Application method and system based on real-time situation fusion global scene voxelization model

Abstract

The invention provides an application method and system based on a real-time situation fusion global scene voxelization model. The method comprises the following steps: acquiring terrain grid data, building point cloud data and entity three-dimensional model data in a situation scene in real time through a client; performing fusion processing on the terrain grid data, the building point cloud data and the entity three-dimensional model data to obtain fusion data; performing real-time grouping on the fused data, and performing voxelization processing to obtain global scene voxelization data; a global scene voxelization model is generated based on the global scene voxelization data, and the client performs rendering calculation on the global scene voxelization model by using a situation engine; and displaying the global scene voxelization model after rendering calculation through a client. Through real-time acquisition, accurate fusion, efficient voxelization processing and optimized rendering, high-precision, high-real-time and high-reality display of the global scene is realized, and the user experience and the application value are greatly improved.

Description

Technical Field

[0001] The present application relates to the field of voxelization technology, and in particular to an application method and system based on real-time situation fusion global scene voxelization model. Background Art

[0002] Voxel data is a data representation method that discretizes three-dimensional space into regular grid units. Each voxel contains information about the space, such as material, density, color, etc. Current rendering technology or physical engine technology can obtain the voxel data of the three-dimensional model, calculate the intensity of light on the surface of the three-dimensional model, or detect the collision of the three-dimensional model, making the three-dimensional model in the scene more realistic.

[0003] However, voxel data is not used directly in traditional 3D scenes. The rendering pipeline of the GPU (Graphics Processing Unit) only processes the vertices and indices of the 3D model, assembles the vertices and indices into primitives, and converts them into pixels through the rasterization process and presents them in the screen space. Traditional 3D scenes lack voxel data of the 3D model.

[0004] In view of this, the present application proposes an application method, system, device and storage medium based on a real-time situation fusion global scene voxel model, which can construct a global scene voxel model to assist the client in performing collision detection calculations or global illumination rendering calculations for entities in the scene. Summary of the invention

[0005] In order to solve the problem of lack of voxel data of three-dimensional models in existing three-dimensional scenes, the present application provides an application method, system, device and storage medium based on real-time situation fusion of global scene voxel model to solve the above-mentioned technical defects.

[0006] According to the first aspect of the present application, a method for applying a voxelized model of a global scene based on real-time situation fusion is proposed. The method comprises the following steps:

[0007] S1, obtaining terrain grid data, building point cloud data and entity 3D model data in the situation scene in real time through the client;

[0008] S2, fusing the terrain grid data, the building point cloud data and the entity three-dimensional model data to obtain fused data;

[0009] S3, grouping the fused data in real time and performing voxel processing to obtain voxelized data of the global scene;

[0010] S4, generating a global scene voxel model based on the global scene voxel data, and the client uses the situation engine to perform rendering calculation on the global scene voxel model;

[0011] S5. Display the voxelized model of the global scene after rendering calculation through the client.

[0012] The above technical solution, this application achieves high-precision, high-real-time and high-realistic display of the global scene through real-time acquisition, precise fusion, efficient voxel processing and optimized rendering, greatly improving the user experience and application value.

[0013] Preferably, in step S3, the fused data is grouped in real time and voxelized, which specifically includes the following contents:

[0014] Perform voxel grouping processing on the fused data;

[0015] Determine the global scene space range according to the preset range of the client viewport and the viewport coordinate range, and voxelize and group the entity elements within the global scene space range;

[0016] During the voxel grouping process, the spatial features of the entity 3D model are associated and bound with the entity, where the spatial features include the entity material, density and color.

[0017] Through the above technical solution, the present application associates and binds spatial features with entities, such as material, density and color, during the voxel grouping process, further improving the accuracy and authenticity of the model.

[0018] Preferably, in step S4, generating a global scene voxelized model based on the global scene voxelized data specifically includes the following contents:

[0019] The voxelized grouping data is stored in the global scene voxelized model through the spatial voxelization service;

[0020] The client updates the calculation in real time according to the movement of the viewport, adds the new voxelized group data to the global storage, and updates or deletes the existing global scene voxelized data.

[0021] Through the above technical solution, the present application can update the calculation in real time according to the movement of the client viewport, dynamically adjust the voxel model of the global scene, and enhance the flexibility and experience of user interaction.

[0022] Preferably, in step S2, the terrain grid data, the building point cloud data and the solid three-dimensional model data are fused, including integrating the terrain grid data, the building point cloud data and the solid three-dimensional model data into the global scene voxel model respectively.

[0023] Further preferably, integrating the building point cloud data into the global scene voxel model comprises the following sub-steps:

[0024] S211, determining the side length, minimum boundary and maximum boundary of each voxel in the voxel grid in the scene voxel;

[0025] S212, creating a hash table, and storing voxels through the hash table;

[0026] S213, calculating the index of each point in the building point cloud data in the voxel, accumulating the building point cloud data into the corresponding voxel in the hash table, and obtaining a voxel set.

[0027] Further preferably, integrating the terrain grid data and / or the entity 3D model data into the global scene voxelized model comprises the following sub-steps:

[0028] S221, traversing each triangular face in the input terrain grid data and / or solid three-dimensional model data, and obtaining the vertex coordinates of each triangular face;

[0029] S222, calculating the minimum and maximum values ​​of each triangular face in the x, y, and z directions based on the vertex coordinates, thereby determining the axis-aligned bounding box of the triangular face;

[0030] S223, converting the minimum coordinate of the bounding box into a voxel grid index, and calculating the range of the bounding box in the scene voxel grid, and finally obtaining a set of voxels through which all triangular faces of the terrain grid data and / or the solid 3D model data in the scene voxels pass.

[0031] The above technical solution, this application can quickly construct a global scene voxel model by real-time acquisition and integration of terrain grid data, building point cloud data and solid three-dimensional model data, thereby improving the real-time performance of data processing and scene construction.

[0032] Preferably, the application method based on real-time situation fusion global scene voxel model provided by the present application also includes:

[0033] The situation engine of the client performs an intersection test on each group of voxelized grouped data in the terrain grid data, building point cloud data, solid three-dimensional model data and global scene voxelized data to determine the filling of the voxel information of the scene situation entity model, thereby obtaining a global scene voxelized model; wherein the intersection test includes: fusing the spatial index of the voxelized grouped data with the spatial index of the global voxelized scene.

[0034] In a second aspect, the present application provides an application system based on real-time situation fusion global scene voxel model, the system comprising:

[0035] An acquisition module is configured to acquire terrain grid data, building point cloud data and entity three-dimensional model data in a situation scene in real time through a client;

[0036] A fusion module is configured to fuse the terrain grid data, the building point cloud data and the entity three-dimensional model data to obtain fused data;

[0037] A voxelization module is configured to group the fused data in real time and perform voxelization processing to obtain voxelized data of the global scene;

[0038] A rendering module is configured to generate a global scene voxel model based on the global scene voxel data, and the client uses the situation engine to perform rendering calculation on the global scene voxel model;

[0039] The display module is configured to display the voxelized model of the global scene after rendering calculation through the client.

[0040] In a third aspect, the present application provides a terminal device comprising a processor, a memory, and a computer program stored in the memory, wherein the computer program is executed by the processor to implement an application method based on a real-time situation fusion global scene voxelization model as described above.

[0041] In a fourth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, an application method based on a real-time situation fusion global scene voxelization model as described above is implemented.

[0042] Compared with the prior art, the beneficial results of the present invention are:

[0043] (1) Real-time and high efficiency: By acquiring and fusing terrain grid data, building point cloud data, and entity 3D model data in real time, the present invention can quickly construct a global scene voxel model, improving the real-time performance of data processing and scene construction. Voxel processing and real-time grouping strategies effectively reduce data redundancy and improve data processing efficiency and scene rendering speed.

[0044] (2) Precision and accuracy: During the fusion process, the terrain grid, building point cloud, and solid 3D model data are accurately matched and fused to ensure the accuracy and detail richness of the global scene voxel model.

[0045] (3) Flexibility and scalability: The present invention supports real-time update calculation according to the movement of the client viewport, dynamically adjusts the global scene voxel model, and enhances the flexibility and experience of user interaction.

[0046] (4) Optimize rendering performance: The client uses the situation engine to render the voxel model of the global scene, and uses the spatial index of the voxel data to optimize the rendering process, reducing unnecessary calculations and improving rendering performance. Real-time updating and deletion of existing voxel data avoids waste of resources and further improves rendering efficiency.

[0047] (5) Improve user experience: By displaying the global scene voxel model after rendering calculation on the client, users can get a smoother, more realistic and immersive scene experience. The improvement of real-time and accuracy enables users to get feedback quickly during the interaction process, which enhances user satisfaction and trust.

[0048] (6) Strong applicability: The present invention is not only suitable for the display of static scenes, but also for dynamically changing situation scenes, such as urban planning, military simulation, game development and other fields, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0050] Figure 1 It is a flow chart of an application method based on real-time situation fusion global scene voxelization model according to the present application;

[0051] Figure 2 It is a structural diagram of an application system based on real-time situation fusion global scene voxel model according to the present application;

[0052] Figure 3 It is a structural diagram of a computer system suitable for implementing an electronic device of an embodiment of the present application. DETAILED DESCRIPTION

[0053] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It should also be noted that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0054] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0055] Figure 1 The flowchart of the application method of the present application based on real-time situation fusion global scene voxel model is shown as follows: Figure 1 As shown, the method comprises the following steps:

[0056] S1. Obtain terrain grid data, building point cloud data and entity 3D model data in the situation scene in real time through the client.

[0057] In this embodiment, the client reads the elements in the situation scene in real time. The elements in the scene are loaded in a preset range of the client viewport, and the global scene space range of the viewport is determined according to the coordinate range of the client viewport.

[0058] S2. Fusing the terrain grid data, the building point cloud data and the entity three-dimensional model data to obtain fused data.

[0059] In this embodiment, in step S2, the terrain grid data, the building point cloud data and the entity three-dimensional model data are fused, including integrating the terrain grid data, the building point cloud data and the entity three-dimensional model data into the global scene voxel model respectively.

[0060] Specifically, integrating building point cloud data into the global scene voxel model includes the following sub-steps:

[0061] S211, determining the side length, minimum boundary and maximum boundary of each voxel in the voxel grid in the scene voxel;

[0062] S212, creating a hash table, and storing voxels through the hash table;

[0063] S213, calculating the index of each point in the building point cloud data in the voxel, accumulating the building point cloud data into the corresponding voxel in the hash table, and obtaining a voxel set.

[0064] Integrating terrain mesh data and / or solid 3D model data into a global scene voxelized model includes the following sub-steps:

[0065] S221, traversing each triangular face in the input terrain grid data and / or solid three-dimensional model data, and obtaining vertex coordinates v0, v1 and v2 of each triangular face;

[0066] S222, calculating the minimum and maximum values ​​of each triangle face in the x, y, and z directions based on the vertex coordinates, thereby determining an axis-aligned bounding box (AABB) of the triangle face;

[0067] S223, converting the minimum coordinate of the bounding box into a voxel grid index, and calculating the range of the bounding box in the scene voxel grid, and finally obtaining a set of voxels through which all triangular faces of the terrain grid data and / or the solid 3D model data in the scene voxels pass.

[0068] S3, grouping the fused data in real time and performing voxel processing to obtain voxelized data of the global scene. In this embodiment, the following contents are also included:

[0069] Perform voxel grouping processing on the fused data;

[0070] Determine the global scene space range according to the preset range of the client viewport and the viewport coordinate range, and voxelize and group the entity elements within the global scene space range;

[0071] During the voxel grouping process, the spatial features of the entity 3D model are associated and bound with the entity, where the spatial features include the entity material, density and color.

[0072] The spatial features of the entity 3D model are the initial coordinate information of the entity 3D model in the scene and the voxel index information of the entity 3D model. The voxel index information of the 3D model is the data index of the fused global scene voxels after the voxelization of the 3D model. The update of the entity unit voxel information is determined by the change of the entity spatial features in the situation data.

[0073] Continue to refer Figure 1 The application method based on real-time situation fusion global scene voxel model provided by the present application also includes the following steps:

[0074] S4, generating a global scene voxel model based on the global scene voxel data, and the client uses the situation engine to perform rendering calculation on the global scene voxel model;

[0075] S5. Display the voxelized model of the global scene after rendering calculation through the client.

[0076] Specifically, the global scene voxel data is loaded through the client, and the client situation engine simultaneously performs an intersection test on the terrain grid data, environmental point cloud data, entity grid data in the situation and each group of voxel grouped data in the global scene voxel data to determine the filling of the scene situation entity model voxel information, thereby obtaining a global voxelized scene model. Among them, the intersection test is the fusion of the spatial index of the voxel grouped data and the spatial index of the global voxelized scene, and the part that needs to be filled with voxels is updated, and the voxels that need to be removed are deleted.

[0077] In a specific embodiment, the global scene voxel model is stored via an octree structure, and the octree data structure facilitates rapid indexing to corresponding entity group voxel data.

[0078] In a specific embodiment, the entity voxel data structure is sampled in the global scene voxel model, and the entity voxel volume is extracted to assist the client situation engine in performing object collision calculation.

[0079] In a specific embodiment, volume sampling is performed on the grouped voxel data in the global scene voxelization model to assist the client situation engine in calculating entity collision detection. The volume sampling of voxel data is to obtain part of the shape voxels, and through the spatial distribution of the shape voxels, the spatial intersection of different grouped voxels is calculated to obtain the collision result. The volume of the entity voxels is updated and changed in real time with the situation. The model calculation that affects the change of the entity voxel volume includes the entity damage model calculation, the entity structure model calculation, etc. The entity damage model is a model calculation based on the changes in the structure caused by the impact or explosion of the entity movement in the situation scene. The impact on the entity is to calculate the change in the direction of the stress on each point on the surface of the entity. The impact of the explosion on the entity is to simulate the stress changes in different directions or distances within the spatial range caused by the explosive. The model calculation affects the change of the entity voxel volume.

[0080] The color feature data of entity voxels is stored in each voxel unit, and the color feature data in the voxels is used to render the appearance color of the entity through the client rendering engine. The physical feature data of entity voxels is stored in each voxel unit, and the physical feature data in the voxels is used to render the diffuse or reflection effect of the entity material, or the particle effect, attachment effect, etc. of the entity appearance through the client rendering engine. The size sampling of entity voxel size automatically determines the loading of voxel size detail level through the change of the distance between the client viewport and the entity in the scene.

[0081] This application constructs a global voxelized scene model including entities, terrain, buildings and other environmental elements by integrating the grid model data and point cloud data in the scene in real time through changes in situation. The client then obtains the voxel data of the three-dimensional model through the situation engine and calculates the movement changes or collisions of the three-dimensional model in space. The volume changes of the three-dimensional model are calculated in real time through the situation damage model. The density or light refractive index and other information in the voxel data assists the global illumination rendering, rendering a more realistic three-dimensional scene.

[0082] Further references Figure 2 As an implementation of the above method, in the second aspect, the present application provides an embodiment of a structural diagram of an application system 200 based on real-time situation fusion global scene voxel model, which can be specifically applied to various electronic devices. The system 200 includes the following modules:

[0083] The acquisition module 210 is configured to acquire terrain grid data, building point cloud data and entity three-dimensional model data in the situation scene in real time through the client;

[0084] A fusion module 220 is configured to fuse the terrain grid data, the building point cloud data and the entity three-dimensional model data to obtain fused data;

[0085] The voxelization module 230 is configured to group the fused data in real time and perform voxelization processing to obtain global scene voxelized data;

[0086] The rendering module 240 is configured to generate a global scene voxel model based on the global scene voxel data, and the client uses the situation engine to perform rendering calculation on the global scene voxel model;

[0087] The display module 250 is configured to display the global scene voxelized model after rendering calculation through the client.

[0088] In a third aspect, the present application provides a terminal device comprising a processor, a memory, and a computer program stored in the memory, wherein the computer program is executed by the processor to implement an application method based on a real-time situation fusion global scene voxelization model as described above.

[0089] In a fourth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, an application method based on a real-time situation fusion global scene voxelization model as described above is implemented.

[0090] Reference below Figure 3 , which shows a schematic diagram of the structure of a computer system 300 of a terminal device or server suitable for implementing an embodiment of the present application. Figure 3 The terminal device or server shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0091] like Figure 3 As shown, the computer system 300 includes a central processing unit (CPU) 301, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 302 or a program loaded from a storage part 308 into a random access memory (RAM) 303. In the RAM 303, various programs and data required for the operation of the computer system 300 are also stored. The CPU 301, the ROM 302, and the RAM 303 are connected to each other through a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0092] The following components are connected to the I / O interface 305: an input section 306 including a keyboard, a mouse, etc.; an output section 307 including a liquid crystal display (LCD), etc. and a speaker, etc.; a storage section 308 including a hard disk, etc.; and a communication section 309 including a network interface card such as a LAN card, a modem, etc. The communication section 309 performs communication processing via a network such as the Internet. A drive 310 is also connected to the I / O interface 305 as needed. A removable medium 311, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 310 as needed, so that a computer program read therefrom is installed into the storage section 308 as needed.

[0093] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 309, and / or installed from the removable medium 311. When the computer program is executed by the central processing unit (CPU) 301, the above functions defined in the method of the present application are executed. It should be noted that the computer-readable medium described in the present application can be a computer-readable signal medium or a computer-readable medium or any combination of the above two. The computer-readable medium can be, for example, - but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable media may include, but are not limited to, an electrical connection with one or more conductors, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, an apparatus or a device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable medium, which may send, propagate, or transmit a program for use by or in combination with an instruction execution system, an apparatus or a device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0094] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as C or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0095] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0096] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above invention concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other to form a technical solution.

Claims

1. An application method based on real-time situation fusion global scene voxel model, characterized in that: The method comprises the following steps S1, obtaining terrain grid data, building point cloud data and entity 3D model data in the situation scene in real time through the client; S2, fusing the terrain grid data, the building point cloud data and the entity three-dimensional model data to obtain fused data; S3, grouping the fused data in real time, and performing voxel processing to obtain global scene voxel data; S4, generating a global scene voxel model based on the global scene voxel data, and the client uses a situation engine to perform rendering calculation on the global scene voxel model; S5. Displaying the global scene voxelized model after rendering calculation through the client.

2. The application method based on real-time situation fusion global scene voxel model according to claim 1 is characterized in that: In step S3, the fused data is grouped in real time and voxelized, which specifically includes the following contents: performing voxel grouping processing on the fused data; Determine the global scene space range according to the preset range of the client viewport and the viewport coordinate range, and voxelize and group the entity elements within the global scene space range; In the voxel grouping process, the spatial features of the entity three-dimensional model are associated and bound with the entity, wherein the spatial features include the entity material, density and color.

3. The application method based on real-time situation fusion global scene voxel model according to claim 1 is characterized in that: In step S4, a global scene voxelization model is generated based on the global scene voxelization data, which specifically includes the following contents: storing the voxelized grouped data in the global scene voxelized model via a spatial voxelization service; The client updates the calculation in real time according to the movement of the viewport, adds new voxelized group data to the global storage, and updates or deletes the existing global scene voxelized data.

4. The application method based on real-time situation fusion global scene voxel model according to claim 1 is characterized in that: In step S2, the terrain grid data, the building point cloud data and the solid three-dimensional model data are fused, including integrating the terrain grid data, the building point cloud data and the solid three-dimensional model data into the global scene voxel model respectively.

5. The application method based on real-time situation fusion global scene voxel model according to claim 4 is characterized in that: Integrating the building point cloud data into the global scene voxelized model comprises the following sub-steps: S211, determining the side length, minimum boundary and maximum boundary of each voxel in the voxel grid in the scene voxel; S212, creating a hash table, and storing the voxels in the hash table; S213, calculating the index of each point in the building point cloud data in the voxel, accumulating the building point cloud data into the voxel corresponding to the hash table, and obtaining a voxel set.

6. The application method based on real-time situation fusion global scene voxel model according to claim 4 is characterized in that: Integrating the terrain grid data and / or the entity three-dimensional model data into the global scene voxelized model comprises the following sub-steps: S221, traversing each triangular face in the input terrain grid data and / or the solid three-dimensional model data, and obtaining the vertex coordinates of each triangular face; S222, calculating the minimum and maximum values ​​of each triangular face in the x, y, and z directions based on the vertex coordinates, thereby determining an axis-aligned bounding box of the triangular face; S223, converting the minimum coordinate of the bounding box into a voxel grid index, and calculating the range of the bounding box in the scene voxel grid, and finally obtaining a set of voxels through which all triangular faces of the terrain grid data and / or the solid three-dimensional model data in the scene voxels pass.

7. The application method based on real-time situation fusion global scene voxel model according to claim 1 is characterized in that: Also includes: The situation engine of the client performs an intersection test on the terrain grid data, the building point cloud data, the entity three-dimensional model data and each group of voxelized grouped data in the global scene voxelized data to determine the filling of the scene situation entity model voxel information, thereby obtaining a global scene voxelized model; The intersection test includes: fusing the spatial index of the voxelized grouped data with the spatial index of the global voxelized scene.

8. An application system based on real-time situation fusion global scene voxel model, characterized in that: The system comprises: An acquisition module is configured to acquire terrain grid data, building point cloud data and entity three-dimensional model data in a situation scene in real time through a client; A fusion module is configured to fuse the terrain grid data, the building point cloud data and the entity three-dimensional model data to obtain fused data; A voxelization module is configured to group the fused data in real time and perform voxelization processing to obtain global scene voxelized data; A rendering module, configured to generate a global scene voxel model based on the global scene voxel data, and the client uses a situation engine to perform rendering calculation on the global scene voxel model; The display module is configured to display the global scene voxel model that has been rendered and calculated through the client.

9. A terminal device, characterized in that: It includes a processor, a memory and a computer program stored in the memory, wherein the computer program is executed by the processor to implement the application method based on the real-time situation fusion global scene voxel model as described in any one of claims 1 to 7.

10. A computer-readable storage medium, wherein a computer program is stored in the medium, and when the computer program is executed by a processor, the application method based on the real-time situation fusion global scene voxelization model as described in any one of claims 1 to 7 is implemented.

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