Method and device for rapidly editing elevation of characteristic line based on binocular three-dimensional environment

Abstract

The invention provides a binocular three-dimensional environment-based feature line elevation rapid editing method and device, and relates to the technical field of image processing, and the method comprises the steps: obtaining a remote sensing image three-dimensional model corresponding to a reconstruction region of a to-be-edited elevation; characteristic lines contained in the remote sensing image stereoscopic model are collected in the binocular stereoscopic environment, and a target dynamic buffer area is constructed for each characteristic line, so that the area covered by the target dynamic buffer area corresponding to each characteristic line completely covers the reconstruction area; and based on the target dynamic buffer area corresponding to each feature line, constructing a triangulated irregular network corresponding to the reconstruction area, and according to the elevation data corresponding to each vertex in the triangulated irregular network, generating the elevation data of the reconstruction area under the target regular grid. According to the method, the edited elevation precision can meet the success requirement, and the method also has relatively high editing efficiency and universality.

Description

Technical Field

[0001] The present invention relates to the technical field of image processing, and in particular to a method and a device for quickly editing elevation of feature lines based on a binocular stereo environment. Background Art

[0002] At present, the DEM (Digital Elevation Model) / DSM (Digital Surface Model) editing methods provided by relevant technologies include methods for filtering and editing DEM valleys and ridges based on automatically extracted feature lines. The automatically extracted feature lines inevitably have low accuracy in some areas, resulting in low accuracy of the edited DEM. It also includes methods for generating DEM using DLG (Digital Line Graphic) results. Since not all DEM-producing areas have DLG results, this method has certain limitations. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a method and device for quickly editing elevation of feature lines based on a binocular stereo environment, which can not only make the edited elevation accuracy meet the success requirements, but also have high editing efficiency and universality.

[0004] In a first aspect, an embodiment of the present invention provides a method for quickly editing elevation of feature lines based on a binocular stereo environment, comprising: Obtain a remote sensing image stereo model corresponding to the reconstructed area of ​​the elevation to be edited; The feature lines contained in the remote sensing image stereo model are collected in a binocular stereo environment, and a target dynamic buffer is constructed for each feature line, so that the area covered by the target dynamic buffer corresponding to each feature line and the reconstructed area are completely covered; Based on the target dynamic buffer corresponding to each feature line, an irregular triangulated network corresponding to the reconstructed area is constructed, and according to the elevation data corresponding to each vertex in the irregular triangulated network, the elevation data of the reconstructed area under the target regular grid is generated.

[0005] In one implementation, constructing a target dynamic buffer for each feature line includes: For each feature line, do the following: Determine the buffer width corresponding to the feature line; wherein the buffer width is related to the type of features contained in the area through which the feature line passes; Taking the characteristic line as the center line and based on the buffer width corresponding to the characteristic line, construct an initial dynamic buffer corresponding to the characteristic line; According to the features of the terrain in the initial dynamic buffer zone, the width of the buffer zone is adjusted to obtain the target dynamic buffer zone corresponding to the feature line.

[0006] In one implementation, the width of the buffer zone is adjusted according to the features of the terrain in the initial dynamic buffer zone to obtain a target dynamic buffer zone corresponding to the feature line, including: From the remote sensing image stereo model, intercept the remote sensing image stereo sub-model corresponding to the initial dynamic buffer zone; Extracting the ground objects contained in the remote sensing image stereo sub-model and the ground features corresponding to each ground object; The following operations are performed on any point on the feature line: spatial matching is performed on the point with the ground object contained in the remote sensing image stereo sub-model; if there is a ground object spatially matching the point, the buffer width at the point is adjusted according to the ground feature corresponding to the ground object; if there is no ground object spatially matching the point, the buffer width at the point is adjusted based on the ground feature corresponding to the ground object matching the upstream point and the downstream point corresponding to the point; Based on the adjusted buffer width at each point on the feature line, a target dynamic buffer corresponding to the feature line is obtained.

[0007] In one embodiment, based on the target dynamic buffer corresponding to each feature line, an irregular triangulated network corresponding to the reconstruction area is constructed, including: A discrete point set is extracted from the target dynamic buffer corresponding to each feature line, and each discrete point in the discrete point set corresponds to elevation data; Construct super triangles for the reconstruction area; Each discrete point in the discrete point set is inserted as a vertex into the super triangle to generate triangles in the super triangle, and all triangles connected to the vertices of the super triangle are removed to obtain an irregular triangulated network corresponding to the reconstructed area; wherein each triangle in the irregular triangulated network satisfies the following characteristics: the circumscribed circle of the triangle does not contain any other discrete points.

[0008] In one embodiment, extracting a discrete point set from a target dynamic buffer corresponding to each feature line includes: The following operation is performed on any point on the feature line: the point is regarded as a discrete point, and the point where the perpendicular line passing through the point intersects with the edge of the target dynamic buffer zone is regarded as a discrete point.

[0009] In one embodiment, each discrete point in the discrete point set is inserted into the super triangle as a vertex to generate a triangle in the super triangle, including: For the first discrete point to be inserted, the super triangle is used as the influence area of ​​the discrete point, the influence area is removed from the current triangulation, and the discrete point is connected with the vertices of the influence area to form a new triangle; For discrete points that are not the first to be inserted, determine whether the circumscribed circle of each triangle in the current triangulation contains the discrete point, determine the triangle with a positive judgment result as the influence area of ​​the discrete point, remove the influence area from the current triangulation, and connect the discrete point with the vertices of the influence area to form a new triangle.

[0010] In one embodiment, generating elevation data of a reconstructed area under a target regular grid according to elevation data corresponding to each vertex in an irregular triangulated network includes: Each vertex in the target regular grid is used as a point to be interpolated; Perform the following operations on each point to be interpolated: determine the centroid coordinates of the point to be interpolated relative to the triangle in which the point is located in the irregular triangulated network, and determine the elevation data corresponding to the point to be interpolated based on the centroid coordinates and the elevation data corresponding to each vertex of the triangle in which the point to be interpolated is located; Based on the elevation data corresponding to each point to be interpolated, the elevation data of the reconstructed area under the target regular grid is obtained.

[0011] In a second aspect, the present invention further provides a device for quickly editing elevation of feature lines based on a binocular stereo environment, comprising: A model acquisition module is used to obtain a remote sensing image stereo model corresponding to the reconstructed area of ​​the elevation to be edited; The feature line acquisition and buffer construction module is used to acquire the feature lines contained in the remote sensing image stereo model in a binocular stereo environment, and construct a target dynamic buffer for each feature line, so that the area covered by the target dynamic buffer corresponding to each feature line and the reconstructed area are completely covered; The elevation reconstruction module is used to construct an irregular triangulated network corresponding to the reconstruction area based on the target dynamic buffer corresponding to each feature line, and generate the elevation data of the reconstruction area under the target regular grid according to the elevation data corresponding to each vertex in the irregular triangulated network.

[0012] In a third aspect, the present invention further provides an electronic device, comprising a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement any one of the methods provided in the first aspect.

[0013] In a fourth aspect, the present invention further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement any one of the methods provided in the first aspect.

[0014] The present invention provides a method and device for quickly editing elevations based on feature lines in a binocular stereo environment. First, a remote sensing image stereo model corresponding to the reconstructed area of ​​the elevation to be edited is obtained; then, the feature lines contained in the remote sensing image stereo model are collected in a binocular stereo environment, and a target dynamic buffer is constructed for each feature line, so that the area covered by the target dynamic buffer corresponding to each feature line and the reconstructed area are completely covered; finally, based on the target dynamic buffer corresponding to each feature line, an irregular triangulated network corresponding to the reconstructed area is constructed, and according to the elevation data corresponding to each vertex in the irregular triangulated network, the elevation data of the reconstructed area under the target regular grid is generated. The above method collects feature lines based on a binocular stereo environment, constructs a target dynamic buffer using the collected feature lines, constructs an irregular triangulated network based on the points in the target dynamic buffer, and generates elevation data under the target regular grid, which can not only make the elevation accuracy after editing meet the success requirements, but also has high editing efficiency and universality.

[0015] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0016] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of a flow chart of a method for quickly editing elevation of feature lines based on a binocular stereo environment provided by an embodiment of the present invention; Figure 2 A schematic diagram of the structure of a device for quickly editing elevation of feature lines based on a binocular stereo environment provided by an embodiment of the present invention; Figure 3 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described in combination with the embodiments below. 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.

[0020] At present, the method of filtering and editing DEM valleys and ridges based on automatically extracted feature lines has the problem of low accuracy of the edited DEM, and the method of generating DEM using DLG results has certain limitations. Based on this, the present invention provides a method and device for quickly editing elevations based on feature lines in a binocular stereo environment, which can not only make the edited elevation accuracy meet the success requirements, but also has high editing efficiency and universality.

[0021] To facilitate understanding of this embodiment, firstly, a method for quickly editing elevation of feature lines based on a binocular stereo environment disclosed in an embodiment of the present invention is described in detail, see Figure 1 The flowchart of a method for quickly editing elevation of feature lines based on a binocular stereo environment is shown, and the method mainly includes the following steps S102 to S106: Step S102, obtaining a remote sensing image stereo model corresponding to the reconstructed area of ​​the elevation to be edited.

[0022] In one example, a pair of high-resolution remote sensing satellite images and their corresponding RPC (Rational Polynomial Coefficient) files can be obtained to generate a high-precision remote sensing image stereo model.

[0023] Step S104, collecting feature lines contained in the remote sensing image stereo model in a binocular stereo environment, and constructing a target dynamic buffer for each feature line, so that the area covered by the target dynamic buffer corresponding to each feature line completely covers the reconstructed area.

[0024] The characteristic line may be a ridge line, a valley line, a slope change line, etc. The target dynamic buffer is an area constructed with the characteristic line as the center line and a dynamically adjustable buffer width. In one example, the characteristic lines contained in the remote sensing image stereo model can be manually collected in a binocular stereo environment, and the initial dynamic buffer can be constructed with the characteristic line as the center based on the initial buffer width. The ground features in the area where the characteristic line passes through are extracted based on the initial dynamic buffer to adjust the buffer width, thereby obtaining the adjusted target dynamic buffer.

[0025] Step S106, constructing an irregular triangulated network corresponding to the reconstructed area based on the target dynamic buffer corresponding to each feature line, and generating elevation data of the reconstructed area under the target regular grid according to the elevation data corresponding to each vertex in the irregular triangulated network.

[0026] Among them, each triangle in the irregular triangulated network satisfies the following characteristics: the circumscribed circle of the triangle does not contain any other discrete points. In one example, a discrete point set can be extracted from the target dynamic buffer, and the discrete points in the discrete point set are used as vertices to construct an irregular triangulated network. Based on the elevation data corresponding to each discrete point in the discrete point set, the irregular triangulated network is interpolated to obtain the elevation data of the reconstructed area under the target regular grid.

[0027] The embodiment of the present invention provides a method for quickly editing elevations based on feature lines in a binocular stereo environment. Feature lines are collected based on the binocular stereo environment, a target dynamic buffer is constructed using the collected feature lines, an irregular triangulated network is constructed based on the points in the target dynamic buffer, and elevation data under the target regular grid is generated. This method can not only make the edited elevation accuracy meet the success requirements, but also has high editing efficiency and universality.

[0028] For ease of understanding, an embodiment of the present invention provides a specific implementation of a method for quickly editing elevation of feature lines based on a binocular stereo environment.

[0029] For the aforementioned step S102, an embodiment of the present invention provides an implementation method for obtaining a remote sensing image stereo model corresponding to the reconstructed area of ​​the elevation to be edited. After obtaining the high-resolution remote sensing satellite image pair and its corresponding RPC file, a high-precision remote sensing image stereo model of the reconstructed area can be generated according to the technical means recorded in the patent application with publication number "CN202310430536.6" and invention name "Core line resampling method and device for GSD such as high-resolution remote sensing images".

[0030] For the aforementioned step S104, the embodiment of the present invention provides an implementation method for collecting feature lines contained in a remote sensing image stereo model in a binocular stereo environment. The operator enters the binocular stereo environment through a stereo observation device, visually interprets the feature lines of the remote sensing image stereo model, and manually collects feature lines on the remote sensing image stereo model using tools such as a mouse or a digitizer. Different types of landforms have different focus points for collecting feature lines: for example, for linear landforms (such as railways, roads, etc.), their center lines should be collected; for planar landforms (such as lakes, farmlands, etc.), their boundary lines should be collected; for landforms with obvious elevation changes (such as mountains, terraces, etc.), it is also necessary to consider collecting feature lines related to their contour lines.

[0031] For the aforementioned step S104, the embodiment of the present invention also provides an implementation method for constructing a target dynamic buffer for each feature line. The range of the dynamic buffer is not fixed. During the feature line acquisition process, the range of the dynamic buffer will change with the real-time shape and range of the object. The width of the buffer is automatically adjusted in real time according to the terrain features using image processing and neural networks, so that the target dynamic buffer covers the area and completely covers the reconstructed area that needs to edit the DEM. Specifically, the following operations 1 to 3 are performed for each feature line: Operation 1, determining the buffer width corresponding to the feature line; wherein the buffer width is related to the type of features contained in the area through which the feature line passes. In one example, the type of at least one feature object contained in the area through which the feature line passes (referred to as the feature type) can be determined, and based on the pre-constructed mapping relationship between the feature type and the buffer width, the buffer width corresponding to each feature type contained in the area through which the feature line passes is determined, and the maximum buffer width is determined as the buffer width corresponding to the feature line.

[0032] Operation 2: Taking the feature line as the center line and based on the buffer width corresponding to the feature line, construct an initial dynamic buffer corresponding to the feature line.

[0033] Operation 3: Adjust the width of the buffer zone according to the features of the terrain in the initial dynamic buffer zone to obtain the target dynamic buffer zone corresponding to the feature line. In the specific implementation, the following operations 3.1 to 3.4 can be performed: Operation 3.1, from the remote sensing image stereo model, intercept the remote sensing image stereo sub-model corresponding to the initial dynamic buffer. In one example, the remote sensing image stereo sub-model can be intercepted based on the boundary line of the initialized dynamic buffer.

[0034] Operation 3.2, extracting the ground objects contained in the remote sensing image stereo sub-model and the ground object features corresponding to each ground object. In one example, the ground objects contained in the remote sensing image stereo sub-model and the ground object features corresponding to each ground object can be extracted by image processing or neural network, and the ground object features are ground object shape features and ground object range features.

[0035] Operation 3.3, perform the following operations on any point on the feature line: spatially match the point with the ground object contained in the remote sensing image stereo sub-model; if there is a ground object that spatially matches the point, adjust the buffer width at the point according to the ground feature corresponding to the ground object; if there is no ground object that spatially matches the point, adjust the buffer width at the point based on the ground feature corresponding to the ground object that matches the upstream point and the downstream point corresponding to the point.

[0036] Exemplarily, assuming that there is a spatial match between the point and a certain feature object, then based on the feature shape characteristics and feature range characteristics, it is determined that the buffer width at the point is too small or too large (such as the absolute value of the difference between the buffer width and the feature range of the feature is greater than a preset threshold). If so, the buffer width at the point is adjusted in the direction of reducing the absolute value of the difference between the buffer width and the feature range of the feature. Assuming that there is no spatial match between the point and each feature object, when the upstream point and the downstream point each match a feature object, the average value of the buffer width at the upstream point and the buffer width at the downstream point is used as the buffer width at the point; or, based on the relative positional relationship between the point and the upstream point and the downstream point, the buffer width at the point is obtained by taking a weighted average of the buffer width at the upstream point and the buffer width at the downstream point.

[0037] Operation 3.4, based on the adjusted buffer width at each point on the feature line, obtain the target dynamic buffer corresponding to the feature line.

[0038] For the aforementioned step S106, the embodiment of the present invention provides an implementation method for constructing an irregular triangulated network corresponding to the reconstructed area based on the target dynamic buffer corresponding to each feature line, see the following steps I to IV: Step I, extracting a discrete point set from the target dynamic buffer corresponding to each feature line, each discrete point in the discrete point set corresponds to elevation data. In one example, the following operations are performed on any point on the feature line: the point is taken as a discrete point, and the point where the vertical line passing through the point intersects with the edge of the target dynamic buffer is taken as a discrete point. In another example, discrete points can also be extracted at equal distances on the vertical line.

[0039] Step II, construct a super triangle for the reconstruction area. In one example, a sufficiently large super triangle is constructed to ensure that all points to be inserted in the reconstruction area are located inside it. The vertices of the super triangle are usually selected outside the boundary of the point set. The super triangle is added to the initial triangulation set.

[0040] Step III, inserting each discrete point in the discrete point set as a vertex into the super triangle to generate a triangle in the super triangle.

[0041] In one example, for the first discrete point to be inserted, the super triangle is used as the influence area of ​​the discrete point, the influence area is removed from the current triangulation, and the discrete point is connected to the vertices of the influence area to form a new triangle.

[0042] In another example, for a discrete point that is not the first to be inserted, it is determined whether the circumscribed circle of each triangle in the current triangulation contains the discrete point, and the triangle with the judgment result is determined as the influence area of ​​the discrete point, the influence area is removed from the current triangulation, and the discrete point is connected to the vertices of the influence area to form a new triangle. For each discrete point in the discrete point set (i=1.....n), perform the following operations: Find all circumcircles containing a point The triangles that form the "region of influence" are removed from the current triangulation; the connection points With the boundary vertices of the "influence area", new triangles are formed; check whether the newly formed triangles meet the Delaunay condition (that is, the empty circle characteristic); if not, local adjustments are made by exchanging edges until all triangles meet the Delaunay condition.

[0043] The empty circle feature is that for any triangle in the Delaunay triangulation, its circumscribed circle (i.e., the circle passing through the three vertices of the triangle) does not contain any other discrete points.

[0044] Step IV, remove all triangles connected to the vertices of the super triangle to obtain the irregular triangulated network corresponding to the reconstructed area. In one example, when all discrete points are inserted, remove all triangles connected to the vertices of the super triangle. The triangle at this time is the Delaunay triangulation of the discrete point set, and the irregular triangle (TIN) construction is completed.

[0045] In a specific example, assuming that the super triangle is ABC and the newly inserted point is P, the steps are as follows: 1) Calculate the circumscribed circle: Calculate the circumscribed circle of triangle ABC. 2) Determine whether point P is inside the circle: If P is inside the circumscribed circle of triangle ABC, ABC is an influential triangle. 3) Delete the influential triangle: Delete triangle ABC from the triangulation network. 4) Construct a new triangle: Connect point P with the vertices of triangle ABC to form new triangles PAB, PBC and PCA. 5) Local adjustment: Check whether the new triangle meets the Delaunay condition and exchange edges if necessary.

[0046] For the aforementioned step S106, the embodiment of the present invention further provides an implementation method for generating elevation data of the reconstructed area under the target regular grid using a linear interpolation algorithm according to the elevation data corresponding to each vertex in the irregular triangulated network, including the following steps a to c: Step a: Each vertex in the target regular grid is used as a point to be interpolated.

[0047] Step b, performing the following operations on each point to be interpolated: determining the centroid coordinates of the point to be interpolated relative to the triangle in which it is located in the irregular triangulated network, and determining the elevation data corresponding to the point to be interpolated based on the centroid coordinates and the elevation data corresponding to each vertex of the triangle in which the point to be interpolated is located.

[0048] Specifically, assume that the three vertices of the triangle are A( , ),B( , ),C( , ), the interpolation point is P( , ). DEM is a discrete elevation point of a regular grid, so the plane coordinates of each discrete elevation point of DEM are fixed, that is, P( , ) is determined, these discrete elevation points are used as interpolation points, and the elevation value of point P is obtained by interpolation. The specific process is as follows: The first step is to calculate the barycentric coordinates of point P relative to triangle ABC according to the barycentric coordinate principle in plane geometry ( , ). The calculation formula is as follows: Calculate the area of ​​triangle ABC , we can use the vector cross product method: Similarly, calculate the areas of triangles PBC, PCA and PAB respectively. , and , also using the vector cross product method. Then the barycentric coordinates are = , = , = ,and + + =1.

[0049] The second step is to determine the elevation data corresponding to the point to be interpolated based on the barycentric coordinates and the elevation data corresponding to each vertex of the triangle where the point to be interpolated is located. The calculation is shown below: = + + .

[0050] Step c: based on the elevation data corresponding to each point to be interpolated, obtain the elevation data of the reconstructed area under the target regular grid.

[0051] Furthermore, the embodiment of the present invention can also optimize the elevation data of the reconstructed area under the target regular grid in an iterative manner, and the process is as follows: during the current iteration, for the target dynamic buffer corresponding to each feature line, discrete points are re-extracted based on the elevation data obtained in the previous iteration. For example, when the elevation difference between two adjacent points in the target dynamic buffer is greater than a preset threshold, the two points are used as discrete points; based on the new discrete points, the irregular triangulated network corresponding to the reconstructed area is reconstructed, and converted into elevation data under the target regular grid. In one example, the resolution of the target regular grid corresponding to the current iteration can be the same as the resolution of the target regular grid corresponding to the previous iteration, and the accuracy of the elevation data of each discrete point in the target regular grid of this resolution can be improved through iteration; in another example, the resolution of the target regular grid corresponding to the current iteration can be higher than the resolution of the target regular grid corresponding to the previous iteration, so as to improve the resolution of the final elevation data.

[0052] In summary, the method for quickly editing elevation based on feature lines in a binocular stereo environment provided by the embodiment of the present invention collects feature lines based on a binocular stereo environment, uses the collected feature lines to build a dynamic buffer, constructs a regional TIN based on the points in the buffer, and then interpolates to generate a regional DEM. The method is applicable to optical stereo remote sensing images, aerial images, and drone images, with high editing efficiency and accuracy that can meet the results requirements.

[0053] In order to verify the effect of the present invention, DEM data generated by a high-resolution remote sensing image is used for editing. The feature line editing algorithm provided by the embodiment of the present invention is used to edit the area, and the ridges are smooth and the ridge line contours are smooth. It has been verified that the algorithm can meet the requirements of mountain terrain editing and plays an important role in the production of DEM and DSM products.

[0054] Based on the above embodiments, the present invention provides a device for quickly editing elevation of feature lines based on a binocular stereo environment. Figure 2 The schematic diagram of the structure of a device for quickly editing elevation based on feature lines in a binocular stereo environment is shown in FIG. The device mainly includes the following parts: The model acquisition module 202 is used to acquire a remote sensing image stereo model corresponding to the reconstructed area of ​​the to-be-edited elevation; The feature line acquisition and buffer construction module 204 is used to acquire feature lines contained in the remote sensing image stereo model in a binocular stereo environment, and construct a target dynamic buffer for each feature line, so that the area covered by the target dynamic buffer corresponding to each feature line and the reconstructed area are completely covered; The elevation reconstruction module 206 is used to construct an irregular triangulated network corresponding to the reconstruction area based on the target dynamic buffer corresponding to each feature line, and generate elevation data of the reconstruction area under the target regular grid according to the elevation data corresponding to each vertex in the irregular triangulated network.

[0055] The device for quickly editing elevations based on feature lines in a binocular stereo environment provided by an embodiment of the present invention collects feature lines based on a binocular stereo environment, constructs a target dynamic buffer zone using the collected feature lines, constructs an irregular triangulated network based on points in the target dynamic buffer zone, and generates elevation data under a target regular grid. This not only enables the edited elevation accuracy to meet success requirements, but also has high editing efficiency and universality.

[0056] In one implementation, the feature line acquisition and buffer zone construction module 204 is specifically used for: For each feature line, do the following: Determine the buffer width corresponding to the feature line; wherein the buffer width is related to the type of features contained in the area through which the feature line passes; Taking the characteristic line as the center line and based on the buffer width corresponding to the characteristic line, construct an initial dynamic buffer corresponding to the characteristic line; According to the features of the terrain in the initial dynamic buffer zone, the width of the buffer zone is adjusted to obtain the target dynamic buffer zone corresponding to the feature line.

[0057] In one implementation, the feature line acquisition and buffer zone construction module 204 is specifically used for: From the remote sensing image stereo model, extract the remote sensing image stereo sub-model corresponding to the initial dynamic buffer zone; Extracting the ground objects contained in the remote sensing image stereo sub-model and the ground features corresponding to each ground object; The following operations are performed on any point on the feature line: spatial matching is performed on the point with the ground object contained in the remote sensing image stereo sub-model; if there is a ground object spatially matching the point, the buffer width at the point is adjusted according to the ground feature corresponding to the ground object; if there is no ground object spatially matching the point, the buffer width at the point is adjusted based on the ground feature corresponding to the ground object matching the upstream point and the downstream point corresponding to the point; Based on the adjusted buffer width at each point on the feature line, a target dynamic buffer corresponding to the feature line is obtained.

[0058] In one implementation, the elevation reconstruction module 206 is specifically configured to: A discrete point set is extracted from the target dynamic buffer corresponding to each feature line, and each discrete point in the discrete point set corresponds to elevation data; Construct super triangles for the reconstruction area; Each discrete point in the discrete point set is inserted as a vertex into the super triangle to generate triangles in the super triangle, and all triangles connected to the vertices of the super triangle are removed to obtain an irregular triangulated network corresponding to the reconstructed area; wherein each triangle in the irregular triangulated network satisfies the following characteristics: the circumscribed circle of the triangle does not contain any other discrete points.

[0059] In one implementation, the elevation reconstruction module 206 is specifically configured to: The following operation is performed on any point on the feature line: the point is regarded as a discrete point, and the point where the perpendicular line passing through the point intersects with the edge of the target dynamic buffer zone is regarded as a discrete point.

[0060] In one implementation, the elevation reconstruction module 206 is specifically configured to: For the first discrete point to be inserted, the super triangle is used as the influence area of ​​the discrete point, the influence area is removed from the current triangulation, and the discrete point is connected with the vertices of the influence area to form a new triangle; For discrete points that are not the first to be inserted, determine whether the circumscribed circle of each triangle in the current triangulation contains the discrete point, determine the triangle with a positive judgment result as the influence area of ​​the discrete point, remove the influence area from the current triangulation, and connect the discrete point with the vertices of the influence area to form a new triangle.

[0061] In one implementation, the elevation reconstruction module 206 is specifically configured to: Each vertex in the target regular grid is used as a point to be interpolated; Perform the following operations on each point to be interpolated: determine the centroid coordinates of the point to be interpolated relative to the triangle in which the point is located in the irregular triangulated network, and determine the elevation data corresponding to the point to be interpolated based on the centroid coordinates and the elevation data corresponding to each vertex of the triangle in which the point to be interpolated is located; Based on the elevation data corresponding to each point to be interpolated, the elevation data of the reconstructed area under the target regular grid is obtained.

[0062] The device provided in the embodiment of the present invention has the same implementation principle and technical effects as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiment.

[0063] An embodiment of the present invention provides an electronic device. Specifically, the electronic device includes a processor and a storage device. The storage device stores a computer program, and when the computer program is executed by the processor, it executes the method described in any one of the above-mentioned implementation methods.

[0064] Figure 3A structural diagram of an electronic device provided in an embodiment of the present invention, the electronic device 100 includes: a processor 30, a memory 31, a bus 32 and a communication interface 33, wherein the processor 30, the communication interface 33 and the memory 31 are connected via the bus 32; the processor 30 is used to execute an executable module stored in the memory 31, such as a computer program.

[0065] The memory 31 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 33 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0066] The bus 32 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0067] Among them, the memory 31 is used to store programs, and the processor 30 executes the program after receiving the execution instruction. The method executed by the device for flow process definition disclosed in any embodiment of the above-mentioned embodiments of the present invention can be applied to the processor 30 or implemented by the processor 30.

[0068] The processor 30 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 30. The above processor 30 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as a hardware decoding processor to be executed, or the hardware and software modules in the decoding processor can be executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 31, and the processor 30 reads the information in the memory 31 and completes the steps of the above method in combination with its hardware.

[0069] The computer program product of the readable storage medium provided in the embodiment of the present invention includes a computer-readable storage medium storing program code, and the instructions included in the program code can be used to execute the methods described in the previous method embodiments. The specific implementation can be referred to the previous method embodiments, which will not be repeated here.

[0070] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0071] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A method for quickly editing elevation of feature lines based on binocular stereo environment, characterized in that: include: Obtain a remote sensing image stereo model corresponding to the reconstructed area of ​​the elevation to be edited; Collecting feature lines contained in the remote sensing image stereo model in a binocular stereo environment, and constructing a target dynamic buffer for each feature line, so that the area covered by the target dynamic buffer corresponding to each feature line completely covers the reconstruction area; Based on the target dynamic buffer corresponding to each of the feature lines, an irregular triangulated network corresponding to the reconstructed area is constructed, and according to the elevation data corresponding to each vertex in the irregular triangulated network, the elevation data of the reconstructed area under the target regular grid is generated.

2. The method for quickly editing elevation of feature lines based on binocular stereo environment according to claim 1 is characterized in that: Constructing a target dynamic buffer zone for each of the feature lines, including: For each of the feature lines, perform the following operations: Determine the buffer width corresponding to the feature line; wherein the buffer width is related to the type of features contained in the area through which the feature line passes; Taking the characteristic line as the center line and based on the buffer width corresponding to the characteristic line, constructing an initial dynamic buffer corresponding to the characteristic line; The width of the buffer zone is adjusted according to the features of the terrain in the initial dynamic buffer zone to obtain a target dynamic buffer zone corresponding to the feature line.

3. The method for quickly editing elevation of feature lines based on binocular stereo environment according to claim 2 is characterized in that: According to the features of the objects in the initial dynamic buffer zone, the width of the buffer zone is adjusted to obtain a target dynamic buffer zone corresponding to the feature line, including: From the remote sensing image stereo model, intercepting the remote sensing image stereo sub-model corresponding to the initial dynamic buffer; Extracting the ground objects contained in the remote sensing image stereo sub-model and the ground feature corresponding to each of the ground objects; Perform the following operations on any point on the feature line: spatially match the point with the ground object contained in the remote sensing image stereo sub-model; if there is a ground object spatially matching the point, adjust the buffer width at the point according to the ground feature corresponding to the ground object; if there is no ground object spatially matching the point, adjust the buffer width at the point based on the ground feature corresponding to the ground object matching the upstream point and the downstream point corresponding to the point; Based on the adjusted buffer width at each point on the feature line, a target dynamic buffer corresponding to the feature line is obtained.

4. The method for quickly editing elevation of feature lines based on binocular stereo environment according to claim 1, characterized in that: Based on the target dynamic buffer corresponding to each of the feature lines, constructing an irregular triangulated network corresponding to the reconstructed area, including: Extracting a discrete point set from the target dynamic buffer corresponding to each of the characteristic lines, each discrete point in the discrete point set corresponding to elevation data; Constructing a super triangle for the reconstruction area; Each of the discrete points in the discrete point set is inserted as a vertex into the super triangle to generate a triangle in the super triangle, and all triangles connected to the vertices of the super triangle are removed to obtain an irregular triangulated network corresponding to the reconstructed area; wherein each triangle in the irregular triangulated network satisfies the following property: the circumscribed circle of the triangle does not contain any other discrete points.

5. The method for quickly editing elevation of feature lines based on binocular stereo environment according to claim 4 is characterized in that: Extracting a discrete point set from the target dynamic buffer corresponding to each of the feature lines includes: The following operation is performed on any point on the feature line: the point is regarded as a discrete point, and the point where the perpendicular line passing through the point intersects with the edge of the target dynamic buffer zone is regarded as a discrete point.

6. The method for quickly editing elevation of feature lines based on binocular stereo environment according to claim 4 is characterized in that: Inserting each of the discrete points in the discrete point set as a vertex into the super triangle to generate a triangle in the super triangle, comprising: For the first discrete point to be inserted, the super triangle is used as the influence area of ​​the discrete point, the influence area is removed from the current triangulation, and the discrete point is connected with the vertices of the influence area to form a new triangle; For the discrete point that is not the first to be inserted, determine whether the circumscribed circle of each triangle in the current triangulation contains the discrete point, determine the triangle with a judgment result of yes as the influence area of ​​the discrete point, remove the influence area from the current triangulation, and connect the discrete point with the vertices of the influence area to form a new triangle.

7. The method for quickly editing elevation of feature lines based on binocular stereo environment according to claim 1, characterized in that: Generating elevation data of the reconstructed area under a target regular grid according to the elevation data corresponding to each vertex in the irregular triangulated network, including: Each vertex in the target regular grid is used as a point to be interpolated; Perform the following operations on each of the to-be-interpolated points: determine the barycentric coordinates of the to-be-interpolated point relative to the triangle in which the to-be-interpolated point is located in the irregular triangulated network, and determine the elevation data corresponding to the to-be-interpolated point based on the barycentric coordinates and the elevation data corresponding to each vertex of the triangle in which the to-be-interpolated point is located; Based on the elevation data corresponding to each point to be interpolated, the elevation data of the reconstructed area under the target regular grid is obtained.

8. A device for quickly editing elevation of feature lines based on binocular stereo environment, characterized in that: include: A model acquisition module is used to obtain a remote sensing image stereo model corresponding to the reconstructed area of ​​the elevation to be edited; A feature line acquisition and buffer construction module is used to acquire feature lines contained in the remote sensing image stereo model in a binocular stereo environment, and construct a target dynamic buffer for each feature line, so that the area covered by the target dynamic buffer corresponding to each feature line completely covers the reconstruction area; The elevation reconstruction module is used to construct an irregular triangulated network corresponding to the reconstructed area based on the target dynamic buffer corresponding to each of the characteristic lines, and generate elevation data of the reconstructed area under the target regular grid according to the elevation data corresponding to each vertex in the irregular triangulated network.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the method according to any one of claims 1 to 7.

Images