AR-based real estate surveying and mapping method and system

Abstract

The invention relates to the technical field of AR measurement, and discloses a real estate surveying and mapping method and system based on AR, and the method comprises the steps: setting a surveying and mapping control point of a real estate to be surveyed and mapped according to a surveying and mapping site condition, and setting a marker at the surveying and mapping control point; positioning the position of the marker by using AR equipment to identify the space coordinates of the marker in the three-dimensional space, and calibrating the space coordinates of the marker according to the coordinates of the surveying and mapping control point to obtain a target position; collecting and extracting characteristic parameters of the real estate to be measured in the multi-angle image of the real estate to be measured at the target position; according to the characteristic parameters, starting from the initial surveying and mapping point, tracking a surveying and mapping track of the real estate to be surveyed and mapped in real time; after adjustment processing is carried out on the measurement data under the surveying and mapping track, a staple map of the real estate to be surveyed and mapped is constructed; and in combination with the target position and the staple map, surveying and mapping the real estate to be surveyed and mapped to obtain a surveying and mapping result. Real estate surveying and mapping data can be checked in real time, and surveying and mapping efficiency and precision are improved.

Description

Technical Field

[0001] The present invention relates to the field of AR measurement technology, and in particular to an AR-based real estate surveying and mapping method and system. Background Art

[0002] Real estate surveying and mapping refers to professional surveying and mapping activities that determine and record the location, boundaries, area, ownership and other information of land and its attachments. The main work includes cadastral surveying and real estate surveying. By surveying and mapping real estate, graphics and location information reflecting the current status of the ground can be obtained, which is convenient for engineering construction and administrative management. With the technological development of surveying and mapping management work, the accuracy requirements of real estate surveying and mapping results are gradually increasing.

[0003] At present, the AR-based real estate surveying and mapping process mainly adopts the traditional ground surveying and mapping method, which uses total station measurement and leveling to survey and analyze real estate, and determines the status information of real estate by measuring different angles and positions of real estate. However, this method requires manual reading and recording of data, which is prone to errors or rework. Improper operation or data recording errors may affect the measurement accuracy and efficiency, resulting in distortion of real estate surveying and mapping results. Therefore, a solution is urgently needed to view real estate surveying and mapping data in real time and improve surveying and mapping efficiency and accuracy. Summary of the invention

[0004] In order to solve the above problems, the present invention provides an AR-based real estate surveying and mapping method and system, which can view real estate surveying and mapping data in real time and improve surveying and mapping efficiency and accuracy.

[0005] In a first aspect, the present invention provides a real estate surveying and mapping method based on AR, comprising:

[0006] Detecting the on-site conditions of the area to be surveyed and mapped, setting the surveying and mapping control points of the real estate to be surveyed and mapped based on the on-site conditions, measuring the coordinate parameters of the surveying and mapping control points, and setting the markers of the surveying and mapping control points;

[0007] Using a preset AR device to identify the morphological structure of the marker, spatially locate the marker according to the morphological structure to obtain the marker position, identify the spatial coordinates of the marker position in three-dimensional space, and accurately calibrate the spatial coordinates according to the coordinate parameters to obtain the target position;

[0008] According to the target position, collecting multi-angle images of the real estate to be measured and mapped, and identifying characteristic parameters of the real estate to be measured in the multi-angle images;

[0009] Setting an initial surveying point of the real estate to be surveyed and mapping, and tracking the surveying trajectory of the real estate to be surveyed and mapping in real time starting from the initial surveying point according to the characteristic parameters;

[0010] Collecting the measurement data under the surveying and mapping trajectory, performing adjustment processing on the measurement data to obtain adjustment data, and constructing a plot map of the real estate to be surveyed and mapped based on the adjustment data;

[0011] In combination with the target location and the plot map, the real estate to be surveyed is surveyed and mapped to obtain a surveying and mapping result.

[0012] In a possible implementation of the first aspect, setting a surveying and mapping control point of the real estate to be surveyed based on the site conditions includes:

[0013] Analyzing the control point types of the real estate to be surveyed based on the site conditions;

[0014] Setting the control point layout corresponding to the control point type;

[0015] Identify the number of control points corresponding to the control point type;

[0016] Based on the control point layout and the number of control points, the surveying and mapping control points of the real estate to be surveyed and mapped are set.

[0017] In a possible implementation manner of the first aspect, setting the marker of the surveying and mapping control point includes:

[0018] Querying the environmental factors of the surveying and mapping control points;

[0019] According to the environmental factors, setting the type of marker required for the surveying and mapping control point;

[0020] Identify the placement point corresponding to the marker type;

[0021] The marker of the surveying and mapping control point is set according to the marker type and the placement point.

[0022] In a possible implementation manner of the first aspect, spatially locating the marker according to the morphological structure to obtain the marker position includes:

[0023] extracting a characteristic image of the morphological structure;

[0024] Performing feature matching on the feature image and a marker template built into the preset AR device to obtain a feature matching result;

[0025] When the feature matching result meets the preset result, calculating the identification posture of the identification object;

[0026] The coordinate transformation is performed on the marker posture to obtain the position of the marker.

[0027] In a possible implementation of the first aspect, 5. In a possible implementation of the first aspect, the identifying the characteristic parameters of the real estate to be measured in the multi-angle image includes:

[0028] Extracting feature points of the real estate to be surveyed in the multi-angle image;

[0029] Identifying common feature points of the feature points in the multi-angle images;

[0030] Evaluating the three-dimensional coordinates of the same feature points in the multi-angle images in space;

[0031] According to the same feature points and the three-dimensional coordinates, feature parameters of the real estate to be measured in the multi-angle images are identified.

[0032] In a possible implementation manner of the first aspect, the evaluating the three-dimensional coordinates of the same feature point in the multi-angle image in space includes:

[0033] Acquire an image frame set of the real estate to be surveyed under the multi-angle image, and extract the same feature points from the image frame set;

[0034] Collecting the camera pose corresponding to the same feature point in the image frame set;

[0035] Based on the camera position and the same feature points, triangulate the same feature points in the multi-angle images to obtain feature point triangulation results;

[0036] According to the triangulation result of the feature points, the three-dimensional coordinates of the same feature points in the multi-angle images in space are evaluated.

[0037] In a possible implementation of the first aspect, tracking the surveying trajectory of the real estate to be surveyed in real time from the initial surveying point according to the characteristic parameter includes:

[0038] After the location data of the initial surveying point is imported into the preset AR device, starting from the initial surveying point, the preset AR device is used to perform an environmental scan on the edge of the real estate to be surveyed to obtain environmental scan data;

[0039] Setting a location mark of the environment scan data;

[0040] Based on the position data of the initial surveying point and the position mark of the environmental scanning data, the surveying trajectory of the real estate to be surveyed is tracked in real time.

[0041] In a possible implementation of the first aspect, performing adjustment processing on the measurement data to obtain adjustment data includes:

[0042] Cleaning the measurement data to obtain target data;

[0043] Identifying the measurement attributes of the target data and constructing observation equations corresponding to the measurement attributes;

[0044] Calculating the coefficient of precision of the observed value of the observation equation;

[0045] The measurement data are adjusted according to the observation equation and the precision coefficient to obtain adjusted data.

[0046] In a possible implementation of the first aspect, constructing a plot map of the real estate to be surveyed based on the adjustment data includes:

[0047] Obtaining statistical data of the real estate to be surveyed and mapping, and extracting coordinates of boundary points in the statistical data;

[0048] Constructing the boundary line of the real estate to be surveyed according to the coordinates of the boundary points;

[0049] Collecting the ownership information of the real estate to be surveyed and mapped;

[0050] Identify key annotation data of the real estate to be surveyed and mapped in the statistical data;

[0051] A plot map of the real estate to be surveyed is constructed based on the boundary lines, the ownership information and the key annotation data.

[0052] In a second aspect, the present invention provides an AR-based real estate surveying and mapping system, the system comprising:

[0053] A control point setting module is used to detect the site conditions of the area to be surveyed and mapped, and based on the site conditions, set the surveying and mapping control points of the real estate to be surveyed and mapped, measure the coordinate parameters of the surveying and mapping control points, and set the markers of the surveying and mapping control points;

[0054] A target position recognition module is used to use a preset AR device to recognize the morphological structure of the marker, spatially locate the marker according to the morphological structure, obtain the marker position, identify the spatial coordinates of the marker position in three-dimensional space, and accurately calibrate the spatial coordinates according to the coordinate parameters to obtain the target position;

[0055] A feature extraction module, used to collect multi-angle images of the real estate to be measured according to the target position, and identify feature parameters of the real estate to be measured in the multi-angle images;

[0056] A surveying and mapping trajectory tracking module is used to set an initial surveying and mapping point of the real estate to be surveyed and mapped, and to track the surveying and mapping trajectory of the real estate to be surveyed and mapped in real time starting from the initial surveying and mapping point according to the characteristic parameters;

[0057] The map drawing module is used to collect the measurement data under the surveying and mapping track, perform adjustment processing on the measurement data to obtain adjustment data, and construct a plot map of the real estate to be surveyed based on the adjustment data.

[0058] The surveying and mapping result output module is used to combine the target location and the plot map to perform surveying and mapping processing on the real estate to be surveyed and mapped to obtain the surveying and mapping result.

[0059] Compared with the prior art, the technical principle and beneficial effects of this solution are:

[0060] The embodiment of the present invention sets the surveying and mapping control points of the real estate to be surveyed based on the on-site conditions, so as to provide a measurement benchmark for the entire surveying and mapping work and help improve the measurement accuracy of the entire surveying and mapping area. Furthermore, the embodiment of the present invention uses a preset AR device to identify the morphological structure of the marker, so as to superimpose the information of the marker in real time in the real world, so that the technician can intuitively see the position and information of the marker. The embodiment of the present invention spatially locates the marker according to the morphological structure to obtain the position of the marker, so as to track the movement trajectory of the surveying and mapping personnel in real time and obtain accurate target positioning. The embodiment of the present invention collects multi-angle images of the real estate to be surveyed according to the target position, so as to quickly understand the appearance, layout and surrounding environment of the real estate, and provide for subsequent surveying and mapping work. Preliminary information, further, the embodiment of the present invention can accurately define the boundary of the real estate by identifying the characteristic parameters of the real estate to be measured in the multi-angle image, which serves as the basis for subsequent real estate surveying and mapping. The embodiment of the present invention can ensure that all subsequent measurements starting from the initial surveying and mapping point are in a unified coordinate system by tracking the surveying and mapping trajectory of the real estate to be surveyed in real time based on the characteristic parameters, thereby ensuring the consistency and continuity of the surveying and mapping data. Further, the embodiment of the present invention combines the target position and the plot map to survey and map the real estate to be surveyed, obtains the surveying and mapping results, and can directly measure in the real world through the AR interface to avoid human errors, improve the intuitiveness and efficiency of surveying and mapping work, and ensure the accuracy of surveying and mapping data. Therefore, the embodiment of the present invention proposes an AR-based real estate surveying and mapping method and system, which can view real estate surveying and mapping data in real time and improve surveying and mapping efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0062] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0063] Figure 1 A flowchart of a real estate surveying and mapping method based on AR provided by one embodiment of the present invention;

[0064] Figure 2 A schematic diagram of modules of an AR-based real estate surveying and mapping system provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0065] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0066] The embodiment of the present invention provides an AR-based real estate surveying and mapping method, and the execution subject of the AR-based real estate surveying and mapping method includes but is not limited to at least one of the electronic devices such as a server and a terminal that can be configured to execute the method provided by the embodiment of the present invention. In other words, the AR-based real estate surveying and mapping method can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc. The server can be an independent server, or it can be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms.

[0067] See also Figure 1 FIG. 1 is a flow chart of a real estate surveying and mapping method based on AR provided by an embodiment of the present invention. Figure 1 The AR-based real estate mapping methods described in include:

[0068] S1. Detect the site conditions of the area to be surveyed, set the surveying and mapping control points of the real estate to be surveyed based on the site conditions, measure the coordinate parameters of the surveying and mapping control points, and set the markers of the surveying and mapping control points.

[0069] The embodiments of the present invention can understand the terrain characteristics of the surveying area by detecting the on-site conditions of the area to be surveyed, and help set control points for real estate surveying. The area to be surveyed refers to the scope area where the surveying work is planned to be carried out, and the on-site conditions refer to the actual conditions that affect the surveying work, such as on-site obstacle conditions.

[0070] Optionally, the on-site condition detection of the area to be surveyed can be obtained by drone survey.

[0071] Furthermore, the embodiments of the present invention can provide a measurement benchmark for the entire surveying work and help improve the measurement accuracy of the entire surveying area by setting surveying control points of the real estate to be surveyed based on the site conditions. The real estate to be surveyed refers to real estate that has not been surveyed or needs to be re-surveyed, such as houses and land. The surveying control points refer to points used to provide known coordinates or elevation information during the surveying process, including plane control points and elevation control points.

[0072] As an embodiment of the present invention, setting the surveying and mapping control points of the real estate to be surveyed based on the site conditions includes: analyzing the control point type of the real estate to be surveyed according to the site conditions; setting the control point layout corresponding to the control point type; identifying the number of control points corresponding to the control point type; and setting the surveying and mapping control points of the real estate to be surveyed based on the control point layout and the number of control points.

[0073] Among them, the control point type refers to the category of control points set according to the function and location of the control points, such as the benchmark control point; the control point layout refers to the arrangement and distribution of control points in space; the number of control points refers to the total number of control points set according to the size, complexity and required measurement accuracy of the area to be surveyed.

[0074] Optionally, based on the site conditions, the control point type analysis of the real estate to be surveyed can be obtained through the purpose and characteristics of the control points. For example, plane control points are used to measure plane corner points and side lengths. The control point layout setting corresponding to the control point type can be implemented using GIS spatial analysis tools, such as buffer analysis tools.

[0075] The embodiment of the present invention can provide accurate target positioning for subsequent AR measurement by measuring the coordinate parameters of the surveying and mapping control points, where the coordinate parameters refer to numerical values ​​used to determine the precise position of the control points in space.

[0076] Optionally, the coordinate parameter measurement of the surveying and mapping control point can be acquired by an RTK-GPS receiver.

[0077] Furthermore, the embodiment of the present invention can provide an identification object for the AR device by setting a marker at the surveying and mapping control point, thereby obtaining the spatial position of the marker. The marker refers to a marker placed at the actual control point position to facilitate scanning by the AR device.

[0078] As an embodiment of the present invention, the setting of the marker of the surveying and mapping control point includes: querying the environmental factors of the surveying and mapping control point; setting the marker type required for the surveying and mapping control point according to the environmental factors; identifying the placement point corresponding to the marker type; and setting the marker of the surveying and mapping control point according to the marker type and the placement point.

[0079] Among them, the environmental factors refer to external factors that affect the setting of control point markers, such as climate conditions and human interference factors; the marker type refers to the type of mark used to identify the control point, such as metal stakes or spray patterns; the placement point refers to the specific placement location of the marker at the control point.

[0080] Optionally, the marker type setting required for the surveying and mapping control point can be obtained through a digital marker, such as an AR marker, and the placement point identification corresponding to the marker type can be achieved by utilizing the on-site survey results of the control point location.

[0081] S2. Use a preset AR device to identify the morphological structure of the marker, spatially locate the marker based on the morphological structure to obtain the marker position, identify the spatial coordinates of the marker position in three-dimensional space, and accurately calibrate the spatial coordinates based on the coordinate parameters to obtain the target position.

[0082] The embodiment of the present invention utilizes a preset AR device to identify the morphological structure of the marker, and can superimpose the information of the marker in real time in the real world, so that technicians can intuitively see the position and information of the marker. The morphological structure refers to the shape structure of the marker.

[0083] Optionally, the recognition of the morphological structure of the marker by using a preset AR device can be obtained through a camera of the AR device.

[0084] Furthermore, the embodiment of the present invention spatially locates the marker according to the morphological structure to obtain the marker position, which can track the movement trajectory of the surveying and mapping personnel in real time and obtain accurate target positioning. The marker position refers to the coordinate position of the marker placed on the surveying and mapping control point.

[0085] As an embodiment of the present invention, the marker is spatially positioned according to the morphological structure to obtain the marker position, including: extracting a feature image of the morphological structure; performing feature matching on the feature image and a marker template built into the preset AR device to obtain a feature matching result; when the feature matching result meets the preset result, calculating the marker posture of the marker; and performing coordinate transformation on the marker posture to obtain the marker position.

[0086] Among them, the feature image refers to the key visual element image extracted from the marker image for identification, the marker template refers to the element image template pre-stored in the AR device for comparison with the actual captured image to identify a specific marker, the feature matching result refers to the output result of feature matching the feature image of the marker with the image template pre-stored in the AR device, and the marker pose refers to the position and orientation data of the marker relative to the AR device.

[0087] Optionally, the feature image extraction of the morphological structure can be implemented using feature extraction software, such as OpenCV, and the feature matching between the feature image and the marker template built into the preset AR device can be obtained through a feature matcher, such as BFMatcher.

[0088] Optionally, in an optional embodiment of the present invention, the marking posture of the marking object is calculated using the following formula:

[0089] {R|t}=argmin [R,t] Σ i ||π(P i ,{R|t})-p i ‖ 2

[0090] Among them, {R|t} represents the marker pose relative to the camera coordinate system, R represents the rotation matrix, t represents the translation vector, argmin [R,t] represents the value of R and t that finds the minimum value of a given function, i represents the sequence of characteristic points of the marker, P i Indicates the position of the feature point on the marker in the world coordinate system, p i represents the two-dimensional projection of Pi on the camera image.

[0091] The embodiment of the present invention can obtain the precise position coordinates of the marker by identifying the spatial coordinates of the marker position in three-dimensional space, thereby calibrating it with the actual control point position. The spatial coordinates refer to the position coordinates of the marker in space, such as the X-axis coordinates and the Y-axis coordinates.

[0092] Optionally, the spatial coordinate identification of the marker position in three-dimensional space can be obtained through a GPS system built into the AR device.

[0093] Furthermore, the embodiment of the present invention can correct the coordinate deviation of the control point caused by instrument error, environmental factors, etc. by calibrating the spatial coordinates according to the coordinate parameters to obtain the target position. The target position refers to the precise position of the marker in three-dimensional space.

[0094] Optionally, according to the coordinate parameters, the position accuracy of the spatial coordinates can be obtained through a coordinate conversion technology, such as Bursa model coordinate conversion technology.

[0095] S3. According to the target position, collect multi-angle images of the real estate to be measured and map, and identify characteristic parameters of the real estate to be measured in the multi-angle images.

[0096] The embodiment of the present invention can quickly understand the appearance, layout and surrounding environment of the real estate by collecting multi-angle images of the real estate to be surveyed according to the target position, and provide preliminary information for subsequent surveying and mapping work. The multi-angle image refers to a collection of images of the same object or scene taken from different perspectives.

[0097] Optionally, according to the target position, the multi-angle image acquisition of the real estate to be surveyed can be obtained by laser radar.

[0098] Furthermore, the embodiment of the present invention can accurately define the boundary of the real estate by identifying the characteristic parameters of the real estate to be measured in the multi-angle image, which serves as the basis for subsequent real estate surveying and mapping. The characteristic parameters refer to the shape parameters of the real estate in the image.

[0099] As an embodiment of the present invention, the identifying characteristic parameters of the real estate to be measured in the multi-angle image includes: extracting characteristic points of the real estate to be measured in the multi-angle image; identifying the same characteristic points of the characteristic points in the multi-angle image; evaluating the three-dimensional coordinates of the same characteristic points in the multi-angle image in space; and identifying the characteristic parameters of the real estate to be measured in the multi-angle image based on the same characteristic points and the three-dimensional coordinates.

[0100] Among them, the feature points refer to easily identifiable and unique edges or corners in the image, the same feature points refer to feature points with the same pixel coordinates in different images, and the three-dimensional coordinates refer to the position coordinates of feature points in multiple images in three-dimensional space.

[0101] Optionally, the feature point extraction of the real estate to be surveyed in the multi-angle image can be obtained by obtaining FAST corner points, and the identification of the same feature points of the feature points in the multi-angle image can be obtained by using a descriptor-based feature point matching method.

[0102] Furthermore, in an optional embodiment of the present invention, the evaluation of the three-dimensional coordinates of the same feature points in the multi-angle image in space includes: obtaining an image frame set of the real estate to be surveyed under the multi-angle image, and extracting the same feature points in the image frame set; collecting the camera poses corresponding to the same feature points in the image frame set; based on the camera poses and the same feature points, triangulating the same feature points in the multi-angle image to obtain feature point triangulation results; and based on the feature point triangulation results, evaluating the three-dimensional coordinates of the same feature points in the multi-angle image in space.

[0103] Among them, the image frame set refers to a set of continuous images selected from multi-angle images for feature extraction, the camera pose refers to the pose of each frame image in the image frame set relative to the first frame image, the feature point triangulation result refers to the result of converting the feature point coordinates on the two-dimensional image into coordinates in three-dimensional space through mathematical calculation, and the position coordinates refer to the position coordinates of the feature point in three-dimensional space.

[0104] Optionally, the extraction of the same feature points in the image frame set can be obtained through the ORB algorithm, the camera pose acquisition corresponding to the same feature points in the image frame set can be achieved by solving the PnP problem, and the triangulation processing of the same feature points in the multi-angle image based on the camera pose and the same feature points can be obtained through a triangulation method.

[0105] S4. Setting an initial surveying point of the real estate to be surveyed and mapping, and tracking the surveying trajectory of the real estate to be surveyed and mapping in real time starting from the initial surveying point according to the characteristic parameters.

[0106] The embodiment of the present invention can provide a basic origin for subsequent measurement work by setting the initial surveying point of the real estate to be surveyed. By accurately measuring the initial surveying point, the accuracy of all subsequent measurements can be improved. The initial surveying point refers to the first reference point used to establish a coordinate system in the surveying work.

[0107] Optionally, the initial surveying point setting of the real estate to be surveyed can be obtained through the positions of surveying control points.

[0108] Furthermore, the embodiment of the present invention can ensure that all subsequent measurements starting from the initial surveying point are in a unified coordinate system by tracking the surveying trajectory of the real estate to be surveyed in real time based on the characteristic parameters, starting from the initial surveying point, thereby ensuring the consistency and continuity of the surveying data. The surveying trajectory refers to the path passed by the surveyor or surveying equipment during the surveying process.

[0109] As an embodiment of the present invention, the method of tracking the surveying trajectory of the real estate to be surveyed in real time starting from the initial surveying point based on the characteristic parameters includes: after importing the position data of the initial surveying point into a preset AR device, starting from the initial surveying point, using the preset AR device to perform an environmental scan on the edge of the real estate to be surveyed to obtain environmental scan data; setting a position mark of the environmental scan data; and tracking the surveying trajectory of the real estate to be surveyed in real time based on the position data of the initial surveying point and the position mark of the environmental scan data.

[0110] Among them, the edge of the real estate to be surveyed refers to the boundary line or contour line of the target area or object to be surveyed, the environmental scanning data refers to the data about the real estate environment obtained by scanning with an AR device, such as images, point clouds and depth information, etc., and the position mark refers to the mark set at the node of the real estate to be surveyed during the environmental scanning data process.

[0111] Optionally, the location mark setting of the environment scanning data can be obtained by setting landmarks, such as flags, at important nodes.

[0112] S5, collecting the measurement data under the surveying and mapping trajectory, and performing adjustment processing on the measurement data to obtain adjustment data, and constructing a plot map of the real estate to be surveyed and mapped according to the adjustment data.

[0113] The embodiment of the present invention collects the measurement data under the surveying and mapping trajectory and performs adjustment processing on the measurement data to obtain adjustment data, which can eliminate or reduce the influence of random errors, improve the consistency of measurement values, and ensure that all measurement values ​​are more accurate. The measurement data refers to data collected during the surveying and mapping process, including information such as distance, angle, elevation difference and coordinate points, which can be obtained through a total station. The adjustment data refers to the measurement data obtained after adjustment processing.

[0114] As an embodiment of the present invention, the adjustment processing of the measurement data to obtain the adjustment data includes: cleaning the measurement data to obtain target data; identifying the measurement attributes of the target data and constructing an observation equation corresponding to the measurement attributes; evaluating the accuracy coefficient of the observation value of the observation equation; and adjusting the measurement data according to the observation equation and the accuracy coefficient to obtain the adjustment data.

[0115] Among them, the target data refers to the measurement data that can be analyzed and calculated after cleaning, the measurement attribute refers to the target type measured by the measurement data, such as position data, the observation equation refers to the mathematical expression constructed based on the measurement attribute and the observation value, the observation value refers to the unknown parameter generated by the measurement data during the measurement process, such as the calibration parameter of the measurement equipment, and the precision coefficient refers to the precise coefficient of the calculation of the unknown parameter.

[0116] Optionally, the cleaning process of the measurement data can be obtained through the Pandas library, the measurement attribute recognition of the target data can be implemented using a variety of sensor sets, such as IMU and lidar, and the construction of observation equations corresponding to the measurement attributes can be obtained through Trimble Access.

[0117] Furthermore, in an optional embodiment of the present invention, the precision coefficient of the observed value of the observation equation is calculated using the following formula:

[0118]

[0119] Among them, σ f represents the precision coefficient of the observed value of the observation equation, n represents the total number of variables, x e represents the e-th variable in the observed value, Represents x e The partial differential of e represents the standard deviation of variable e, j represents the e+1th variable in the observed value, represents the second-order partial derivative of the differential function f, Represents x j The partial derivative of Cov(x e ,x j ) represents the variable x e and x j The covariance of .

[0120] The embodiment of the present invention can ensure the accuracy of the real estate data to be surveyed by constructing a plot map of the real estate to be surveyed based on the adjustment data, thereby facilitating subsequent administrative management of the real estate. The plot map refers to a map that describes detailed information such as the location, boundary points and lines, area, and use of a specific plot of land.

[0121] As an embodiment of the present invention, constructing a plot map of the real estate to be surveyed based on the adjustment data includes: obtaining statistical data of the real estate to be surveyed, and extracting boundary point coordinates in the statistical data; constructing the boundary lines of the real estate to be surveyed based on the boundary point coordinates; collecting ownership information of the real estate to be surveyed; identifying key annotation data of the real estate to be surveyed in the statistical data; and constructing a plot map of the real estate to be surveyed based on the boundary lines, the ownership information and the key annotation data.

[0122] Among them, the statistical data refers to all the measurement data of the real estate to be surveyed after integration, the boundary point coordinates refer to the coordinates used to define the specific points of the boundary of the object to be surveyed in the surveying work, the boundary line refers to the broken line or curve formed by a series of boundary points that can mark the scope and boundary of the real estate to be surveyed, the ownership information refers to the information used to describe the ownership, use rights and other possible rights status of the land, and the key annotation data refers to the data in the measurement data of the real estate to be surveyed, which is needed to mark and annotate the graphic area of ​​the real estate to be surveyed.

[0123] Optionally, the coordinate extraction of boundary points in the statistical data can be obtained through the coordinate data of the real estate to be surveyed, and the construction of the boundary lines of the real estate to be surveyed based on the boundary point coordinates can be achieved using CAD software. The identification of key annotation data of the real estate to be surveyed in the statistical data can be obtained through professional mapping software, such as Adobe Illustrator.

[0124] S6. Based on the target location and the plot map, the real estate to be surveyed is surveyed and mapped to obtain a survey result.

[0125] The embodiment of the present invention combines the target position and the plot map to perform surveying and mapping on the real estate to be surveyed to obtain a surveying and mapping result. Measurement can be performed directly in the real world through an AR interface to avoid human errors, thereby improving the intuitiveness and efficiency of surveying and mapping work and ensuring the accuracy of surveying and mapping data.

[0126] It can be seen that the embodiment of the present invention sets the surveying and mapping control points of the real estate to be surveyed based on the on-site conditions, which can provide a measurement benchmark for the entire surveying and mapping work and help improve the measurement accuracy of the entire surveying and mapping area. Furthermore, the embodiment of the present invention uses a preset AR device to identify the morphological structure of the marker, and can superimpose the information of the marker in the real world in real time, so that the technician can intuitively see the position and information of the marker. The embodiment of the present invention spatially locates the marker according to the morphological structure to obtain the position of the marker, and can track the movement trajectory of the surveying and mapping personnel in real time to obtain accurate target positioning. The embodiment of the present invention collects multi-angle images of the real estate to be surveyed according to the target position, which can quickly understand the appearance, layout and surrounding environment of the real estate, and provide reference for subsequent surveying and mapping work. To provide preliminary information, further, the embodiment of the present invention can accurately define the boundary of the real estate by identifying the characteristic parameters of the real estate to be measured in the multi-angle image, which serves as the basis for subsequent real estate surveying and mapping. The embodiment of the present invention can ensure that all subsequent measurements starting from the initial surveying and mapping point are in a unified coordinate system by tracking the surveying and mapping trajectory of the real estate to be surveyed in real time based on the characteristic parameters, thereby ensuring the consistency and continuity of the surveying and mapping data. Further, the embodiment of the present invention combines the target position and the plot map to survey and map the real estate to be surveyed, obtains the surveying and mapping results, and can directly measure in the real world through the AR interface to avoid human errors, improve the intuitiveness and efficiency of surveying and mapping work, and thus ensure the accuracy of surveying and mapping data. Therefore, the embodiment of the present invention proposes an AR-based real estate surveying and mapping method and system, which can view real estate surveying and mapping data in real time and improve surveying and mapping efficiency and accuracy.

[0127] like Figure 2 As shown, it is the functional module diagram of the real estate surveying and mapping system based on AR of the present invention.

[0128] The AR-based real estate surveying and mapping system 200 of the present invention can be installed in an electronic device. According to the functions implemented, the AR-based real estate surveying and mapping system can include a control point setting module 201, a target position identification module 202, a feature extraction module 203, a surveying and mapping trajectory tracking module 204, a map drawing module 205 and a surveying and mapping result output module 206. The module of the present invention can also be referred to as a unit, which refers to a series of computer program segments that can be executed by an electronic device processor and can complete fixed functions, which are stored in the memory of the electronic device.

[0129] In the embodiment of the present invention, the functions of each module / unit are as follows:

[0130] The control point setting module 201 is used to detect the site conditions of the area to be surveyed and mapped, and to set the surveying and mapping control points of the real estate to be surveyed and mapped based on the site conditions, and to measure the coordinate parameters of the surveying and mapping control points and set the markers of the surveying and mapping control points;

[0131] The target position recognition module 202 is used to recognize the morphological structure of the marker using a preset AR device, spatially locate the marker according to the morphological structure, obtain the marker position, recognize the spatial coordinates of the marker position in the three-dimensional space, and accurately calibrate the spatial coordinates according to the coordinate parameters to obtain the target position;

[0132] A feature extraction module 203 is used to collect multi-angle images of the real estate to be measured according to the target position, and identify feature parameters of the real estate to be measured in the multi-angle images;

[0133] The surveying and mapping trajectory tracking module 204 is used to set the initial surveying and mapping point of the real estate to be surveyed, and to track the surveying and mapping trajectory of the real estate to be surveyed in real time starting from the initial surveying and mapping point according to the characteristic parameters;

[0134] The map drawing module 205 is used to collect the measurement data under the surveying and mapping track, perform adjustment processing on the measurement data to obtain adjustment data, and construct a plot map of the real estate to be surveyed based on the adjustment data.

[0135] The surveying and mapping result output module 206 is used to combine the target location and the plot map to perform surveying and mapping processing on the real estate to be surveyed and mapped to obtain a surveying and mapping result.

[0136] In detail, each module in the AR-based real estate surveying and mapping system 200 in the embodiment of the present invention is used in the same manner as described above. Figure 1 The AR-based real estate surveying and mapping method described in the present invention has the same technical means and can produce the same technical effects, so I will not go into details here.

[0137] In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0138] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. A real estate surveying and mapping method based on AR, characterized in that: The method comprises: Detecting the on-site conditions of the area to be surveyed and mapped, setting the surveying and mapping control points of the real estate to be surveyed and mapped based on the on-site conditions, measuring the coordinate parameters of the surveying and mapping control points, and setting the markers of the surveying and mapping control points; Using a preset AR device to identify the morphological structure of the marker, spatially locate the marker according to the morphological structure to obtain the marker position, identify the spatial coordinates of the marker position in three-dimensional space, and accurately calibrate the spatial coordinates according to the coordinate parameters to obtain the target position; According to the target position, collecting multi-angle images of the real estate to be measured and mapped, and identifying characteristic parameters of the real estate to be measured in the multi-angle images; Setting an initial surveying point of the real estate to be surveyed and mapping, and tracking the surveying trajectory of the real estate to be surveyed and mapping in real time starting from the initial surveying point according to the characteristic parameters; Collecting the measurement data under the surveying and mapping trajectory, performing adjustment processing on the measurement data to obtain adjustment data, and constructing a plot map of the real estate to be surveyed and mapped based on the adjustment data; In combination with the target location and the plot map, the real estate to be surveyed is surveyed and mapped to obtain a surveying and mapping result.

2. The method according to claim 1, characterized in that The step of setting the surveying and mapping control points of the real estate to be surveyed and mapped based on the on-site conditions includes: Analyzing the control point types of the real estate to be surveyed based on the site conditions; Setting the control point layout corresponding to the control point type; Identify the number of control points corresponding to the control point type; Based on the control point layout and the number of control points, the surveying and mapping control points of the real estate to be surveyed and mapped are set.

3. The method according to claim 1, characterized in that: The markers for setting the surveying and mapping control points include: Querying the environmental factors of the surveying and mapping control points; According to the environmental factors, setting the type of marker required for the surveying and mapping control point; Identify the placement point corresponding to the marker type; The marker of the surveying and mapping control point is set according to the marker type and the placement point.

4. The method according to claim 1, characterized in that: The step of spatially locating the marker according to the morphological structure to obtain the position of the marker includes: extracting a characteristic image of the morphological structure; Performing feature matching on the feature image and a marker template built into the preset AR device to obtain a feature matching result; When the feature matching result meets the preset result, calculating the identification posture of the identification object; The coordinate transformation is performed on the marker posture to obtain the position of the marker.

5. The method according to claim 1, characterized in that The identifying characteristic parameters of the real estate to be measured in the multi-angle image includes: Extracting feature points of the real estate to be surveyed in the multi-angle image; Identifying common feature points of the feature points in the multi-angle images; Evaluating the three-dimensional coordinates of the same feature points in the multi-angle images in space; According to the same feature points and the three-dimensional coordinates, feature parameters of the real estate to be measured in the multi-angle images are identified.

6. The method according to claim 5, characterized in that The step of evaluating the three-dimensional coordinates of the same feature points in the multi-angle images in space includes: Acquire an image frame set of the real estate to be surveyed under the multi-angle image, and extract the same feature points from the image frame set; Collecting the camera pose corresponding to the same feature point in the image frame set; Based on the camera position and the same feature points, triangulate the same feature points in the multi-angle images to obtain feature point triangulation results; According to the triangulation result of the feature points, the three-dimensional coordinates of the same feature points in the multi-angle images in space are evaluated.

7. The method according to claim 1, characterized in that The step of tracking the surveying trajectory of the real estate to be surveyed in real time from the initial surveying point according to the characteristic parameters includes: After the location data of the initial surveying point is imported into the preset AR device, starting from the initial surveying point, the preset AR device is used to perform an environmental scan on the edge of the real estate to be surveyed to obtain environmental scan data; Setting a location mark of the environment scan data; Based on the position data of the initial surveying point and the position mark of the environmental scanning data, the surveying trajectory of the real estate to be surveyed is tracked in real time.

8. The method according to claim 1, characterized in that The step of performing adjustment processing on the measurement data to obtain adjustment data comprises: Cleaning the measurement data to obtain target data; Identifying the measurement attributes of the target data and constructing observation equations corresponding to the measurement attributes; Calculating the coefficient of precision of the observed value of the observation equation; The measurement data are adjusted according to the observation equation and the precision coefficient to obtain adjusted data.

9. The method according to claim 1, characterized in that: The step of constructing a plot map of the real estate to be surveyed and mapped based on the adjustment data comprises: Obtaining statistical data of the real estate to be surveyed and mapping, and extracting coordinates of boundary points in the statistical data; Constructing the boundary line of the real estate to be surveyed according to the coordinates of the boundary points; Collecting ownership information of the real estate to be surveyed and mapped; Identify key annotation data of the real estate to be surveyed and mapped in the statistical data; A plot map of the real estate to be surveyed is constructed based on the boundary lines, the ownership information and the key annotation data.

10. An AR-based real estate surveying and mapping system, characterized in that: The system comprises: A control point setting module is used to detect the site conditions of the area to be surveyed and mapped, and based on the site conditions, set the surveying and mapping control points of the real estate to be surveyed and mapped, measure the coordinate parameters of the surveying and mapping control points, and set the markers of the surveying and mapping control points; A target position recognition module is used to use a preset AR device to recognize the morphological structure of the marker, spatially locate the marker according to the morphological structure, obtain the marker position, identify the spatial coordinates of the marker position in three-dimensional space, and accurately calibrate the spatial coordinates according to the coordinate parameters to obtain the target position; A feature extraction module, used to collect multi-angle images of the real estate to be measured according to the target position, and identify feature parameters of the real estate to be measured in the multi-angle images; A surveying and mapping trajectory tracking module is used to set an initial surveying and mapping point of the real estate to be surveyed and mapped, and to track the surveying and mapping trajectory of the real estate to be surveyed and mapped in real time starting from the initial surveying and mapping point according to the characteristic parameters; The map drawing module is used to collect the measurement data under the surveying and mapping track, perform adjustment processing on the measurement data to obtain adjustment data, and construct a plot map of the real estate to be surveyed based on the adjustment data. The surveying and mapping result output module is used to combine the target location and the plot map to perform surveying and mapping processing on the real estate to be surveyed and mapped to obtain the surveying and mapping result.

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