A three-dimensional display method and system for images of a drone

Abstract

The application discloses a kind of three-dimensional display method and system of unmanned aerial vehicle image, it is related to three-dimensional imaging technical field, determine the geographical image of unmanned aerial vehicle collection as target image, target image is arranged according to preset condition and obtains target image column;Multiple target objects in target image column are positioned and arranged to obtain three-dimensional geographical model by three-dimensional construction;According to time, three-dimensional geographical model is demonstrated to obtain three-dimensional geographical animation model by three-dimensional animation.This application can obtain the arrangement shape of target object model and the arrangement position relationship of basic geographical model relative to other target objects, can determine target object and the position of target object relative to shooting position and shooting direction, can be based on the shooting information of unmanned aerial vehicle for point Construction consistent three-dimensional model, better three-dimensional reduction is carried out to the scene of unmanned aerial vehicle shooting, it is convenient for people to understand three-dimensional environmental condition under the environment of unmanned aerial vehicle collection, with good geographical model display effect.

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 (UAV) images. Background Art

[0002] As people's demand for realistic 3D scenes increases, 3D display technology is gaining increasing attention. In the field of drone aerial photography, traditional 2D image display methods are no longer able to meet people's needs for intuitive perception of terrain and landforms. Therefore, converting drone images into 3D displays has become an important research direction. However, the current 3D conversion process for drone images is difficult to ensure the accuracy of the geographical arrangement of objects in the image, and the 3D conversion and restoration of the image cannot be guaranteed, which fails to meet people's demand for the perception of 3D scenes. Summary of the Invention

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

[0004] To achieve the above-mentioned 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 and arranging multiple targets in the target image sequence in three dimensions to obtain a three-dimensional geographic model;

[0007] The three-dimensional geographic model is presented with 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 captured 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 obtaining 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 preset conditions 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 positioning and arranging them to obtain a three-dimensional geographic model includes:

[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, and 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 includes:

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

[0023] Multiple anchor points are obtained by respectively fixing the outer contours of the multiple target object models, and obtaining projection information of the anchor points on the target object models at multiple angles on 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;

[0024] Shift and overlap the target image at the earliest moment in the target image sequence corresponding to the upper interface;

[0025] The projection matching value is obtained 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;

[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 angle 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] Overlapping the projection information of the target object model with the shapes of multiple target objects in the target image at the earliest moment 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] Sort the target models in the 3D geographic model according to the shooting time and display them in 3D 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, comprising determining the geographic image collected by the UAV as the 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-dimensional objects in the target image column and arrange them 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 consistent three-dimensional model based on the shooting information of the drone as a point, better restore the three-dimensional environment of the scene photographed by the drone, facilitate 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 following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments described in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0040] Figure 1 Flow chart of the method of the present invention.

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

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall 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 the drone image described in this embodiment includes the following steps:

[0044] S1. Determine the geographic image collected by the drone as the target image, and arrange 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 positioning and arranging them 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 steps S1-S3 above, 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, traditional two-dimensional image display methods 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 visual needs for three-dimensional scenes; however, in this application, 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 sequence, a 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 position of the target object and the target object relative to the shooting position and shooting direction. It can build a consistent three-dimensional model based on the drone's shooting information as a point, better restore the scene captured by the drone in three dimensions, facilitate people to understand the three-dimensional environment under the drone collection environment, and have a good geographic model display function.

[0048] In one embodiment, the step S1 of determining the geographic image captured 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 multiple drones, and obtaining multiple geographic images collected by the multiple drones as multiple 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 through multiple drones. Multiple drones capture images of the geographic environment where the geographic model is to be constructed to obtain multiple map images and use them as target images. Preset conditions are set, where 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. Acquire a shooting position and a shooting direction of the UAV 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 images shot by drones with the same shooting information are the same, so the same target images can be gathered together through the shooting information. There are multiple drones here, and 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 guaranteed that the shot target images are the same scene. Therefore, the target images with the same shooting information can be gathered together, and then the multiple target images in the target image set can be sorted in chronological order to obtain a target image column. The target image column here is pictures shot at different times at the same shooting location, which is used for the subsequent construction of a three-dimensional animation scene model for the geographical model, and has a good image sorting effect.

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

[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, and 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 steps S21-S24 above, each target image column contains a target image captured at the earliest moment. Target objects are extracted based on this earliest target image, and then three-dimensional models are constructed based on the extracted objects to produce multiple target object models. These target object models are constructed separately for each target object. Specific geographic features, such as rivers, roads, and buildings, are identified and extracted from map data. The basic principle is to distinguish objects from the background by analyzing and processing map pixel values. Common object extraction methods include threshold segmentation, edge detection, and template matching. Objects in the map are then classified and categorized according to specific standards and rules. Objects in a map can be categorized by 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 obtaining 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., and 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 converted from 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 the 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 target object models are three-dimensionally constructed. Here, repeated targets do not need to be reconstructed, only different target objects need to be constructed. Then, the target object models of the target image column are added to the arrangement model, and the target object models of the target image column are hidden in the arrangement model according to the shooting time of the 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, but due to the different target objects at the shooting time, the target objects in the target image column may change in the early stage and not appear in the later stage, or may appear in the early stage and disappear in the later stage. Therefore, such target objects need to be hidden, and the target objects that exist 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 multiple target object models in the basic geographic model to obtain an arrangement model includes:

[0065] S221, obtaining landform information corresponding to the earliest target image in the target image sequence, and performing three-dimensional construction based on the landform information to obtain a basic geographic model;

[0066] S222: Pinpointing the outer contours of the plurality of target object models to obtain a plurality of anchor points, and obtaining projection information of the anchor points on the target object models at multiple angles on the upper interface, wherein the projection information includes projection angles and projection positions of the anchor points on the upper interface, and projection shapes formed by the plurality of anchor points on the target object models;

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

[0068] S224, obtaining a projection matching value based on the projection information of the target object model according to 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. 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. The basic geographical model here is used to arrange and place the city models that need to be displayed. Then, the outer contours of 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 in multiple directions in the upper interface is obtained. The upper interface here is an interface for carrying the upward projection information of the target object 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 point 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, so as to facilitate the 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 time in the corresponding target image sequence. For example, there is a bridge as a target object in the target image at the earliest time in the target image sequence. After obtaining the three-dimensional model of the bridge, shape matching is performed in the target image at the earliest time in the target image sequence based on the projection information of the bridge target object model. The shape of the bridge in the target image is also matched, and an angle relationship of the bridge relative to the drone's shooting point is obtained. After determining the angle relationship with the drone's 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. It can determine the position of the target object and the target object relative to the shooting position and shooting direction. Based on the drone's shooting information, a consistent three-dimensional model can be constructed for the point, thereby better restoring the three-dimensional scene captured by the drone and the environment in which the image was captured. The three-dimensional presentation is more in line with the actual situation, which facilitates staff to understand the three-dimensional environment under the drone collection environment and has a good geographic model display function.

[0071] In one embodiment, the step S223 of obtaining a projection matching value based on the projection information of the target object model corresponding to 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 targets in the target image at the earliest moment 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 greater the projection matching value is, and the projection information of the target model and the target in the target image sequence are the same target and the target 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. The projection information of one target object model has multiple projection matching values, 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 by the drone ensures 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 of their appearance and performing three-dimensional animation display;

[0077] S32, gradually adding or removing the hidden target object model during the 3D animation display process to obtain a 3D 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 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 the image, and the car disappears in the next moment. Therefore, the car cannot appear and disappear suddenly during the animation demonstration. Therefore, the target object needs to be subjected to a normal gradual process of driving in and out of the picture, 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 drone images described in this embodiment includes:

[0080] An arrangement module, comprising determining the geographic image collected by the UAV as the 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-dimensional objects in the target image column and arrange them 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. It can build a conforming three-dimensional model based on the shooting information of the drone as the point, better restore the three-dimensional scene photographed by the drone, facilitate people to understand the three-dimensional environment under the drone collection environment, and has a good geographic model display effect.

[0084] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection 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; 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, and 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; 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; The three-dimensional geographic model is presented with 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 obtaining 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 preset conditions 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 a preset condition to obtain a target image column includes: 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 basic geographic model and arranging a plurality of target object models in the basic geographic model to obtain an arrangement model includes: Obtaining the topographic information corresponding to the earliest target image in the target image sequence, and performing three-dimensional construction based on the topographic information to obtain a basic geographic model; Fixed points are respectively obtained corresponding to the outer contours of the multiple target object models to obtain multiple anchor points, and projection information of the anchor points on the target object models at multiple angles on the upper interface is obtained, wherein the projection information includes the 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; Shift and overlap the target image at the earliest moment in the target image sequence corresponding to the upper interface; Obtaining a projection matching value according to projection information of a corresponding target object model based on shape matching of multiple target objects in the target image at the earliest moment in the target image sequence; The target object models corresponding to the projection matching values ​​that meet the projection conditions are arranged on the basic geographic model to obtain an arrangement model.

5. The three-dimensional display method of drone images according to claim 4, characterized in that: The step of obtaining a projection matching value based on projection information of a corresponding target object model according to shape matching of multiple targets in the target image at the earliest moment in the target image sequence comprises: Overlapping the projection information of the target object model with the shapes of multiple target objects in the target image at the earliest moment 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, is the number of overlaps between multiple edge anchor points and multiple target object shape edges in the target image at the earliest moment in the target image sequence, is the total number of edge anchor points, is the number of overlaps between the anchor point and the target object shape in the projection information, is the total number of anchor points in the projection information.

6. 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 includes: Sort the target models in the 3D geographic model according to the shooting time and display them in 3D animation; The hidden target object model is gradually added or removed during the 3D animation display process to obtain a 3D geographic animation model.

7. A three-dimensional display system for drone images, configured to implement the three-dimensional display method for drone images according to any one of claims 1 to 6, characterized in that: include: An arrangement module, comprising determining the geographic image collected by the UAV as the target image, and arranging the target image according to preset conditions to obtain a target image column; an arrangement and positioning module, connected to the arrangement module, configured to three-dimensionally construct multiple target objects in the target image at the earliest moment in the target image sequence to obtain multiple target object models; construct a basic geographic model, and arrange the multiple target object models in the basic geographic model to obtain an arrangement model; three-dimensionally construct the target objects in the multiple target images in the target image sequence to obtain target object models of the target image sequence; add the target object models of the target image sequence to the arrangement model, and hide the target object models of the target image sequence in the arrangement model according to the shooting moments of the multiple target images in the target image sequence 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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