A method and system for generating a three-dimensional building with relief based on an unmanned aerial vehicle

Abstract

The present invention discloses a method and system for generating a three-dimensional building with relief based on an unmanned aerial vehicle, which relates to the technical field of data processing. The method includes: acquiring a building image of a target building collected by the unmanned aerial vehicle, and generating a corresponding basic point cloud model according to the building image; determining a target area on the target building where there is a relief, and determining the layout area of the relief and the corresponding position information; determining a compensation acquisition route of the unmanned aerial vehicle according to the layout area of the relief, the corresponding position information and the target area according to a preset rule, and controlling the unmanned aerial vehicle to perform image acquisition on the target area according to the compensation acquisition route to obtain a compensation image; generating a corresponding compensation point cloud model according to the compensation image, and fusing the basic point cloud model and the compensation point cloud model to obtain a three-dimensional model of the target building. The present invention solves the problem of low accuracy in generating a three-dimensional model for a three-dimensional building with relief in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and particularly to a method and system for generating a three-dimensional building with relief based on an unmanned aerial vehicle (UAV). Background Art

[0002] Currently, many buildings express the images of figures or depict some historical scenes through sculptures or reliefs. These sculptures not only enhance the artistic sense of the buildings but also convey a spirit through visual language.

[0003] However, such buildings often do not follow traditional regular geometric forms but adopt more free and symbolic designs, such as inclined planes, curves, asymmetric structures, etc. This makes it difficult to directly apply traditional three-dimensional reconstruction methods based on regular geometric bodies. The complex building details (such as carvings, decorations, etc.) and irregular forms make it more difficult to capture accurate building details. As a result, the accuracy of the generated three-dimensional model is low. Summary of the Invention

[0004] In view of this, an object of the present invention is to provide a method and system for generating a three-dimensional building with relief based on an unmanned aerial vehicle, aiming to solve the problem of low accuracy in generating a three-dimensional model for a three-dimensional building with relief in the prior art.

[0005] An object of the present invention is to provide a method for generating a three-dimensional building with relief based on an unmanned aerial vehicle, the method comprising:

[0006] Obtaining building images of a target building collected by the unmanned aerial vehicle, and generating a corresponding basic point cloud model according to the building images;

[0007] Determining a target area on the target building where a relief is provided, and determining the layout area of the relief and corresponding position information;

[0008] Determining a compensation acquisition route of the unmanned aerial vehicle according to the layout area of the relief, the corresponding position information, and the target area according to a preset rule, and controlling the unmanned aerial vehicle to perform image acquisition on the target area according to the compensation acquisition route to obtain compensation images;

[0009] Generating a corresponding compensation point cloud model according to the compensation images, and fusing the basic point cloud model and the compensation point cloud model to obtain a three-dimensional model of the target building.

[0010] Further, in the above method for generating a three-dimensional building with relief based on an unmanned aerial vehicle, the step of determining the compensation acquisition route of the unmanned aerial vehicle according to the layout area of the relief, the corresponding position information, and the target area according to a preset rule comprises:

[0011] Obtain the center points of the target area and the arrangement area respectively, and obtain a reference point for determining the viewing point of the drone according to the center points;

[0012] Extend a reference line perpendicular to the surface of the target area outward from the reference point, and respectively determine the viewing width or viewing height of the drone according to any one of the length or width of the arrangement area according to a preset rule;

[0013] Determine the vertical distance between the drone and the target area according to the viewing width or viewing height of the drone and the focal length of the drone camera, and determine the first viewing point of the drone according to the vertical distance and the reference line;

[0014] Translate the first viewing point horizontally and vertically at intervals along the target area, so that the viewing range of the drone covers the target area and the overlap degree between each different viewing range is within a preset range to obtain the remaining viewing points;

[0015] Determine the compensation acquisition route of the drone according to the first viewing point and the remaining viewing points.

[0016] Further, in the above method for generating a three-dimensional building with reliefs based on a drone, the step of obtaining a reference point for determining the viewing point of the drone according to the center point includes:

[0017] When the center points of the target area and the arrangement area coincide, use any one of the center points as the reference point;

[0018] When the center points of the target area and the arrangement area do not coincide, obtain the connection line of the two center points and use the midpoint of the connection line of the two center points as the reference point.

[0019] Further, in the above method for generating a three-dimensional building with reliefs based on a drone, the calculation formula for the vertical distance is:

[0020] ;

[0021] Wherein, FOV is the viewing width or viewing height of the drone, f is the focal length of the drone camera, S is the width or height of the camera sensor of the corresponding drone.

[0022] Further, in the above method for generating a three-dimensional building with reliefs based on a drone, the step of respectively determining the viewing width or viewing height of the drone according to any one of the length or width of the arrangement area according to a preset rule includes:

[0023] Obtain the area sizes of the target area and the layout area respectively, determine the ratio of the areas of the target area and the layout area, and determine the corresponding adjustment factor according to the ratio;

[0024] Adjust the length or width of the layout area according to the adjustment factor to obtain the field of view width or field of view height of the drone.

[0025] Further, in the above method for generating a three-dimensional building with reliefs based on a drone, the step of determining the target area where the reliefs are provided on the target building and determining the layout area and corresponding position information of the reliefs includes:

[0026] Determine the building surface where the reliefs are provided on the target building, obtain the coordinates of the outer boundary points of the building surface, and determine the target area according to the rectangular area enclosed by the coordinates of the outer boundary points;

[0027] Obtain the coordinate information of the outer boundary points of the reliefs, and determine the layout area and corresponding position information of the reliefs according to the rectangular area enclosed by the coordinate information of the outer boundary points.

[0028] Further, in the above method for generating a three-dimensional building with reliefs based on a drone, the step of fusing the basic point cloud model and the compensation point cloud model to obtain the three-dimensional model of the target building includes:

[0029] Use the ISS feature point detection algorithm to extract the feature points of the basic point cloud model and the compensation point cloud model respectively, and use the 3DSC algorithm to describe the feature points;

[0030] Use the SAC-IA algorithm to perform rough registration on the feature points and then use the ICP algorithm for fine registration to obtain the fused target point cloud model;

[0031] Perform triangular meshing and texture mapping processing on the target point cloud model in sequence to obtain the three-dimensional model of the target building.

[0032] Another object of the present invention is to provide a system for generating a three-dimensional building with reliefs based on a drone, and the system includes:

[0033] An acquisition module, configured to acquire building images of a target building collected by a drone, and generate a corresponding basic point cloud model according to the building images;

[0034] A determination module, configured to determine the target area where the reliefs are provided on the target building, and determine the layout area and corresponding position information of the reliefs;

[0035] A control module, configured to determine a compensation acquisition route of the drone according to a preset rule based on the layout area and corresponding position information of the relief and a target area, and control the drone to perform image acquisition on the target area according to the compensation acquisition route to obtain a compensation image;

[0036] A fusion module, configured to generate a corresponding compensation point cloud model according to the compensation image, and fuse the basic point cloud model and the compensation point cloud model to obtain a three-dimensional model of the target building.

[0037] Another object of the present invention is to provide a readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the above method are implemented.

[0038] Another object of the present invention is to provide an electronic device, including a memory, a processor, and a computer program stored on the memory and running on the processor, and when the processor executes the program, the steps of the above method are implemented.

[0039] The present invention obtains a building image of a target building collected by a drone, generates a corresponding basic point cloud model according to the building image; determines a target area on the target building where there is a relief, and determines the layout area and corresponding position information of the relief; determines a compensation acquisition route of the drone according to a preset rule based on the layout area and corresponding position information of the relief and the target area, and controls the drone to perform image acquisition on the target area according to the compensation acquisition route to obtain a compensation image; generates a corresponding compensation point cloud model according to the compensation image, and fuses the basic point cloud model and the compensation point cloud model to obtain a three-dimensional model of the target building. First, perform preliminary image acquisition on the target building to generate a basic point cloud model, then use the compensation acquisition route to specifically collect detailed information of the relief to generate a compensation point cloud model, and fuse the two to obtain the final three-dimensional model. It solves the problem of low accuracy in generating a three-dimensional model for a three-dimensional building with a relief in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a flowchart of a method for generating a three-dimensional building with a relief based on a drone in the first embodiment of the present invention;

[0041] Figure 2 It is a structural block diagram of a system for generating a three-dimensional building with a relief based on a drone in the third embodiment of the present invention.

[0042] The following specific embodiments will further illustrate the present invention in conjunction with the above drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the present invention more thorough and comprehensive.

[0044] It should be noted that when an element is referred to as being "fixedly provided on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0046] Embodiment 1

[0047] Please refer to Figure 1 , which shows a three-dimensional building generation method with relief based on an unmanned aerial vehicle in the first embodiment of the present invention. The method includes steps S10 to S13.

[0048] Step S10, obtaining a building image of a target building collected by an unmanned aerial vehicle, and generating a corresponding basic point cloud model according to the building image.

[0049] Among them, the overall situation of the target building is initially collected to obtain basic building images. Generally, a large number of building images with a certain degree of overlap are collected, so that a corresponding basic point cloud model can be generated according to the building images. Exemplarily, in order to capture the overall situation of the target building, a large number of picture data can be collected by controlling a drone at the top or in an inclined direction of the target building, and an initial point cloud model is generated using the collected picture data. Specifically, after a large number of images are collected, a point cloud model can be generated by means of image dense matching. By extracting feature points in the images and finding corresponding relationships of these feature points in different pictures. By comparing these feature points, the relative position and attitude of the camera can be deduced, and an algorithm is used to estimate the movement trajectory and position of the camera by analyzing pictures from different angles. This process will generate a preliminary three-dimensional point cloud and the camera position corresponding to each picture. From the matching information between the camera and the images, a sparse point cloud model representing the key points in the scene can be reconstructed, and then through the multi-view stereo reconstruction algorithm (MVS), based on the initially generated sparse point cloud, more pixel points are further extracted from the images to generate a denser point cloud. For example, image matching is implemented based on current image matching algorithms such as SIFT, SURF, and ORB. Therefore, how to generate a corresponding point cloud model according to the building images is understandable to those skilled in the art and will not be elaborated here.

[0050] Step S11, determine the target area on the target building where there is a relief, and determine the layout area of the relief and the corresponding position information.

[0051] Among them, when collecting images of buildings with reliefs at present, in order to obtain the overall situation of the target building, the drones collect images from relatively far distances, which results in the inability to accurately collect the fine detail features of the relief area. Therefore, it is necessary to obtain the features of the relief area more precisely. Specifically, determine the target area on the target building where the relief is provided, as well as the layout area and position information of the relief. Among them, the target area refers to the area of a building surface on the target building where the relief is arranged, and the layout area is the specific area occupied by the relief on this building surface. Exemplarily, the building surface on the target building where the relief is provided can be determined first, the coordinates of the outer boundary points of the building surface are obtained, and the target area is determined according to the rectangular area enclosed by the coordinates of the outer boundary points; while the layout area is determined by obtaining the coordinate information of the outer boundary points of the relief, and the layout area and the corresponding position information of the relief are determined according to the rectangular area enclosed by the coordinate information of the outer boundary points. Among them, the coordinates (position information) of the outer boundary points can be obtained through manual measurement or by using positioning devices. In specific implementation, the target area, layout area and corresponding position information can be obtained according to the generated basic point cloud model, or through an image of a certain surface of the target building with a relief collected separately, and the target area, layout area and corresponding position information are determined according to image recognition.

[0052] Step S12: Determine the compensation acquisition route of the drone according to the layout area and the corresponding position information of the relief and the target area according to a preset rule, and control the drone to acquire an image of the target area according to the compensation acquisition route to obtain a compensation image.

[0053] Specifically, in order to collect more detailed images of the relief, the compensation acquisition route of the drone is determined according to the layout area of the relief and the target area, and the drone is controlled to acquire an image of the target area according to the compensation acquisition route to obtain a compensation image. Among them, the compensation acquisition route is generally directly facing the layout area of the relief and can collect clearer relief images.

[0054] Step S13: Generate a corresponding compensation point cloud model according to the compensation image, and fuse the basic point cloud model and the compensation point cloud model to obtain the three-dimensional model of the target building.

[0055] Among them, in order to enable the perfect fusion of the basic point cloud model and the compensation point cloud model, in the embodiments of the present invention, a method combining rough registration and fine registration is adopted. First, rough registration is performed on them to enable the basic point cloud model and the compensation point cloud model to have a better initial position. After rough registration, the positions of the point clouds of the two buildings are basically the same, reducing the complexity of the subsequent registration point similarity calculation. Finally, fine registration is performed to obtain the corresponding fused target point cloud model. Exemplarily, the feature points of the basic point cloud model and the compensation point cloud model can be extracted respectively using the ISS feature point detection algorithm, and the feature points can be described using the 3DSC algorithm; after rough registration of the feature points using the SAC-IA algorithm, the ICP algorithm is used for fine registration to obtain the fused target point cloud model.

[0056] Furthermore, the target point cloud model is sequentially processed by triangular meshing and texture mapping to obtain the three-dimensional model of the target building. Specifically, a building can be composed of irregular triangular meshes. After the previous fusion process, a high-density point cloud will be formed, and these point clouds can form multiple triangular meshes. After the point cloud data constructs the triangular mesh, a large number of irregular triangular meshes will be generated, but they can only reflect the surface morphology of the building and cannot accurately identify features such as the color and appearance of the building. Therefore, texture mapping technology is required to supplement the color and appearance of the building on the three-dimensional mesh to obtain the final three-dimensional model.

[0057] In summary, a method for generating a three-dimensional building with a relief based on a drone in the above embodiments of the present invention includes: obtaining building images of a target building collected by the drone, and generating a corresponding basic point cloud model according to the building images; determining a target area on the target building where there is a relief, and determining the layout area of the relief and the corresponding position information; determining the compensation collection route of the drone according to the layout area of the relief, the corresponding position information, and the target area according to a preset rule, and controlling the drone to collect images of the target area according to the compensation collection route to obtain compensation images; generating a corresponding compensation point cloud model according to the compensation images, and fusing the basic point cloud model and the compensation point cloud model to obtain the three-dimensional model of the target building. First, preliminary image collection of the target building is performed to generate a basic point cloud model, and then the compensation collection route is used to specifically collect detailed information of the relief to generate a compensation point cloud model, and the two are fused to obtain the final three-dimensional model. This solves the problem of low accuracy in generating a three-dimensional model for a three-dimensional building with a relief in the prior art.

[0058] Embodiment 2

[0059] This embodiment also proposes a method for generating a three-dimensional building with reliefs based on a drone. The difference between the method for generating a three-dimensional building with reliefs based on a drone in this embodiment and the method for generating a three-dimensional building with reliefs based on a drone in Embodiment 1 is as follows:

[0060] The step of determining the compensation acquisition route of the drone according to the arrangement area and corresponding position information of the relief and the target area according to a preset rule includes:

[0061] Respectively obtain the center points of the target area and the arrangement area, and obtain a reference point for determining the viewing point of the drone according to the center points;

[0062] Extend a reference line perpendicular to the surface of the target area outward according to the reference point, and respectively determine the viewing width or viewing height of the drone according to any one of the length or width of the arrangement area according to a preset rule;

[0063] Determine the vertical distance between the drone and the target area according to the viewing width or viewing height of the drone and the focal length of the drone camera, and determine the first viewing point of the drone according to the vertical distance and the reference line;

[0064] Translate the first viewing point along the vertical and horizontal intervals of the target area so that the viewing range of the drone covers the target area and the overlap degree between each different viewing range is within a preset range to obtain the remaining viewing points;

[0065] Determine the compensation acquisition route of the drone according to the first viewing point and the remaining viewing points.

[0066] Wherein, the viewing point is the position where the drone acquires the compensation image. Specifically, obtaining the center points of the target area and the arrangement area to determine the reference point of the drone viewing point can ensure that the acquired compensation image can obtain high-quality detailed information. In specific implementation, when the center points of the target area and the arrangement area coincide, any one of the center points is used as the reference point; when the center points of the target area and the rectangular area do not coincide, obtain the connection line of the two center points and use the midpoint of the connection line of the two center points as the reference point. Determining the reference point determines the position information of the drone shooting. Combining with the distance information between the drone and the building, a viewing point can be determined. Specifically, determine the reference line of the drone viewing point through the reference point, and determine the viewing width or height of the drone, and determine the vertical distance information between the drone and the building according to the viewing width or height, so as to obtain the first viewing point on the reference line.

[0067] Exemplarily, the calculation formula for the vertical distance is:

[0068] ;

[0069] in, FOV is the UAV’s field of view width or field of view height, f is the focal length of the drone camera, S is the width or height of the corresponding drone's camera sensor.

[0070] Among them, the field of view width or field of view height of the drone can be set according to the actual situation. In addition, in some preferred embodiments of the present invention, in order to further improve the accuracy of the obtained compensation image, the field of view width or field of view height of the drone can be determined according to any one of the length or width of the layout area. Since the fine features of the relief are to be obtained, the field of view width or field of view height of the drone can be determined according to the length or width of the layout area, thereby ensuring that the drone can capture more accurate fine features of the relief. For example, the field of view width or field of view height of the drone is obtained by reducing the length or width of the layout area according to a preset ratio. In addition, the camera's field of view width or field of view height can also be determined based on the current sizes of the target area and the layout area. Specifically, the area sizes of the target area and the layout area are obtained, and the corresponding adjustment factor is determined based on the area ratio. The length or width of the layout area is reduced and adjusted based on the adjustment factor to obtain the corresponding field of view width and field of view height, or the field of view width and field of view height obtained in advance by the length or width of the layout area are adjusted based on the adjustment factor. Among them, the adjustment factor can establish a mapping table of corresponding area ratios and adjustment factors based on empirical values ​​or big data analysis, so as to find the corresponding adjustment factor according to the mapping table. The purpose of this is to ensure that the field of view area matches the layout area, and to ensure that the compensated image obtains more detailed technical features as much as possible.

[0071] After obtaining the first viewpoint, the viewpoint can be used as a reference point to determine the remaining viewpoints. Specifically, the first viewpoint is translated at intervals in the horizontal and vertical directions, that is, translated at intervals in the horizontal and vertical directions along the target area, to ensure that the overlap between the compensated image captured after the translation and the previous compensated image is within a preset range, until the target area is completely photographed, thereby obtaining multiple different viewpoints. The compensation collection route of the drone is determined based on these viewpoints, wherein the collection route can be determined by connecting lines in the order in which the viewpoints are determined, or after all the viewpoints are determined, the compensation collection route can be determined by connecting lines in sequence from the upper left corner of the target area.

[0072] In summary, a method for generating a three-dimensional building with relief based on a drone in the above embodiments of the present invention obtains building images of a target building collected by the drone, and generates a corresponding basic point cloud model according to the building images; determines a target area on the target building where a relief is provided, and determines the layout area of the relief and the corresponding position information; determines a compensation acquisition route of the drone according to the layout area of the relief, the corresponding position information, and the target area according to a preset rule, and controls the drone to perform image acquisition on the target area according to the compensation acquisition route to obtain a compensation image; generates a corresponding compensation point cloud model according to the compensation image, and fuses the basic point cloud model and the compensation point cloud model to obtain a three-dimensional model of the target building. First, a preliminary image acquisition of the target building is performed to generate a basic point cloud model, and then the compensation acquisition route is used to specifically collect detailed information of the relief to generate a compensation point cloud model, and the two are fused to obtain a final three-dimensional model. This solves the problem of low accuracy in generating a three-dimensional model for a three-dimensional building with relief in the prior art.

[0073] Embodiment 3

[0074] Please refer to Figure 2 , which shows a system for generating a three-dimensional building with relief based on a drone proposed in the third embodiment of the present invention. The system includes:

[0075] An acquisition module 100, configured to obtain building images of a target building collected by the drone, and generate a corresponding basic point cloud model according to the building images;

[0076] A determination module 200, configured to determine a target area on the target building where a relief is provided, and determine the layout area of the relief and the corresponding position information;

[0077] A control module 300, configured to determine a compensation acquisition route of the drone according to the layout area of the relief, the corresponding position information, and the target area according to a preset rule, and control the drone to perform image acquisition on the target area according to the compensation acquisition route to obtain a compensation image;

[0078] A fusion module 400, configured to generate a corresponding compensation point cloud model according to the compensation image, and fuse the basic point cloud model and the compensation point cloud model to obtain a three-dimensional model of the target building.

[0079] Further, in the above system for generating a three-dimensional building with relief based on a drone, the step of determining the compensation acquisition route of the drone according to the layout area of the relief, the corresponding position information, and the target area according to a preset rule includes:

[0080] Obtain the center points of the target area and the arrangement area respectively, and obtain a reference point for determining the viewing point of the drone according to the center points;

[0081] Extend a reference line perpendicular to the surface of the target area outward from the reference point, and respectively determine the viewing width or viewing height of the drone according to any one of the length or width of the arrangement area according to a preset rule;

[0082] Determine the vertical distance between the drone and the target area according to the viewing width or viewing height of the drone and the focal length of the drone camera, and determine the first viewing point of the drone according to the vertical distance and the reference line;

[0083] Translate the first viewing point horizontally and vertically at intervals along the target area, so that the viewing range of the drone covers the target area and the overlap degree between each different viewing range is within a preset range to obtain the remaining viewing points;

[0084] Determine the compensation acquisition route of the drone according to the first viewing point and the remaining viewing points.

[0085] Further, in the above three-dimensional building generation system with relief based on a drone, wherein the step of obtaining a reference point for determining the viewing point of the drone according to the center point includes:

[0086] When the center points of the target area and the arrangement area coincide, use any one of the center points as the reference point;

[0087] When the center points of the target area and the arrangement area do not coincide, obtain the connection line of the two center points and use the midpoint of the connection line of the two center points as the reference point.

[0088] Further, in the above three-dimensional building generation system with relief based on a drone, wherein the calculation formula for the vertical distance is:

[0089] ;

[0090] Wherein, FOV is the viewing width or viewing height of the drone, f is the focal length of the drone camera, S is the width or height of the camera sensor of the corresponding drone.

[0091] Further, in the above three-dimensional building generation system with relief based on a drone, wherein the step of respectively determining the viewing width or viewing height of the drone according to any one of the length or width of the arrangement area according to a preset rule includes:

[0092] Obtain the area sizes of the target area and the layout area respectively, determine the ratio of the areas of the target area and the layout area, and determine the corresponding adjustment factor according to the ratio;

[0093] Adjust the length or width of the layout area according to the adjustment factor to obtain the field of view width or field of view height of the drone.

[0094] Further, in the above three-dimensional building generation system with relief based on a drone, the step of determining the target area where the relief is provided on the target building and determining the layout area and the corresponding position information of the relief includes:

[0095] Determine the building surface where the relief is provided on the target building, obtain the coordinates of the outer boundary points of the building surface, and determine the target area according to the rectangular area enclosed by the coordinates of the outer boundary points;

[0096] Obtain the coordinate information of the outer boundary points of the relief, and determine the layout area and the corresponding position information of the relief according to the rectangular area enclosed by the coordinate information of the outer boundary points;

[0097] Further, in the above three-dimensional building generation system with relief based on a drone, the step of fusing the basic point cloud model and the compensation point cloud model to obtain the three-dimensional model of the target building includes:

[0098] Use the ISS feature point detection algorithm to extract the feature points of the basic point cloud model and the compensation point cloud model respectively, and use the 3DSC algorithm to describe the feature points;

[0099] Use the SAC-IA algorithm to perform rough registration on the feature points and then use the ICP algorithm to perform fine registration to obtain the fused target point cloud model;

[0100] Perform triangulation and texture mapping processing on the target point cloud model in sequence to obtain the three-dimensional model of the target building.

[0101] The functions or operation steps implemented when the above modules are executed are substantially the same as those in the above method embodiments, and will not be elaborated here.

[0102] Embodiment Four

[0103] On the other hand, the present invention also provides a readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the method in any one of the above Embodiment One to Embodiment Two are implemented.

[0104] Embodiment Five

[0105] On the other hand, the present invention also provides an electronic device, which includes a memory, a processor, and a computer program stored on the memory and running on the processor. When the processor executes the program, the steps of the method according to any one of the above-mentioned Embodiments 1 to 2 are implemented.

[0106] The technical features of the above-mentioned various embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0107] Those skilled in the art can understand that the logic and / or steps represented in the flowchart or described in other ways herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable storage medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch instructions from the instruction execution system, apparatus, or device and execute the instructions), or in combination with these instruction execution systems, apparatuses, or devices. For the purposes of this specification, a "computer-readable storage medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in combination with an instruction execution system, apparatus, or device.

[0108] More specific examples (non-exhaustive list) of computer-readable storage media include the following: an electrical connection part (electronic device) having one or more wirings, a portable computer disk cartridge (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, a computer-readable storage medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, then editing, interpreting, or otherwise processing it as appropriate, and then storing it in a computer memory.

[0109] It should be understood that each part of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0110] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0111] The above-described embodiments merely represent several implementation manners of the present invention, and their descriptions are relatively specific and detailed, but should not be construed as a limitation on the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the appended claims.

Claims

1. A method for generating a three-dimensional building with relief based on a drone, characterized in that: The method comprises: Acquire a building image of a target building collected by a drone, and generate a corresponding basic point cloud model according to the building image; Determine a target area on the target building where a relief is provided, and determine a layout area and corresponding position information of the relief; Determine the compensation acquisition route of the drone according to the arrangement area of ​​the relief and the corresponding position information and the target area according to a preset rule, and control the drone to acquire an image of the target area according to the compensation acquisition route to obtain a compensation image; Generate a corresponding compensation point cloud model according to the compensation image, and fuse the basic point cloud model and the compensation point cloud model to obtain a three-dimensional model of the target building; The step of determining the compensation acquisition route of the drone according to the arrangement area of ​​the relief and the corresponding position information and the target area according to the preset rules includes: Obtaining the center points of the target area and the layout area respectively, and obtaining a reference point for determining the viewpoint of the drone according to the center points; A reference line perpendicular to the surface of the target area is extended outward from the reference point, and the field of view width or field of view height of the drone is determined according to a preset rule according to either the length or the width of the layout area; Determine the vertical distance between the drone and the target area according to the field of view width or field of view height of the drone and the focal length of the drone camera, and determine the first viewpoint of the drone according to the vertical distance and the reference line; The first viewpoint is translated along the target area in a longitudinal and transverse interval so that the field of view of the drone covers the target area and the overlap between each different field of view is within a preset range to obtain the remaining viewpoints; A compensation acquisition route of the UAV is determined according to the first viewpoint and the remaining viewpoints.

2. The method for generating a three-dimensional building with relief based on a drone according to claim 1, characterized in that: The step of obtaining a reference point for determining the viewpoint of the drone according to the center point comprises: When the center points of the target area and the layout area coincide, any center point is used as the reference point; When the center points of the target area and the layout area do not coincide, a line connecting the two center points is obtained and a midpoint of the line connecting the two center points is used as the reference point.

3. The method for generating a three-dimensional building with relief based on a drone according to claim 1, characterized in that: The calculation formula of the vertical distance is: ； in, FOV is the UAV’s field of view width or field of view height, f is the focal length of the drone camera, S is the width or height of the corresponding drone's camera sensor.

4. The method for generating a three-dimensional building with relief based on a drone according to claim 1, characterized in that: The step of determining the vision width or the vision height of the drone according to any one of the length or the width of the arrangement area according to a preset rule comprises: respectively obtaining the area sizes of the target area and the layout area, determining the ratio of the area of ​​the target area to the area of ​​the layout area, and determining the corresponding adjustment factor according to the ratio; The length or width of the arrangement area is adjusted according to the adjustment factor to obtain the field of view width or field of view height of the UAV.

5. The method for generating a three-dimensional building with relief based on a drone according to claim 1, characterized in that: The step of determining a target area on the target building where a relief is provided, and determining a layout area and corresponding position information of the relief comprises: Determine a building surface on which a relief is provided on the target building, obtain coordinates of outer boundary points of the building surface, and determine the target area according to a rectangular area enclosed by the coordinates of the outer boundary points; The coordinate information of the outer boundary points of the relief is obtained, and the layout area of ​​the relief and the corresponding position information are determined according to the rectangular area enclosed by the coordinate information of the outer boundary points.

6. The method for generating a three-dimensional building with relief based on a drone according to claim 1, characterized in that: The step of fusing the basic point cloud model and the compensation point cloud model to obtain the three-dimensional model of the target building comprises: The feature points of the basic point cloud model and the compensation point cloud model are respectively extracted using an ISS feature point detection algorithm, and the feature points are described using a 3DSC algorithm; The SAC-IA algorithm is used to roughly align the feature points, and then the ICP algorithm is used to precisely align the feature points to obtain the fused target point cloud model. The target point cloud model is processed by triangulation and texture mapping in sequence to obtain a three-dimensional model of the target building.

7. A three-dimensional building generation system with relief based on drone, characterized in that: A method for generating a three-dimensional building with relief based on a drone according to any one of claims 1 to 6, the system comprising: The acquisition module is used to obtain the building image of the target building collected by the drone, and generate a corresponding basic point cloud model according to the building image; A determination module, used to determine a target area on the target building where a relief is provided, and to determine a layout area and corresponding position information of the relief; A control module, used to determine a compensation acquisition route of the drone according to a layout area of ​​the relief and corresponding position information and a target area according to a preset rule, and control the drone to acquire an image of the target area according to the compensation acquisition route to obtain a compensation image; The fusion module is used to generate a corresponding compensation point cloud model according to the compensation image, and fuse the basic point cloud model and the compensation point cloud model to obtain a three-dimensional model of the target building.

8. A readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

9. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 6 when executing the program.

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