Three-dimensional display method and system of unmanned aerial vehicle image

Abstract

The invention discloses a three-dimensional display method and system for an unmanned aerial vehicle image, and relates to the technical field of three-dimensional imaging, and the method comprises the steps: determining a geographic image collected by an unmanned aerial vehicle as a target image, and arranging the target image according to a preset condition to obtain a target image column; performing three-dimensional construction and positioning arrangement on a plurality of target objects in the target image column to obtain a three-dimensional geographic model; and performing three-dimensional animation demonstration on the three-dimensional geographic model according to time to obtain a three-dimensional geographic animation model. According to the invention, the arrangement shape of the target object model and the arrangement position relation of the basic geographic model relative to other target objects can be obtained, the target object and the position of the target object relative to the shooting position and the shooting direction can be determined, and a consistent three-dimensional model can be constructed based on the shooting information of the unmanned aerial vehicle. Three-dimensional reduction can be better performed on the scene shot by the unmanned aerial vehicle, people can conveniently know the three-dimensional environment condition in the environment collected by the unmanned aerial vehicle, and a good geographic model display effect is achieved.

Description

Technical Field

[0001] The present invention relates to the field of three-dimensional imaging technology, and in particular to a three-dimensional display method and system for unmanned aerial vehicle images. Background Art

[0002] As people's demand for the realism of three-dimensional scenes increases, three-dimensional display technology has gradually received attention. In the field of drone aerial photography, the traditional two-dimensional image display method can no longer meet people's intuitive perception needs for information such as terrain and landforms; therefore, converting images taken by drones into three-dimensional displays has become an important research direction. At present, it is difficult to ensure the accuracy of the geographical arrangement position of the target objects in the image during the three-dimensional conversion of drone images, and it is impossible to ensure the three-dimensional conversion and restoration of the image, which cannot meet people's perception needs for three-dimensional scenes. Summary of the invention

[0003] The purpose of the present invention is to provide a three-dimensional display method and system for unmanned aerial vehicle images to solve the shortcomings of the background technology.

[0004] In order to achieve the above object, the present invention provides the following technical solution: a three-dimensional display method of drone images, comprising the following steps:

[0005] Determine the geographic image collected by the UAV as the target image, and arrange the target image according to preset conditions to obtain a target image column;

[0006] Constructing multiple targets in the target image sequence in three dimensions and arranging them in positions to obtain a three-dimensional geographic model;

[0007] The three-dimensional geographic model is demonstrated in three-dimensional animation according to time to obtain a three-dimensional geographic animation model.

[0008] In a preferred embodiment, the step of determining the geographic image collected by the drone as the target image and arranging the target image according to preset conditions to obtain a target image column includes:

[0009] Setting multiple drones, and acquiring multiple geographic images collected by the multiple drones as multiple target images;

[0010] Setting preset conditions, wherein the preset conditions include the same shooting information and shooting time;

[0011] A plurality of target images are sorted based on a preset condition to obtain a target image column.

[0012] In a preferred embodiment, the step of sorting the plurality of target images based on a preset condition to obtain a target image column includes:

[0013] Obtaining the shooting position and shooting direction of the drone in the geographical environment as shooting information;

[0014] A plurality of target images with shooting information are collected to obtain a target image set;

[0015] The target image set is sorted in chronological order to obtain a plurality of target image columns.

[0016] In a preferred embodiment, the step of constructing a plurality of target objects in the target image sequence in three dimensions and arranging and positioning the multiple target objects in the target image sequence to obtain a three-dimensional geographic model comprises:

[0017] Three-dimensionally constructing multiple target objects in the target image at the earliest moment in the target image sequence to obtain multiple target object models;

[0018] Constructing a basic geographic model, arranging multiple target object models in the basic geographic model to obtain an arrangement model;

[0019] Performing three-dimensional construction on target objects in a plurality of target images in the target image sequence to obtain a target object model of the target image sequence;

[0020] The target object models of the target image sequence are all added to the arrangement model, and the target object models of the target image sequence are hidden in the arrangement model according to the shooting time of multiple target images in the target image sequence to obtain a three-dimensional geographic model.

[0021] In a preferred embodiment, the step of constructing a basic geographic model and arranging a plurality of target object models in the basic geographic model to obtain an arrangement model comprises:

[0022] Obtaining the geomorphic information corresponding to the target image at the earliest time in the target image sequence, and performing three-dimensional construction based on the geomorphic information to obtain a basic geographic model;

[0023] The outer contours of the multiple target object models are respectively fixed to obtain multiple anchor points, and the projection information of the anchor points on the target object model at multiple angles in the upper interface is obtained, wherein the projection information includes the projection angle and projection position of the anchor points on the upper interface and the projection shape formed by the multiple anchor points on the target object model;

[0024] The target image at the earliest moment in the target image sequence corresponding to the upper interface is translated and overlapped;

[0025] According to the shape of the target object in the target image at the earliest moment in the target image sequence, the projection information of the corresponding target object model is matched to obtain a projection matching value;

[0026] The target object models corresponding to the projection matching values ​​that meet the projection conditions are arranged on the basic geographic model according to the projection angles of the projection information corresponding to the shooting points of the drone to obtain an arrangement model.

[0027] In a preferred embodiment, the step of obtaining a projection matching value by matching the shape of the target object in the target image at the earliest moment in the target image sequence with the projection information of the corresponding target object model comprises:

[0028] The projection information of the target object model is overlapped with the shapes of multiple target objects in the target image at the earliest time in the target image sequence to obtain a projection matching value;

[0029] The calculation formula of the projection matching value is: in, is the projection matching value, n cm is the number of overlaps between multiple edge anchor points and multiple target shape edges in the target image at the earliest moment in the target image sequence, n m is the total number of edge anchor points, nx is the number of overlaps between anchor points and target shapes in the projection information, and ncx is the total number of anchor points in the projection information.

[0030] In a preferred embodiment, the step of performing a three-dimensional animation demonstration on the three-dimensional geographic model according to time to obtain a three-dimensional geographic animation model includes:

[0031] The target object models in the three-dimensional geographic model are sorted according to the shooting time and displayed in three-dimensional animation;

[0032] The hidden target object model is gradually added or removed during the 3D animation display process to obtain a 3D geographic animation model.

[0033] The present invention also provides a three-dimensional display system for drone images, comprising:

[0034] An arrangement module includes determining the geographic image collected by the drone as a target image, and arranging the target image according to preset conditions to obtain a target image column;

[0035] The arrangement and positioning module and the arrangement module are used to construct three-dimensionally and position and arrange multiple targets in the target image column to obtain a three-dimensional geographic model;

[0036] The construction module is connected with the arrangement and positioning module and is used to perform a three-dimensional animation demonstration on the three-dimensional geographic model according to time to obtain a three-dimensional geographic animation model.

[0037] In the above technical solution, the technical effects and advantages provided by the present invention are:

[0038] The present invention obtains a projection matching value based on the projection information of the target object model corresponding to the shape matching between multiple targets in the target image at the earliest moment in the target image column. The matching operation here can obtain the arrangement shape of the target object model and the arrangement position relationship relative to other targets in the basic geographic model, can determine the target object and the position of the target object relative to the shooting position and shooting direction, can build a conforming three-dimensional model based on the shooting information of the drone, better restore the scene photographed by the drone in three dimensions, make it easier for people to understand the three-dimensional environment under the drone collection environment, and has a good geographic model display effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0040] Figure 1 The figure is a flow chart of the method of the present invention.

[0041] Figure 2 It is a system block diagram of the present invention. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] Example 1, please refer to Figure 1 As shown, the three-dimensional display method of a drone image described in this embodiment includes the following steps:

[0044] S1, determining the geographic image collected by the drone as the target image, and arranging the target image according to preset conditions to obtain a target image column;

[0045] S2, constructing a plurality of target objects in the target image sequence in three dimensions and arranging and positioning the multiple target objects to obtain a three-dimensional geographic model;

[0046] S3, performing a three-dimensional animation demonstration on the three-dimensional geographic model according to time to obtain a three-dimensional geographic animation model;

[0047] As described in the above steps S1-S3, as people's demand for the realism of three-dimensional scenes increases, three-dimensional display technology has gradually received attention. In the field of drone aerial photography, the traditional two-dimensional image display method can no longer meet people's intuitive perception needs for information such as terrain and landforms; therefore, converting images taken by drones into three-dimensional displays has become an important research direction. At present, it is difficult to ensure the accuracy of the geographical arrangement position of the target objects in the image during the three-dimensional conversion of drone images, and it is impossible to ensure the three-dimensional conversion and restoration of the image, and it is impossible to meet people's perception needs for three-dimensional scenes; and in this application, according to the shape matching between multiple targets in the target image at the earliest moment in the target image column, the projection information of the corresponding target model is obtained. The matching operation here can obtain the arrangement shape of the target model and the arrangement position relationship relative to other targets in the basic geographic model, and can determine the position of the target and the target relative to the shooting position and shooting direction. It can build a conforming three-dimensional model based on the shooting information of the drone as a point, better restore the scene shot by the drone in three dimensions, and facilitate people to understand the three-dimensional environment under the drone collection environment, and has a good geographic model display effect.

[0048] In one embodiment, the step S1 of determining the geographic image collected by the drone as the target image and arranging the target image according to preset conditions to obtain a target image column includes:

[0049] S11, setting a plurality of drones, and obtaining a plurality of geographic images collected by the plurality of drones as a plurality of target images;

[0050] S12, setting preset conditions, wherein the preset conditions include the same shooting information and shooting time;

[0051] S13, sorting the multiple target images based on preset conditions to obtain a target image column;

[0052] As described in the above steps S11-S13, the collection of geographic images here is achieved by using multiple drones. The multiple drones capture images of the geographical environment where the geographic model is to be constructed to obtain multiple map images and use them as target images. Preset conditions are set, wherein the preset conditions include the same shooting information and shooting time. Based on the preset conditions, the multiple target images are sorted to obtain a target image column, which can facilitate the subsequent construction of the geographic model.

[0053] In one embodiment, the step S13 of sorting the plurality of target images based on a preset condition to obtain a target image column includes:

[0054] S131, obtaining a shooting position and a shooting direction of the drone in the geographical environment as shooting information;

[0055] S132, aggregating multiple target images with shooting information to obtain a target image set;

[0056] S133, sorting the target image set in chronological order to obtain a plurality of target image columns;

[0057] As described in the above steps S131-S133, the shooting position and shooting direction of the drone in the geographical environment are obtained as shooting information. The drones with the same shooting information are the same in the images shot. Therefore, the same target images can be collected through the shooting information. There are multiple drones here. The multiple drones collect images of the geographical environment through the same route at different times. Shooting points are set on the same route. Therefore, the consistency of the shooting positions of the drones can be confirmed at the shooting points. As long as the shooting directions are determined to be the same, it can be ensured that the captured target images are the same scene. Therefore, the target images with the same shooting information can be collected. After that, the multiple target images in the target image set are sorted in chronological order to obtain a target image column. The target image column here is pictures taken at different times at the same shooting location, which are used for the subsequent construction of a three-dimensional animation scene model for the geographical model, and has a good image combing effect.

[0058] In one embodiment, the step S2 of constructing a plurality of target objects in the target image sequence in three dimensions and arranging and positioning the multiple target objects to obtain a three-dimensional geographic model comprises:

[0059] S21, constructing three-dimensionally the multiple target objects in the target image at the earliest moment in the target image sequence to obtain multiple target object models;

[0060] S22, constructing a basic geographic model, and arranging the multiple target object models in the basic geographic model to obtain an arrangement model;

[0061] S23, constructing three-dimensionally the target objects in the multiple target images in the target image sequence to obtain a target object model of the target image sequence;

[0062] S24, adding all target object models of the target image sequence to the arrangement model, hiding the target object models of the target image sequence in the arrangement model according to the shooting time of multiple target images in the target image sequence to obtain a three-dimensional geographic model;

[0063] As described in the above steps S21-S24, there is a target image taken at the earliest moment in the target image column, and the target object is extracted according to the target image taken at the earliest moment, and then a plurality of target object models are obtained by three-dimensional construction based on the extracted target object, and the target object model here is constructed separately for each target object; identify and extract specific geographical elements from the map data, such as rivers, roads, buildings, etc.; its basic principle is to distinguish the ground objects from the background by analyzing and processing the map pixel values; commonly used ground object extraction methods include threshold segmentation, edge detection and template matching, etc.; the ground objects in the map are classified and categorized according to certain standards and rules. In the map, ground objects can be classified according to multiple dimensions such as shape, purpose, and material. Commonly used land object classification methods include pixel-based classification, target-based classification and feature-based classification; the terrain model is reconstructed by acquiring a large number of three-dimensional coordinate points in the area; commonly used three-dimensional point cloud acquisition technologies include lidar, stereo photogrammetry and structured light scanning; in the point cloud modeling process, the collected point cloud data needs to be preprocessed and filtered to eliminate noise and errors, and then the terrain model is generated using three-dimensional point cloud visualization and reconstruction algorithms; then a basic geographic model is constructed, where the basic geographic model is a landform model, which only has a model of the landform conditions of mountains and rivers within the range, and there are no models of buildings and facilities, etc., then the target object model constructed according to the target image column is put into the basic geographic model for position arrangement, and the geographic model obtained by converting the target image is obtained as an arrangement model, and then the arrangement model is image mapped under the same shooting information according to the shooting information of the target image column, so that the image mapped image can be compared with the target image The target images in the image column are compared, and the target objects in multiple target images in the target image column are three-dimensionally constructed to obtain the target object model of the target image column. Here, the target objects in the image are extracted and all the target object models are three-dimensionally constructed. Here, repeated targets do not need to be reconstructed, and only different target objects need to be constructed. Then, the target object models of the target image column are added to the arrangement model. In the arrangement model, the target object models of the target image column are hidden according to the shooting time of multiple target images in the target image column to obtain a three-dimensional geographic model. Here, the three-dimensional models of all the target objects in the target image column are constructed in the arrangement model. However, due to the changes in the targets at different shooting times, the targets in the target image column may not appear in the later stage, or may appear in the early stage and disappear in the later stage. Therefore, such targets need to be hidden, and the targets existing at the corresponding shooting time are unhidden and displayed, which has a better three-dimensional display effect.

[0064] In one embodiment, the step S22 of constructing a basic geographic model and arranging a plurality of target object models in the basic geographic model to obtain an arrangement model includes:

[0065] S221, obtaining geomorphic information corresponding to the target image at the earliest time in the target image sequence, and performing three-dimensional construction according to the geomorphic information to obtain a basic geographic model;

[0066] S222, respectively obtaining multiple anchor points corresponding to the outer contours of multiple target object models, and obtaining projection information of the anchor points on the target object model at multiple angles in the upper interface, wherein the projection information includes the projection angle and projection position of the anchor points on the upper interface, and the projection shape formed by the multiple anchor points on the target object model;

[0067] S223, translating and overlapping the target image at the earliest time in the target image sequence corresponding to the upper interface;

[0068] S224, obtaining a projection matching value according to the projection information of the corresponding target object model matching the shape of the target object in the target image at the earliest moment in the target image sequence;

[0069] S225, arranging the target object models corresponding to the projection matching values ​​that meet the projection conditions on the basic geographic model according to the projection angles of the projection information corresponding to the shooting points of the drone to obtain an arrangement model;

[0070] As described in the above steps S221-S225, the topographic information corresponding to the target image at the earliest moment in the target image sequence is obtained, and the topographic information is geographical environment information such as mountains, rivers, etc., and then a three-dimensional construction is performed based on the topographic information to obtain a basic geographical model. Here, the basic geographical model is used to arrange and place the city models that need to be displayed, and then the external contours of multiple target models are respectively fixed to obtain multiple anchor points, and the projection information of the anchor points on the target model in multiple directions in the upper interface is obtained. Here, the upper interface is an interface for carrying the upward projection information of the target model, and the projection information includes the projection of the anchor points on the upper interface. The position and the projection shape formed by multiple anchor points on the target model. The anchor points here can directly obtain the upward projection shape of the target model, and translate and overlap the target image at the earliest moment in the target image column corresponding to the upper interface. Here, the projection information on the upper interface can be overlapped and compared with the target image, which is convenient for subsequent acquisition of the projection matching value. Multiple anchor points are set on the outer contour of the target model. Regardless of the projection angle, the projection surface formed will be covered with anchor points. The projection shape can be directly obtained through some of the anchor points. Then, the shape of the target object in the target image at the earliest moment in the target image column is matched to the corresponding The projection information of the target object model obtains a projection matching value. Here, the projection information of the target object model matches the shape of the target object image in the target image at the earliest moment in the corresponding target image column. For example, there is a bridge as a target object in the target image at the earliest moment in the target image column. After obtaining the three-dimensional model of the bridge, shape matching is performed in the target image at the earliest moment in the target image column according to the projection information of the bridge target object model, and the shape of the bridge in the target image is matched to obtain an angle relationship of the bridge relative to the drone shooting point. After determining an angle relationship with the drone shooting point, the arrangement relationship of the target object model in the image can be determined. The matching operation here can obtain the arrangement shape of the target object model and the arrangement position relationship relative to other targets in the basic geographic model, and can determine the position of the target object and the target object relative to the shooting position and shooting direction. A conforming three-dimensional model can be constructed for the point based on the drone shooting information, so as to better restore the scene shot by the drone in three dimensions, better restore the environment of the collected image, and present it in a three-dimensional way that is more in line with the actual situation, so that the staff can understand the three-dimensional environment under the drone collection environment, and it has a good geographic model display effect.

[0071] In one embodiment, the step S223 of obtaining a projection matching value according to the projection information of the corresponding target object model matching the shape of the target object in the target image at the earliest moment in the target image sequence includes:

[0072] S2231, superimposing the projection information of the target object model with the shapes of multiple target objects in the target image at the earliest time in the target image sequence to obtain a projection matching value;

[0073] S2232. The calculation formula of the projection matching value is: in, is the projection matching value, n cm is the number of overlaps between multiple edge anchor points and multiple target shape edges in the target image at the earliest moment in the target image sequence, n m is the total number of edge anchor points, nx is the number of overlaps between anchor points and target shapes in the projection information, and ncx is the total number of anchor points in the projection information. It should be noted that n cm The larger the nx is, the larger the projection matching value is, and the projection information of the target object model and the target object in the target image sequence are the same target object and the target object at the same angle.

[0074] As described in the above steps S2231-S2232, the projection information of the target object model is overlapped with the shape of the corresponding target object in the target image at the earliest moment in the target image column to obtain a projection matching value. The projection information of the target object model here has multiple projection shapes, and the projection shape here is a projection shape formed by multiple anchor points. Therefore, the projection matching value here has projection information of multiple azimuth angles on one target object model, and the projection matching value is overlapped with the shapes of multiple targets. There are multiple projection matching values ​​for the projection information of one target object model, and the target object model with the highest matching degree is obtained. Here, the position relationship of the target object under the drone shooting information can be obtained through the projection matching value, which can have a better three-dimensional object arrangement restoration effect, and can better restore the scene shot by the drone in three dimensions, and has a better scene display effect, making the geographic three-dimensional model more realistic. After the three-dimensional model is fully constructed, it can be three-dimensionally displayed in multiple directions, and will not be restricted to the three-dimensional display angle of the drone. The three-dimensional construction of the geographic environment of the drone guarantees the accuracy of the three-dimensional construction and restoration of the scene.

[0075] In one embodiment, the step S3 of performing a three-dimensional animation demonstration on the three-dimensional geographic model according to time to obtain a three-dimensional geographic animation model includes:

[0076] S31, sorting the target object models in the three-dimensional geographic model according to the shooting time when they appeared and performing three-dimensional animation display;

[0077] S32, gradually adding or removing the hidden target object model during the three-dimensional animation display process to obtain a three-dimensional geographic animation model;

[0078] As described in the above steps S31 and S32, the target object models in the three-dimensional geographic model are sorted according to the appearance time of the shooting and a three-dimensional animation is displayed. There may be a sudden appearance and disappearance of a target object between adjacent target image columns. In order to shape the realism of the three-dimensional animation, the hidden target object models are gradually added or removed during the three-dimensional animation display. For example, a car appears in an image, and the car disappears in the next capture. Therefore, the car cannot appear and disappear suddenly during the animation demonstration. Therefore, it is necessary to perform a normal gradual process of driving in and out of the screen for the target object, which can better ensure the realism and visual experience of the three-dimensional animation display and be closer to the real three-dimensional environment.

[0079] Example 2, please refer to Figure 2 As shown, the three-dimensional display system of a drone image described in this embodiment includes:

[0080] An arrangement module includes determining the geographic image collected by the drone as a target image, and arranging the target image according to preset conditions to obtain a target image column;

[0081] The arrangement and positioning module and the arrangement module are used to construct three-dimensionally and position and arrange multiple targets in the target image column to obtain a three-dimensional geographic model;

[0082] The construction module is connected with the arrangement and positioning module and is used to perform a three-dimensional animation demonstration on the three-dimensional geographic model according to time to obtain a three-dimensional geographic animation model.

[0083] It should be noted that, according to the projection information of the target object model corresponding to the shape matching between multiple targets in the target image at the earliest moment in the target image column, the projection matching value is obtained. The matching operation here can obtain the arrangement shape of the target object model and the arrangement position relationship relative to other targets in the basic geographic model, and can determine the target object and the position of the target object relative to the shooting position and shooting direction. A conforming three-dimensional model can be constructed based on the shooting information of the drone, so as to better restore the scene photographed by the drone in three dimensions, facilitate people to understand the three-dimensional environment under the drone collection environment, and has a good geographic model display effect.

[0084] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A three-dimensional display method for drone images, characterized in that: The following steps are involved: Determine the geographic image collected by the UAV as the target image, and arrange the target image according to preset conditions to obtain a target image column; Constructing multiple targets in the target image sequence in three dimensions and arranging them in positions to obtain a three-dimensional geographic model; The three-dimensional geographic model is demonstrated in three-dimensional animation according to time to obtain a three-dimensional geographic animation model.

2. The three-dimensional display method of drone images according to claim 1, characterized in that: The step of determining the geographic image collected by the drone as the target image and arranging the target image according to preset conditions to obtain a target image column includes: Setting multiple drones, and acquiring multiple geographic images collected by the multiple drones as multiple target images; Setting preset conditions, wherein the preset conditions include the same shooting information and shooting time; A plurality of target images are sorted based on a preset condition to obtain a target image column.

3. The three-dimensional display method of drone images according to claim 2, characterized in that: The step of sorting the plurality of target images based on the preset conditions to obtain a target image column comprises: Obtaining the shooting position and shooting direction of the drone in the geographical environment as shooting information; A plurality of target images with shooting information are collected to obtain a target image set; The target image set is sorted in chronological order to obtain a plurality of target image columns.

4. The three-dimensional display method of drone images according to claim 1, characterized in that: The step of constructing a plurality of target objects in the target image sequence in three dimensions and arranging and positioning the multiple target objects in the target image sequence to obtain a three-dimensional geographic model comprises: Three-dimensionally constructing multiple target objects in the target image at the earliest moment in the target image sequence to obtain multiple target object models; Constructing a basic geographic model, arranging multiple target object models in the basic geographic model to obtain an arrangement model; Performing three-dimensional construction on target objects in a plurality of target images in the target image sequence to obtain a target object model of the target image sequence; The target object models of the target image sequence are all added to the arrangement model, and the target object models of the target image sequence are hidden in the arrangement model according to the shooting time of multiple target images in the target image sequence to obtain a three-dimensional geographic model.

5. The three-dimensional display method of drone images according to claim 4, characterized in that: The step of constructing a basic geographic model and arranging a plurality of target object models in the basic geographic model to obtain an arrangement model comprises: Obtaining the geomorphic information corresponding to the target image at the earliest time in the target image sequence, and performing three-dimensional construction based on the geomorphic information to obtain a basic geographic model; The outer contours of the multiple target object models are respectively fixed to obtain multiple anchor points, and the projection information of the anchor points on the target object model at multiple angles in the upper interface is obtained, wherein the projection information includes the projection angle and projection position of the anchor points on the upper interface and the projection shape formed by the multiple anchor points on the target object model; The target image at the earliest moment in the target image sequence corresponding to the upper interface is translated and overlapped; According to the shape of the target object in the target image at the earliest moment in the target image sequence, the projection information of the corresponding target object model is matched to obtain a projection matching value; The target object models corresponding to the projection matching values ​​that meet the projection conditions are arranged on the basic geographic model according to the projection angles of the projection information corresponding to the shooting points of the drone to obtain an arrangement model.

6. The three-dimensional display method of drone images according to claim 5, characterized in that: The step of obtaining a projection matching value by matching the projection information of the corresponding target object model according to the shape of the target object in the target image at the earliest moment in the target image sequence comprises: The projection information of the target object model is overlapped with the shapes of multiple target objects in the target image at the earliest time in the target image sequence to obtain a projection matching value; The calculation formula of the projection matching value is: in, is the projection matching value, n cm is the number of overlaps between multiple edge anchor points and multiple target shape edges in the target image at the earliest moment in the target image sequence, n m is the total number of edge anchor points, nx is the number of overlaps between anchor points and target shapes in the projection information, and ncx is the total number of anchor points in the projection information.

7. The three-dimensional display method of drone images according to claim 1, characterized in that: The step of performing a three-dimensional animation demonstration on the three-dimensional geographic model according to time to obtain a three-dimensional geographic animation model comprises: The target object models in the three-dimensional geographic model are sorted according to the shooting time and displayed in three-dimensional animation; The hidden target object model is gradually added or removed during the 3D animation display process to obtain a 3D geographic animation model.

8. A three-dimensional display system for drone images, used to implement a three-dimensional display method for drone images according to any one of claims 1 to 7, characterized in that: include: An arrangement module includes determining the geographic image collected by the drone as a target image, and arranging the target image according to preset conditions to obtain a target image column; The arrangement and positioning module and the arrangement module are used to construct three-dimensionally and position and arrange multiple targets in the target image column to obtain a three-dimensional geographic model; The construction module is connected with the arrangement and positioning module and is used to perform a three-dimensional animation demonstration on the three-dimensional geographic model according to time to obtain a three-dimensional geographic animation model.

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