured to calculate the gray scale mean value of each division region and compare the gray scale mean value with a preset standard gray scale mean value.

[0185] The detection instruction generation module is configured to determine that the current division region has the superposition anomaly if the gray scale mean value of the current division region exceeds the preset standard gray scale mean value, and generate a detection instruction to control the image acquisition device to acquire and detect images of the current division region.

[0186] An electronic device is provided in the embodiments of the present application, as shown in Figure 3 The electronic device 300 shown in Figure 3 The electronic device 300 shown in the embodiments of the present application includes a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, such as through a bus 302. Optionally, the electronic device 300 can also include a transceiver 304. It should be noted that in actual applications, the transceiver 304 is not limited to one, and the structure of the electronic device 300 does not constitute a limitation on the embodiments of the present application.

[0187] The processor 301 can be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic device, transistor logic device, hardware component, or any combination thereof. It can implement or execute various exemplary logical blocks, modules and circuits described in connection with the disclosure. The processor 301 can also be a combination of computing functions, such as one or more microprocessor combinations, combinations of DSP and microprocessor, etc.

[0188] The bus 302 can include a path for transmitting information between the above-mentioned components. The bus 302 can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 302 can be divided into an address bus, a data bus, a control bus, etc. For convenience of representation, Figure 3 In the figure, only one thick line is used, but it does not mean that there is only one bus or one type of bus.

[0189] The memory 303 can be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, an optical disk storage (including a compact disk, a laser disk, an optical disk, a digital versatile disk, a Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and capable of being accessed by a computer, but not limited to.

[0190] The memory 303 is configured to store application program codes for implementing the solutions of the present application, and the processor 301 is configured to control the execution of the application program codes stored in the memory 303. The processor 301 is configured to execute the application program codes stored in the memory 303 to implement the content shown in the foregoing method embodiments.

[0191] The electronic device includes, but is not limited to, a mobile terminal such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (Personal Digital Assistant), a PAD (Tablet Personal Computer), a PMP (Portable Multimedia Player), a car terminal (for example, a car navigation terminal), and the like, and a stationary terminal such as a digital TV, a desktop computer, and the like. The electronic device can also be a server or the like. Figure 3 The electronic device shown is merely an example, and should not impose any limitation on the functions and use range of the embodiments of the present disclosure.

[0192] The embodiments of the present application provide a computer readable storage medium, which stores a computer program. When the computer program is run on a computer, the computer can execute the corresponding content in the foregoing method embodiments.

[0193] It should be understood that, although each step in the flowchart of the accompanying drawings is shown in sequence according to the direction of the arrow, these steps are not necessarily executed in sequence according to the direction of the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and they can be executed in other sequences. Moreover, at least part of the steps in the flowchart of the accompanying drawings can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or sub-steps or stages of other steps.

[0194] The above only describes some embodiments of the present application. It should be pointed out that, for those skilled in the art, without departing from the principles of the present application, some improvements and refinements can be made, which should also be considered as the protection scope of the present application.

Claims

1. A mapping image processing method characterized by, The method comprises the following steps: acquiring image information of a region to be mapped and recording the acquisition time; if there is a dark region in the image information, acquiring dark boundary information corresponding to the dark region; determining a source object according to the dark boundary information and acquiring shape information of the source object; determining a projection region of the source object based on the shape information of the source object; judging whether the dark region is similar to the projection region, and if so, determining that the dark region is a projection of the source object; if not, determining unknown position information of an unknown region according to the dark region and the projection region, and generating a moving instruction information according to the unknown position information to control the image acquisition device to re-acquire the unknown region, wherein, when the dark region is different from the projection region of the source object, it is judged whether the dark region contains the projection region of the source object; if the dark region contains the projection region of the source object, the projection region is removed from the dark region to obtain the unknown region; if the dark region does not contain the projection region of the source object, the dark region is determined as the unknown region.

2. The method of claim 1, wherein, Before determining the source object according to the dark boundary information, the method further comprises the following steps: acquiring geographical position information of the region to be mapped, wherein the geographical position information comprises longitude information and latitude information of the region to be mapped; acquiring light information of the region to be mapped according to the acquisition time and the geographical position information.

3. The method of claim 2, wherein, The method of determining the source object according to the dark boundary information comprises the following steps: determining a plurality of initial source objects from the image information according to the light information; calculating a contact side length of each initial source object and the dark region according to the dark boundary information; determining the source object according to a plurality of the contact side lengths.

4. The method of claim 1, wherein, The method of judging whether the dark region is similar to the projection region comprises the following steps: introducing the projection region into a preset coordinate system to obtain a plurality of key point coordinates; determining projection boundary information corresponding to the projection region according to the plurality of key point coordinates; comparing the projection boundary information with dark boundary information corresponding to the dark region in terms of similarity and generating a similarity comparison value; if the similarity value is higher than a preset standard comparison value, it is determined that the projection region is similar to the dark region; if the similarity value is not higher than the preset standard comparison value, it is determined that the projection region is not similar to the dark region.

5. The method of claim 1, wherein, The method of generating a moving instruction information according to the unknown position information and controlling the image acquisition device to re-acquire the unknown region comprises the following steps: acquiring first position information of the image acquisition device and a panoramic image of the region to be mapped; performing path planning according to the first position information, the unknown position information and the panoramic image of the region to be mapped to form the moving instruction information, wherein the moving instruction information comprises path information; sending the moving instruction information to the image acquisition device to enable the image acquisition device to move according to the moving instruction information; controlling the image acquisition device to re-acquire images when the image acquisition device moves to the region corresponding to the unknown position information.

6. The method of claim 5, wherein, The method further comprises the following steps after sending the moving instruction information to the image acquisition device: acquiring second position information, a moving speed and a moving direction of the image acquisition device in real time; determining a relative position of the image acquisition device in the path information according to the second position information; generating a turning instruction according to the relative position, the moving speed and the moving direction, and sending the turning instruction to the image acquisition device to enable the image acquisition device to move according to the moving instruction information.

7. The method of claim 1, wherein, The method further comprises the following steps: performing gray scale processing on the image information containing the dark region to obtain a gray scale image; performing image region division on the gray scale image to obtain a plurality of division regions; calculating a gray scale mean value of each division region and comparing the gray scale mean value with a preset standard gray scale mean value; if the gray scale mean value of a current division region exceeds the preset standard gray scale mean value, determining that the current division region has an overlaying abnormality, and generating a detection instruction to control the image acquisition device to perform image acquisition and detection on the current division region.

8. A mapping image processing apparatus characterized by comprising: The method comprises the following steps: an acquisition module configured to acquire image information of a region to be surveyed and record an acquisition time; an acquisition boundary information module configured to acquire dark boundary information corresponding to a dark region in the image information if the dark region exists in the image information; an acquisition shape information module configured to determine a source object and acquire shape information of the source object according to the dark boundary information; a determination projection region module configured to determine a projection region of the source object based on the shape information of the source object; a similarity judgment module configured to judge whether the dark region is similar to the projection region, and if yes, determine that the dark region is a projection of the source object; an execution module configured to if no, determine unknown position information of an unknown region according to the dark region and the projection region, and generate moving instruction information according to the unknown position information to control the image acquisition device to re-acquire the unknown region, wherein if the dark region is different from the projection region of the source object, it is judged whether the dark region contains the projection region of the source object; if the dark region contains the projection region of the source object, the projection region is removed from the dark region to obtain the unknown region; if the dark region does not contain the projection region of the source object, the dark region is determined as the unknown region.

9. An electronic device, comprising: The electronic device comprises: at least one processor; a memory; at least one application program, wherein the at least one application program is stored in the memory and configured to be executed by the at least one processor, and the at least one application program is configured to execute the surveying image processing method in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The electronic device comprises: a memory storing a computer program capable of being loaded and executed by a processor to execute the surveying image processing method in any one of claims 1-7.

Images