Modeling System and Method Based on Oblique Photogrammetry

Abstract

The present invention relates to the field of drone technology, and specifically discloses a modeling system and method based on oblique photography, wherein the method comprises: S1, determining the boundary of a village and setting a number of control points around the boundary; S2, determining a tour route of the village and setting a number of control points along the tour route; S3, demarcating an aerial photography range in an electronic map based on the village boundary control points; S4, planning a route according to the demarcated aerial photography range and setting oblique photography parameters; S5, causing an aerial photography drone to perform aerial photography according to the planned route and the set parameters; S6, acquiring image data from the aerial photography drone; S7, encrypting control points based on existing control points and calculating the elevation and plane position of the encrypted points; constructing a TIN triangulation network based on a finite set of encrypted points; calculating texture based on the image data, mapping the texture onto the TIN triangulation network, and forming an oblique photography model. The technical solution of the present invention can improve the efficiency of village surveys and obtain complete model data of the village.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a modeling system and method based on oblique photography. Background Art

[0002] For a long time, researchers in architecture and landscape architecture have conducted research on traditional villages using passive methods such as camera capture, manual mapping, sketching, and field interviews. This approach has limitations, as the data is often two-dimensional, flat, and static. Consequently, the understanding and assessment of traditional settlements is somewhat passive. Furthermore, in hilly and mountainous areas like Chongqing, research on traditional villages is limited by the terrain. Traditional settlements are often built on slopes with poor accessibility, making it difficult to accurately and comprehensively assess and understand settlements using human labor alone, resulting in a significant degree of passiveness.

[0003] With the popularization of drone technology, combining drone aerial photography with landform measurement has reduced the difficulty of investigating traditional villages. However, if drone aerial photography is integrated into the investigation activities, improving the efficiency of village investigation has become a problem that needs to be solved. Summary of the Invention

[0004] On one hand, the present invention provides a modeling method based on oblique photography, which can improve the efficiency of village surveys and obtain complete model data of the village.

[0005] In order to solve the above technical problems, this application provides the following technical solutions:

[0006] The modeling method based on oblique photography includes the following:

[0007] S1. Determine the boundaries of the village, set up several control points around the boundaries, and measure the location information of the control points;

[0008] S2. Determine the village tour route, set several control points along the tour route, and measure the position information of the control points;

[0009] S3. Delineating the scope of the village on an electronic map based on the location information of the village boundary control points, and using the scope of the village as the aerial photography scope;

[0010] S4. Plan the route according to the designated aerial photography range and set the parameters for oblique photography;

[0011] S5, enabling the aerial photography drone to perform aerial photography operations according to the planned route and set parameters;

[0012] S6. Obtain image data from an aerial drone;

[0013] S7. Encrypt the control points based on the existing control points and calculate the elevation and plane position of the encrypted points; construct a TIN triangulation network based on the encrypted finite point set; calculate the texture based on the image data, map the texture to the TIN triangulation network, and form an oblique camera model.

[0014] The basic scheme principles and beneficial effects are as follows:

[0015] This solution incorporates oblique photography and 3D modeling into village surveys. Setting control points and measuring location information while conducting manual surveying and field visits can improve the accuracy of subsequent modeling, avoid repeated measurements, and effectively save time. While visiting, determining the boundaries of the village and then setting control points is more accurate than directly relying on electronic maps to define the boundaries of the village for aerial photography. It also avoids defining an overly large area to ensure full coverage of the village, thereby improving the efficiency of aerial photography. Modeling is performed based on the image data obtained from oblique photography to obtain an oblique camera model of the village, which can fully reflect the characteristics of the village and solve the problem of traditional village surveys being restricted by terrain.

[0016] Furthermore, in step S4, the flying drone is also caused to fly along the tour route, record flight data and shoot a tour video;

[0017] The method further includes: S8, synchronously marking the location of the crossing drone in the tilt camera model according to the flight data of the crossing drone, so as to form a flight trajectory video of the crossing drone;

[0018] S9, combining the tour video of the drone and the flight trajectory video to form a tour recommendation video;

[0019] S10. Tag the tour recommendation video and publish it.

[0020] Traditional villages are disappearing due to a lack of foot traffic. This optimal solution determines a village's tourist route. A drone captures video along the route, which is then combined with the flight path video to create a recommended tour video. This video is then sent to short video platforms, allowing viewers to explore the village's most distinctive features online, along the route, while also gaining a comprehensive overview. This approach encourages viewers to visit the village in person and helps it attract more visitors.

[0021] Furthermore, in step S6, POS data corresponding to the image data is obtained and the POS data is screened; the image data is preprocessed and geometric correction is performed on the preprocessed image data based on the POS data.

[0022] Furthermore, in step S4, the parameters for setting the oblique photography include flight altitude, flight speed, image shooting interval, heading spacing, and lateral spacing.

[0023] Furthermore, in step S6, the image data is screened to determine whether there is any image data of unqualified quality. If so, the aerial photography drone is made to make up for the area corresponding to the image data and re-collect the image data.

[0024] Another aspect of the present invention provides a modeling system based on oblique photography, comprising an aerial photography drone, a route planning module, a data processing module, and a model generation module;

[0025] The route planning module is used to obtain the location information of the control points of the village boundary and the control points of the tour route; it is also used to delineate the scope of the village on a pre-stored electronic map based on the location information of the control points of the village boundary, and use the scope of the village as the aerial photography range; it is also used to receive the parameters of the oblique photography, plan the route according to the demarcated aerial photography range, and send the oblique photography parameters and route to the aerial photography drone;

[0026] The aerial photography drone is used to receive the parameters of the route and oblique photography, perform aerial photography according to the planned route and set parameters, and collect image data of each shooting point and the POS data corresponding to the shooting point;

[0027] The data processing module is used to obtain the image data of each shooting point and the POS data corresponding to the shooting point from the aerial photography drone, and perform geometric correction on the pre-processed image data based on the POS data;

[0028] The model generation module is used to encrypt control points based on existing control points and calculate the elevation and plane position of the encrypted points; it constructs a continuous TIN triangulation network based on the encrypted finite point set; it is also used to calculate the texture based on the geometrically corrected image data, map the texture to the TIN triangulation network, and form an oblique camera model.

[0029] This solution integrates oblique photography and 3D modeling into village surveys. The route planning module obtains the location information of boundary control points, determines the village boundaries, and then sets control points. Compared to directly relying on electronic maps to define village boundaries for aerial photography, this approach offers greater accuracy and avoids overly large boundaries to ensure full coverage, thus improving aerial photography efficiency. Based on the image data obtained from oblique photography, modeling is performed to create an oblique camera model of the village, which comprehensively reflects the village's characteristics and addresses the terrain limitations of traditional village surveys.

[0030] Furthermore, it also includes a crossing mission machine, a video processing module and a video publishing module;

[0031] The data processing module is used to obtain the tour video shot by the flying UAV along the tour route and the recorded flight data;

[0032] The video processing module is used to synchronously mark the location of the crossing drone in the oblique camera model based on the flight data of the crossing drone, thereby forming a flight trajectory video of the crossing drone; it is also used to combine the tour video of the crossing drone with the flight trajectory video to form a tour recommendation video that can be played in the same frame;

[0033] The video publishing module is used to add tags and publish tour recommendation videos.

[0034] Furthermore, the data processing module is further configured to screen the image data to determine whether there is any image data of unqualified quality, and if so, to send the location information of the area corresponding to the image data to the route planning module;

[0035] The route planning module is also used to re-plan the flight route. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a flow chart of a modeling method based on oblique photography according to Example 1. DETAILED DESCRIPTION

[0037] The following is further described in detail through specific implementation methods:

[0038] Example 1

[0039] like Figure 1 As shown, the modeling method based on oblique photography of this embodiment includes the following contents:

[0040] S1. Determine the boundaries of the village, set up several control points around the boundaries, and measure the location information of the control points;

[0041] S2. Determine a village tour route, set several control points along the tour route, and measure the position information of the control points. In this embodiment, several control points are also set at the boundary and in areas outside the tour route. The position information includes the plane position and elevation.

[0042] S3. Delineating the scope of the village on an electronic map based on the location information of the village boundary control points, and using the scope of the village as the aerial photography scope;

[0043] S4. Plan a route based on the designated aerial photography range and set oblique photography parameters, including flight altitude, flight speed, image capture interval, heading spacing, and lateral spacing. In this embodiment, the heading spacing and lateral spacing are set to achieve 85% heading overlap and 70% lateral overlap. In this embodiment, route planning and oblique photography parameter setting are accomplished using ground station software. The relative flight altitude, ground resolution, and physical pixel size are maintained in a triangular proportional relationship.

[0044] S5, causing the aerial photography drone to perform aerial photography according to the planned route and set parameters; causing the crossing drone to fly along the tour route, record flight data and shoot a tour video;

[0045] Specifically, during aerial photography, a drone collects image data and corresponding POS data for each shooting point. The image data includes multi-angle images captured by the drone's multi-lens camera. In this embodiment, the image data includes one vertical angle and four oblique angles, for a total of five angles. The POS data includes latitude and longitude, altitude, elevation, flight direction, and flight attitude.

[0046] S6. Obtain image data of each shooting point and the corresponding POS data from the aerial drone. Specifically, the POS data needs to be screened and classified to remove data not needed for subsequent processing. The image data also needs to be screened to determine whether there is any image data of substandard quality, such as image clarity. If so, the aerial drone is directed to perform a re-flight of the area corresponding to the image data and re-collect the image data. After screening, the image data is pre-processed to unify the exposure and color temperature. The pre-processed image data is then geometrically corrected based on the POS data.

[0047] S7. Encrypt the control points based on the existing control points and calculate the elevation and plane position of the encrypted points; construct a continuous TIN triangulation network based on the encrypted finite point set; calculate the texture based on the image data, map the texture to the TIN triangulation network, and form an oblique camera model.

[0048] S8. Synchronously marking the location of the crossing drone in the oblique camera model based on the flight data of the crossing drone to form a flight trajectory video of the crossing drone;

[0049] S9. Combine the tour video of the drone and the flight track video to form a recommended tour video that can be played in the same frame. In this embodiment, when played in the same frame, the flight track video is located in the lower left corner or lower right corner of the tour video.

[0050] S10, add tags to the recommended tour video and publish it. In this embodiment, the tags include terraced fields, ancient villages, streets, etc.

[0051] The modeling system based on oblique photography includes an aerial photography drone, a crossing mission aircraft, a route planning module, a data processing module, a model generation module, a video processing module and a video publishing module.

[0052] The route planning module is used to obtain the location information of the control points of the village boundary, the control points of the tour route, and other control points; the location information includes the plane position and elevation.

[0053] The route planning module is also used to delineate the scope of the village in a pre-stored electronic map based on the location information of the control points of the village boundary, and use the scope of the village as the aerial photography scope;

[0054] The route planning module is also used to receive oblique photography parameters, plan a route based on the designated aerial photography range, and transmit these parameters and route to the aerial photography drone. These parameters include flight altitude, flight speed, image capture interval, heading spacing, and lateral spacing. In this embodiment, the heading spacing and lateral spacing are set to achieve 85% heading overlap and 70% lateral overlap. In this embodiment, route planning and oblique photography parameter setting are accomplished using ground station software. The relative flight altitude, ground resolution, and physical pixel size are maintained in a triangular proportional relationship.

[0055] Aerial photography drones are used to receive flight path and oblique photography parameters, and perform aerial photography according to the planned flight path and set parameters. During aerial photography operations, aerial photography drones collect image data of each shooting point and the corresponding POS data of the shooting point.

[0056] The data processing module is used to obtain the image data of each shooting point and the POS data corresponding to the shooting point from the aerial photography drone, and to obtain the tour video shot along the tour route and the recorded flight data from the flying drone.

[0057] The data processing module is also used to filter and classify POS data and remove data that is not needed for subsequent processing; it is also used to filter image data to determine whether there is image data of unqualified quality, such as unqualified image clarity. If so, the location information of the area corresponding to the image data is sent to the route planning module; the route planning module is also used to re-plan the supplementary flight route.

[0058] The data processing module is also used to pre-process the filtered image data after screening: unify exposure and color temperature; and perform geometric correction on the pre-processed image data based on POS data.

[0059] The model generation module is used to encrypt control points based on existing control points and calculate the elevation and plane position of the encrypted points; it constructs a continuous TIN triangulation network based on the encrypted finite point set; it is also used to calculate the texture based on the geometrically corrected image data, map the texture to the TIN triangulation network, and form an oblique camera model.

[0060] The video processing module is used to synchronously mark the location of the crossing drone in the oblique camera model according to the flight data of the crossing drone, so as to form a flight trajectory video of the crossing drone;

[0061] It is also used to combine the tour video of the drone with the flight trajectory video to form a tour recommendation video that can be played in the same frame; in this embodiment, when played in the same frame, the flight trajectory video is located in the lower left corner or lower right corner of the tour video.

[0062] The video publishing module is used to add tags to the recommended tour videos and publish them. In the present embodiment, the tags include terraced fields, ancient villages, streets, etc.

[0063] The above are only embodiments of the present invention. The invention is not limited to the fields involved in this implementation case. Common knowledge such as the known specific structures and characteristics in the scheme is not described in detail here. Ordinary technicians in the relevant field are aware of all common technical knowledge in the technical field to which the invention belongs before the application date or priority date, can obtain all existing technologies in the field, and have the ability to apply conventional experimental means before that date. Ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the inspiration given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention. These will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A modeling method based on oblique photography, characterized in that: include: S1. Determine the boundaries of the village, set up several control points around the boundaries, and measure the location information of the control points; S2. Determine a village tour route, set a number of control points along the tour route, and measure the position information of the control points; also set a number of control points at the boundary and in areas outside the tour route; the position information includes the plane position and elevation; S3. Delineating the scope of the village on an electronic map based on the location information of the village boundary control points, and using the scope of the village as the aerial photography scope; S4. Plan the route according to the designated aerial photography range and set the oblique photography parameters, including flight altitude, flight speed, image capture interval, heading spacing, and lateral spacing. Set the heading spacing and lateral spacing to achieve 85% heading overlap and 70% lateral overlap. Use the ground station software to complete route planning and oblique photography parameter settings. Make the relative flight altitude, ground resolution and physical pixel size meet the triangular proportional relationship; S5, causing the aerial photography drone to perform aerial photography according to the planned route and set parameters; causing the crossing drone to fly along the tour route, record flight data and shoot a tour video; Specifically, during aerial photography, the drone collects image data and corresponding POS data of each shooting point. The image data includes multi-angle images taken by the multi-lens camera onboard the drone, including one vertical angle and four oblique angles, for a total of five angles. The POS data includes latitude and longitude, altitude, height, flight direction, and flight attitude. S6. Obtain image data of each shooting point and the corresponding POS data from the aerial drone. Specifically, the POS data needs to be screened and classified to remove data not needed for subsequent processing. The image data also needs to be screened to determine whether there is any image data of substandard quality. If so, the aerial drone is directed to perform a re-flight of the area corresponding to the image data and re-collect the image data. After screening, the image data is pre-processed to unify the exposure and color temperature. The pre-processed image data is then geometrically corrected based on the POS data. S7. Encrypt the control points based on the existing control points and calculate the elevation and plane position of the encrypted control points; construct a continuous TIN triangulation network based on the encrypted finite set of control points; calculate the texture based on the image data, map the texture onto the TIN triangulation network, and form an oblique photography model; S8. Synchronously marking the location of the crossing drone in the oblique photography model based on the flight data of the crossing drone to form a flight trajectory video of the crossing drone; S9. Combining the tour video of the drone and the flight trajectory video to form a recommended tour video that can be played in the same frame; when played in the same frame, the flight trajectory video is located in the lower left corner or lower right corner of the tour video; S10. Add tags to the recommended tour video and publish it; tags include but are not limited to terraced fields, ancient villages, and streets.

2. A modeling system based on oblique photography, based on the method of claim 1, characterized in that: It includes aerial photography drone, route planning module, data processing module and model generation module; The route planning module is used to obtain the location information of the control points of the village boundary and the control points of the tour route; it is also used to delineate the scope of the village on a pre-stored electronic map based on the location information of the control points of the village boundary, and use the scope of the village as the aerial photography range; it is also used to receive the parameters of the oblique photography, plan the route according to the demarcated aerial photography range, and send the oblique photography parameters and route to the aerial photography drone; The aerial photography drone is used to receive the parameters of the route and oblique photography, perform aerial photography according to the planned route and set parameters, and collect image data of each shooting point and the POS data corresponding to the shooting point; The data processing module is used to obtain the image data of each shooting point and the POS data corresponding to the shooting point from the aerial photography drone, and perform geometric correction on the pre-processed image data based on the POS data; The model generation module is used to encrypt control points based on existing control points and calculate the elevation and plane positions of the encrypted control points; construct a continuous TIN triangulation network based on the encrypted finite set of control points; and calculate textures based on geometrically corrected image data and map the textures onto the TIN triangulation network to form an oblique photography model. It also includes a flying drone, a video processing module, and a video publishing module; The data processing module is used to obtain the tour video shot by the flying UAV along the tour route and the recorded flight data; The video processing module is used to synchronously mark the location of the crossing drone in the oblique photography model based on the flight data of the crossing drone, thereby forming a flight trajectory video of the crossing drone; it is also used to combine the tour video of the crossing drone with the flight trajectory video to form a tour recommendation video that can be played in the same frame; The video publishing module is used to add tags to tour recommendation videos and publish them; The data processing module is further configured to screen the image data to determine whether there is any image data of unqualified quality, and if so, to send the location information of the area corresponding to the image data to the route planning module; The route planning module is also used to re-plan the flight route.

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