Method and device for quickly editing elevation of feature lines based on binocular stereo environment

Abstract

The present invention provides a method and device for quickly editing elevations based on feature lines in a binocular stereo environment. The method relates to the field of image processing technology and includes the following steps: obtaining 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 reconstructed area; 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 for the reconstructed area within a target regular grid based on the elevation data corresponding to each vertex in the irregular triangulated network. The present invention not only ensures that the edited elevation accuracy meets success requirements, but also offers high editing efficiency and universal applicability.

Description

Technical Field

[0001] The present invention relates to the field of image processing technology, and in particular to a method and device for quickly editing elevations 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; and methods also include methods for generating DEM using DLG (Digital Line Graphic) results. Since not all areas where DEMs are produced 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 elevations based on feature lines in a binocular stereo environment, comprising:

[0005] Obtain a remote sensing image stereo model corresponding to the reconstructed area of ​​the elevation to be edited;

[0006] 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 completely covers the reconstructed area;

[0007] Based on the target dynamic buffer zone 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.

[0008] In one embodiment, constructing a target dynamic buffer zone for each feature line includes:

[0009] For each feature line, do the following:

[0010] 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;

[0011] 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;

[0012] According to the features of the terrain in the initial dynamic buffer zone, the buffer zone width is adjusted to obtain the target dynamic buffer zone corresponding to the feature line.

[0013] In one embodiment, the buffer width is adjusted according to the features of the terrain in the initial dynamic buffer to obtain a target dynamic buffer corresponding to the feature line, including:

[0014] From the remote sensing image stereo model, intercept the remote sensing image stereo sub-model corresponding to the initial dynamic buffer zone;

[0015] Extracting the ground objects contained in the remote sensing image stereo sub-model and the ground features corresponding to each ground object;

[0016] The following operations are performed on any point on the feature line: spatial matching is performed on the point with the ground objects contained in the remote sensing image stereo sub-model; if there is a ground object that spatially matches 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 that spatially matches 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 respectively;

[0017] Based on the adjusted buffer width at each point on the feature line, a target dynamic buffer corresponding to the feature line is obtained.

[0018] In one embodiment, constructing an irregular triangulated network corresponding to the reconstruction area based on the target dynamic buffer corresponding to each feature line includes:

[0019] 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;

[0020] Construct super triangles for the reconstruction area;

[0021] 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 property: the circumcircle of the triangle does not contain any other discrete points.

[0022] In one embodiment, extracting a discrete point set from a target dynamic buffer corresponding to each feature line includes:

[0023] 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 the edge of the target dynamic buffer zone is regarded as a discrete point.

[0024] 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:

[0025] 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;

[0026] For discrete points that are not the first to be inserted, determine whether the circumcircle of each triangle in the current triangulation contains the discrete point, determine the triangle with the 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.

[0027] In one embodiment, generating elevation data of the reconstructed area under the target regular grid based on the elevation data corresponding to each vertex in the irregular triangulated network includes:

[0028] Each vertex in the target regular grid is used as a point to be interpolated;

[0029] For each point to be interpolated, the following operations are performed: determining 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 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;

[0030] 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.

[0031] In a second aspect, the present invention further provides a device for quickly editing elevations based on feature lines in a binocular stereo environment, comprising:

[0032] The model acquisition module is used to obtain the remote sensing image stereo model corresponding to the reconstructed area of ​​the elevation to be edited;

[0033] 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;

[0034] The elevation reconstruction module is used to construct an irregular triangulated network corresponding to the reconstruction area based on the target dynamic buffer zone 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.

[0035] 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.

[0036] 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.

[0037] 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, feature lines contained in the remote sensing image stereo model are collected in the 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 completely covers the reconstructed area; finally, based on the target dynamic buffer corresponding to each feature line, an irregular triangulated network corresponding to the reconstructed area is constructed, and based on 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. This method not only ensures that the accuracy of the edited elevation meets the success requirements, but also has high editing efficiency and universality.

[0038] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purposes and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0039] 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

[0040] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1 A schematic diagram of a flow chart of a method for quickly editing elevations based on feature lines in a binocular stereo environment provided by an embodiment of the present invention;

[0042] Figure 2 A schematic diagram of the structure of a device for quickly editing elevations based on feature lines in a binocular stereo environment provided by an embodiment of the present invention;

[0043] Figure 3 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0045] 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.

[0046] To facilitate understanding of this embodiment, firstly, a method for quickly editing elevations of feature lines based on a binocular stereo environment disclosed in an embodiment of the present invention is described in detail. Figure 1 The flowchart of a method for quickly editing elevations based on feature lines in a binocular stereo environment is shown. The method mainly includes the following steps S102 to S106:

[0047] Step S102: obtaining a remote sensing image stereo model corresponding to the reconstructed area of ​​the to-be-edited elevation.

[0048] 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.

[0049] 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.

[0050] The feature line can be a ridge line, a valley line, a slope change line, etc. The target dynamic buffer is an area constructed with the feature line as the center line and a dynamically adjustable buffer width. In one example, the feature line contained in the remote sensing image stereo model can be manually collected in a binocular stereo environment. Based on the initial buffer width, an initial dynamic buffer is constructed with the feature line as the center. The ground features in the area passed by the feature line are extracted based on the initial dynamic buffer to adjust the buffer width, thereby obtaining the adjusted target dynamic buffer.

[0051] 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.

[0052] Each triangle in the irregular triangulated network satisfies the following property: the circumcircle 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 can be 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.

[0053] 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 zone is constructed using the collected feature lines, an irregular triangulated network is constructed based on the points in the target dynamic buffer zone, and elevation data under the target regular grid is generated. This method not only enables the edited elevation accuracy to meet success requirements, but also has high editing efficiency and universality.

[0054] For ease of understanding, an embodiment of the present invention provides a specific implementation of a method for quickly editing elevations based on feature lines in a binocular stereo environment.

[0055] 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 a 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 described in the patent application with the publication number "CN202310430536.6" and the invention name "Nerve Line Resampling Method and Device for GSD of High-Resolution Remote Sensing Images".

[0056] Regarding step S104, an 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. A worker uses a stereoscopic observation device to enter the binocular stereo environment, visually interpret the feature lines of the remote sensing image stereo model, and manually collects the feature lines on the remote sensing image stereo model using a tool such as a mouse or digitizer. Different types of features require different focus points for feature line collection: for example, for linear features (such as railways and roads), their center lines should be collected; for planar features (such as lakes and farmland), their boundary lines should be collected; and for features with significant elevation changes (such as mountains and terraced fields), the collection of feature lines related to their contour lines should also be considered.

[0057] Regarding 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 ground feature. Image processing and neural networks are used to automatically adjust the buffer width in real time based on the terrain characteristics, so that the target dynamic buffer covers the area and completely covers the reconstructed area requiring DEM editing. Specifically, the following operations 1 to 3 are performed for each feature line:

[0058] Operation 1: Determine the buffer width corresponding to the feature line; the buffer width is related to the type of features within the area through which the feature line passes. In one example, the type of at least one feature object (referred to as the feature type) within the area through which the feature line passes can be determined. Based on a pre-established mapping between feature types and buffer widths, the buffer width corresponding to each feature type within 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.

[0059] 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.

[0060] Operation 3: Adjust the buffer width based on the features of the initial dynamic buffer to obtain the target dynamic buffer corresponding to the feature line. In the specific implementation, you can perform the following operations 3.1 to 3.4:

[0061] Operation 3.1: From the remote sensing image stereo model, a remote sensing image stereo sub-model corresponding to the initial dynamic buffer zone is intercepted. In one example, the remote sensing image stereo sub-model can be intercepted based on the boundary line of the initialized dynamic buffer zone.

[0062] Operation 3.2: Extracting the ground objects contained in the remote sensing image stereo sub-model and the ground feature corresponding to each ground object. In one example, image processing or neural network methods can be used to extract the ground objects contained in the remote sensing image stereo sub-model and the ground feature corresponding to each ground object. The ground feature characteristics include ground feature shape characteristics and ground feature range characteristics.

[0063] Operation 3.3 performs 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 matching the upstream and downstream points corresponding to the point.

[0064] For example, 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 whether 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 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. Assuming that there is no spatial match between the point and each feature object, if the upstream point and the downstream point each match a feature object, the average 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; alternatively, 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.

[0065] Operation 3.4: Based on the adjusted buffer width at each point on the feature line, a target dynamic buffer corresponding to the feature line is obtained.

[0066] Regarding 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, as shown in the following steps I to IV:

[0067] Step I extracts a discrete point set from the target dynamic buffer corresponding to each feature line. Each discrete point in the discrete point set has corresponding elevation data. In one example, the following operations are performed on any point on the feature line: the point is treated as a discrete point, and the point where a perpendicular line passing through the point intersects the edge of the target dynamic buffer is treated as a discrete point. In another example, discrete points can be extracted at equal distances along the perpendicular line.

[0068] Step II: Construct a super triangle for the reconstruction region. In one example, a super triangle is constructed that is large enough to ensure that all points to be inserted within the reconstruction region lie within it. The vertices of the super triangle are typically chosen to lie outside the boundary of the point set. The super triangle is added to the initial triangulation set.

[0069] In step III, each discrete point in the discrete point set is inserted into the super triangle as a vertex to generate a triangle within the super triangle.

[0070] 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.

[0071] In another example, for a discrete point that is not the first to be inserted, determine whether the circumcircle of each triangle in the current triangulation contains the discrete point, determine the triangle with the 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. For each discrete point in the discrete point set (i=1.....n), perform the following operations:

[0072] Find all circumcircles containing a point The triangles that form the "influence area" are removed from the current triangulation; the connection points New triangles are formed with the boundary vertices of the "influence area"; the newly formed triangles are checked to see if they meet the Delaunay condition (i.e., the empty circle characteristic); if not, local adjustments are made by exchanging edges until all triangles meet the Delaunay condition.

[0073] The empty circle feature is that for any triangle in the Delaunay triangulation, its circumscribed circle (that is, the circle passing through the three vertices of the triangle) does not contain any other discrete points.

[0074] In step IV, all triangles connected to the vertices of the super triangle are removed to obtain the irregular triangulated network corresponding to the reconstructed area. In one example, after all discrete points have been inserted, all triangles connected to the vertices of the super triangle are removed. The resulting triangles are the Delaunay triangulation of the discrete point set, completing the construction of the irregular triangulated network (TIN).

[0075] In a specific example, assuming super triangle ABC and the newly inserted point is P, the steps are as follows: 1) Calculate the circumcircle: Calculate the circumcircle of triangle ABC. 2) Determine whether point P is within the circumcircle: If P is within the circumcircle 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 satisfies the Delaunay condition, and perform edge swaps if necessary.

[0076] Regarding the aforementioned step S106, an 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 based on the elevation data corresponding to each vertex in the irregular triangulated network, including the following steps a to c:

[0077] In step a, each vertex in the target regular grid is used as a point to be interpolated.

[0078] 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.

[0079] Specifically, assume that the three vertices of the triangle are A( , ),B( , ),C( , ), the point to be interpolated 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:

[0080] 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.

[0081] The second step is to determine the elevation data corresponding to the interpolation point based on the barycentric coordinates and the elevation data corresponding to each vertex of the triangle where the interpolation point is located. The calculation formula is as follows: = + + .

[0082] Step c: 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.

[0083] Furthermore, embodiments of the present invention can also optimize the elevation data of the reconstructed area under the target regular grid in an iterative manner. 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. 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.

[0084] In summary, the method for rapidly editing elevations using feature lines in a binocular stereo environment, provided by the present invention, collects feature lines in a binocular stereo environment, constructs a dynamic buffer using these lines, constructs a regional TIN based on the points within the buffer, and then interpolates to generate a regional DEM. This method is applicable to optical stereo remote sensing images, aerial images, and drone images, achieving high editing efficiency and meeting the required accuracy.

[0085] To verify the effectiveness of the present invention, DEM data generated from high-resolution remote sensing imagery was used for editing. Using the feature line editing algorithm provided by an embodiment of the present invention, the region was smoothed with ridges and ridgeline contours. This algorithm has been proven to be suitable for editing mountainous terrain and plays an important role in the production of DEM and DSM products.

[0086] On the basis of the above embodiments, the present invention provides a device for quickly editing elevations based on feature lines in a binocular stereo environment. Figure 2 The schematic diagram of the structure of a device for quickly editing elevations based on feature lines in a binocular stereo environment is shown. The device mainly includes the following parts:

[0087] The model acquisition module 202 is used to obtain a remote sensing image stereo model corresponding to the reconstructed area of ​​the elevation to be edited;

[0088] 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 completely covers the reconstructed area;

[0089] 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.

[0090] The embodiment of the present invention provides a device 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 zone is constructed using the collected feature lines, an irregular triangulated network is constructed based on the points in the target dynamic buffer zone, and elevation data under the target regular grid is generated. This not only ensures that the edited elevation accuracy meets the success requirements, but also has high editing efficiency and universality.

[0091] In one embodiment, the feature line acquisition and buffer zone construction module 204 is specifically configured to:

[0092] For each feature line, do the following:

[0093] 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;

[0094] 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;

[0095] According to the features of the terrain in the initial dynamic buffer zone, the buffer zone width is adjusted to obtain the target dynamic buffer zone corresponding to the feature line.

[0096] In one embodiment, the feature line acquisition and buffer zone construction module 204 is specifically configured to:

[0097] From the remote sensing image stereo model, intercept the remote sensing image stereo sub-model corresponding to the initial dynamic buffer zone;

[0098] Extracting the ground objects contained in the remote sensing image stereo sub-model and the ground features corresponding to each ground object;

[0099] The following operations are performed on any point on the feature line: spatial matching is performed on the point with the ground objects contained in the remote sensing image stereo sub-model; if there is a ground object that spatially matches 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 that spatially matches 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 respectively;

[0100] Based on the adjusted buffer width at each point on the feature line, a target dynamic buffer corresponding to the feature line is obtained.

[0101] In one embodiment, the elevation reconstruction module 206 is specifically configured to:

[0102] 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;

[0103] Construct super triangles for the reconstruction area;

[0104] 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 property: the circumcircle of the triangle does not contain any other discrete points.

[0105] In one embodiment, the elevation reconstruction module 206 is specifically configured to:

[0106] 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 the edge of the target dynamic buffer zone is regarded as a discrete point.

[0107] In one embodiment, the elevation reconstruction module 206 is specifically configured to:

[0108] 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;

[0109] For discrete points that are not the first to be inserted, determine whether the circumcircle of each triangle in the current triangulation contains the discrete point, determine the triangle with the 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.

[0110] In one embodiment, the elevation reconstruction module 206 is specifically configured to:

[0111] Each vertex in the target regular grid is used as a point to be interpolated;

[0112] For each point to be interpolated, the following operations are performed: determining 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 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;

[0113] 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.

[0114] The device provided in the embodiment of the present invention has the same implementation principle and technical effects as those in the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference can be made to the corresponding content in the aforementioned method embodiment.

[0115] 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 embodiments.

[0116] Figure 3 This is a 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.

[0117] Memory 31 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device. Communication between the system network element and at least one other network element is achieved through at least one communication interface 33 (which may be wired or wireless), and may utilize the Internet, a wide area network, a local area network, a metropolitan area network, or the like.

[0118] The bus 32 may be an ISA bus, a PCI bus, or an EISA bus. The bus may be divided into an address bus, a data bus, a control bus, and the like. 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 one type of bus.

[0119] 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 embodiment of the present invention can be applied to the processor 30 or implemented by the processor 30.

[0120] The processor 30 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method may be completed by hardware integrated logic circuits or software instructions in the processor 30. The processor 30 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processing unit (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It may implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present invention may be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or the like. 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.

[0121] 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. The instructions included in the program code can be used to execute the method described in the previous method embodiment. The specific implementation can be referred to the previous method embodiment and will not be repeated here.

[0122] If the functions are implemented as 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 portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0123] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A method for quickly editing elevations based on feature lines in a 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 included 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 characteristic 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, elevation data of the reconstructed area under the target regular grid is generated; Constructing a target dynamic buffer zone for each of the feature lines, including: For each of the feature lines, the following operations are performed: determining a 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; constructing an initial dynamic buffer zone corresponding to the feature line based on the buffer width corresponding to the feature line and taking the feature line as the center line; and adjusting the buffer zone width according to features of features within the initial dynamic buffer zone to obtain a target dynamic buffer zone corresponding to the feature line. The buffer width is adjusted according to the feature of the terrain in the initial dynamic buffer zone to obtain the target dynamic buffer zone corresponding to the feature line, including: intercepting the remote sensing image stereo sub-model corresponding to the initial dynamic buffer zone from the remote sensing image stereo model; extracting the terrain objects contained in the remote sensing image stereo sub-model and the terrain features corresponding to each of the terrain objects; performing the following operations on any point on the feature line: spatially matching the point with the terrain objects contained in the remote sensing image stereo sub-model; if there is a terrain object that spatially matches the point, adjusting the buffer width at the point according to the terrain features corresponding to the terrain object; if there is no terrain object that spatially matches the point, adjusting the buffer width at the point based on the terrain features corresponding to the terrain objects that match the upstream and downstream points corresponding to the point; and obtaining the target dynamic buffer zone corresponding to the feature line based on the adjusted buffer width at each point on the feature line.

2. The method for quickly editing elevations based on feature lines in a binocular stereo environment according to claim 1, wherein: Constructing an irregular triangulated network corresponding to the reconstructed area based on the target dynamic buffer corresponding to each feature line, including: Extracting a discrete point set from the target dynamic buffer corresponding to each characteristic line, each discrete point in the discrete point set corresponding to elevation data; constructing a super triangle for the reconstruction area; 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, and removing all triangles connected to the vertices of the super triangle, 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.

3. The method for quickly editing elevations based on feature lines in a binocular stereo environment according to claim 2, wherein: 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.

4. The method for quickly editing elevations based on feature lines in a binocular stereo environment according to claim 2, wherein: 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, use the super triangle 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; 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 the 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.

5. 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 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; Performing the following operations on each of the points to be interpolated: determining 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 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; 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.

6. A device for quickly editing elevations based on feature lines in a binocular stereo environment, characterized in that: The device for implementing the method for quickly editing elevation of feature lines based on a binocular stereo environment as described in claim 1 comprises: The model acquisition module is used to obtain the 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 characteristic line, 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.

7. 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 5.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium 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 the method according to any one of claims 1 to 5.

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