Digital display method, device and system for tourist attraction

Abstract

The invention relates to the technical field of image data processing, and provides a tourist attraction digital display method, device and system, and the method comprises the steps: obtaining scenic spot information and road information in a tourist attraction, and the pedestrian flow of each road; constructing a touring route map structure; generating a navigation route of the tourist based on the influence of the visitor flow of each road on nodes and paths in the touring route map structure; based on the position distribution of other scenic spots between the location of the tourist and the target scenic spot, obtaining the view angle orientation of the tourist at each moment in the traveling process; obtaining a plurality of feature points of each scenic spot map at each moment according to the view angle orientation of the tourist at each moment in the traveling process and the distance between the position of the tourist and each scenic spot in combination with the scenic spot information; and feature point matching is carried out on the three-dimensional modeling model of the tourist attraction, and digital display of the tourist attraction in the navigation process is realized. The invention aims to solve the problem that the three-dimensional modeling precision is influenced by the change of the visual angle of a tourist in the real scene display of a scenic spot under the digitized navigation of a scenic area.

Description

Technical Field

[0001] The present invention relates to the technical field of image data processing, and particularly to a method, device and system for digital display of tourist attractions. Background Art

[0002] With the development of technologies such as the Internet of Things and cloud computing, some tourist attractions have introduced VR / AR technologies to create virtual scenic tours, enhancing the immersive guided tours of tourists in the scenic areas, and through multimedia technologies such as digital sand tables and interactive bicycle roaming, enhancing tourists' perception of the overall view of the scenic areas; while the digital display of tourist attractions is a method for real-scene navigation in scenic areas based on three-dimensional models. Through the three-dimensional modeling of the whole scenic area and the combination with real scenes, using technologies such as the Internet of Things and big data, the traffic flow of the scenic area and the positioning of tourists are analyzed in real time, and the best tour route is planned to improve the tourist experience.

[0003] During holidays, there will be a large passenger flow in tourist attractions. In the navigation planning of the destination attractions, in addition to considering the shortest path between the attractions, it is also necessary to analyze the influence of the passenger flow on the path planning; during the process of real-scene three-dimensional modeling, the perspective of tourists, the distance between the attractions and the location of tourists will affect the accuracy of the three-dimensional modeling, and thus affect the texture fusion and performance of the real-scene three-dimensional modeling, generating relevant areas such as occlusion and gaps that interfere with the digital display of the scenic area. Summary of the Invention

[0004] The present invention provides a method, device and system for digital display of tourist attractions to solve the problem that the real-scene display of attractions under the existing digital navigation of scenic areas is affected by the change of tourists' perspectives and the accuracy of three-dimensional modeling. The specific technical solutions adopted are as follows: The present invention proposes a method for digital display of tourist attractions, which includes the following steps: Obtain the information and distribution information of attractions in the tourist attraction and the road information, and obtain the passenger flow of each road in the scenic area in real time; According to the location of the tourist and the distribution of the destination attractions, combined with the road information, construct a tour route map structure, where the nodes in the tour route map structure are the attractions in the scenic area, and the roads are the paths connecting the nodes; based on the influence of the passenger flow of each road on the nodes and paths in the tour route map structure, generate the navigation route of the tourist; Obtain the three-dimensional modeling model of the tourist attraction; based on the traveling direction of the navigation route, combined with the position distribution of other attractions between the location of the tourist and the destination attraction, obtain the perspective orientation at each moment during the tourist's travel; Based on the viewing directions of tourists at each moment during their movement and the distances between their locations and various scenic spots, combined with the scenic spot information, a number of feature points of the texture maps of each scenic spot are obtained; through the number of feature points of the texture maps of the scenic spots, feature point matching is performed on the three-dimensional modeling model of the tourist scenic area to achieve the digital display of the scenic area during the navigation process.

[0005] Optionally, the specific method for constructing the structure of the tour route map includes: Take each road in the scenic area as an edge of the graph structure, and take all the endpoints corresponding to the roads as nodes in the graph structure; Take the location of the display platform that is not at the node position as a node, and divide the road where the node is located into two edges in the graph structure by this node; Take the length of the road as the edge value of the corresponding edge. For the two edges corresponding to the road divided by the display platform as a node, take the lengths of the two parts of the road after division as the edge values of the corresponding edges, and the constructed graph structure is used as the structure of the tour route map of the tourist scenic area.

[0006] Optionally, the specific method for obtaining the navigation route of the tourist is as follows: By traversing the nodes and edges in the structure of the tour route map, with the starting node being the location of the tourist and the ending node being the destination scenic spot of the tourist, a number of initial routes from the starting node to the ending node are generated; Quantify the preference degree of each initial route based on the edge values and the pedestrian flow of each edge in each initial route; Take the initial route corresponding to the maximum preference degree among all the initial routes as the navigation route of the tourist.

[0007] Optionally, the specific method for obtaining the preference degree of each initial route is as follows: Take the output value of the negative correlation function of the pedestrian flow of each edge in any one initial route as the reference weight of each edge, perform weighted summation on the inverse proportional normalization value of the edge value of each edge, and the obtained sum value is used as the preference degree of this initial route.

[0008] Optionally, the specific method for obtaining the viewing direction of the tourist at each moment during the movement is as follows: Draw a straight line from the location of the tourist to the destination scenic spot as the current tour straight line of the tourist, and take the length of the tour straight line as the distribution threshold; Obtain the connection lines between other scenic spots in the tourist scenic area and the location of the tourist, judge the lengths of the connection lines based on the distribution threshold, and analyze the angles between the connection lines and the tour straight line, so as to obtain a number of scenic spots along the navigation route generated by the tourist; Obtain the shortest distance between each scenic spot along the way and the navigation route, and use the position corresponding to the shortest distance on the navigation route as the viewing position of the corresponding scenic spot; based on the connection line between any scenic spot along the way and its viewing position, with the direction pointing from the viewing position to the scenic spot along the way, obtain the viewing vector of the scenic spot along the way. According to the viewing vectors of each scenic spot along the way, the along - the - way direction of the navigation route, combined with the heights of each scenic spot along the way and the height changes of the roads along the navigation route, obtain the horizontal viewing angle orientation and vertical viewing angle orientation of the tourist at each moment during the navigation route progress.

[0009] Optionally, the method for obtaining the horizontal viewing angle orientation and vertical viewing angle orientation of the tourist at each moment during the navigation route progress specifically includes: Obtain the tangent vectors at each position on the navigation route, and use the included angle between the tangent vector and the positive direction as the horizontal viewing angle orientation at each position on the navigation route. Update the real - scene display every second. Each update is used as a collection moment of the viewing angle orientation. According to the positioning of the tourist on the navigation route at each update, obtain the horizontal viewing angle orientation at each collection moment. When the tourist moves to the viewing position of any scenic spot along the way, obtain the included angle between the viewing vector of the scenic spot along the way and the positive direction, and use it as the horizontal viewing angle orientation of the viewing position; the moments when the tourist arrives at and leaves the viewing position are both used as a collection moment, and obtain the horizontal viewing angle orientation with the corresponding tangent vector; during the stay at the viewing position, obtain the horizontal viewing angle orientation with the viewing vector, and the collection moment is obtained once every second. And so on, obtain the horizontal viewing angle orientation of the corresponding viewing positions of each scenic spot along the way, and then obtain the horizontal viewing angle orientation of the tourist at each moment during the navigation route progress. For each moment during the navigation route progress, except during the stay at each viewing position, the viewing angle in the vertical direction is horizontal at other collection moments, and obtain the vertical viewing angle orientation at each collection moment. During the stay at the viewing position, based on the height of the viewing position and the height of the bottom of the corresponding scenic spot along the way, as well as the distance between the viewing position and the corresponding scenic spot along the way, obtain the vertical viewing angle orientation of the viewing position, and thus obtain the vertical viewing angle orientation at each collection moment during the stay at each viewing position, and obtain the vertical viewing angle orientation of the tourist at each moment during the navigation route progress.

[0010] Optionally, the method for obtaining several feature points of the texture map of each scenic spot at each moment according to the viewing angle orientation of the tourist at each moment during the progress, the distance between the position where the tourist is located and each scenic spot, and combining the scenic spot information specifically includes: For any scenic spot along the navigation route of the tourist, all the moments from the starting point of the tourist to the moment when the tourist leaves the viewing position of the scenic spot are used as several viewing moments of the scenic spot; based on the horizontal viewing angle orientation of the tourist at each viewing moment, combined with the connection line between the position where the tourist is located at each viewing moment and the scenic spot, the horizontal viewing angle of the tourist for the scenic spot at each viewing moment is obtained. Based on the horizontal viewing angle and the viewing angle directions corresponding to the real-scene textures in four directions of the scenic spot, the viewing real-scene reference images at each viewing moment of the scenic spot are obtained; the angle by which the horizontal viewing angle corresponding to any viewing moment deflects relative to the viewing angle direction of the corresponding viewing real-scene reference image is used as the horizontal rotation angle at this viewing moment. According to the distance between the position where the tourist is located at this viewing moment and the scenic spot, it is adjusted by the horizontal rotation angle and compared with the distance between the camera and the scenic spot in the viewing real-scene reference image at this viewing moment to obtain the scale scaling coefficient of the scenic spot at this viewing moment; furthermore, the viewing real-scene reference image is adjusted in scale to obtain the viewing real-scene image at this viewing moment. For the viewing real-scene image at this viewing moment, a number of feature points and their feature descriptors are obtained, and the feature descriptors are adjusted by the horizontal rotation angle at this viewing moment.

[0011] Optionally, the feature point matching for the three-dimensional modeling model of the tourist scenic area to realize the digital display of the scenic area during the navigation process includes the following specific methods: For several viewing moments of any scenic spot along the way, the vertical viewing angle orientation at each viewing moment is obtained, and based on this scenic spot, the vertical viewing angle is obtained. Combining with the aerial perspective view, the vertical rotation angle of this scenic spot is obtained. For this scenic spot, feature points and feature descriptors are obtained in the three-dimensional modeling model of the scenic area, and the feature descriptors are adjusted by the vertical rotation angle. For the viewing real-scene images, feature points and their adjusted feature descriptors at each viewing moment of this scenic spot are matched with the feature points and feature descriptors in the three-dimensional modeling model through SURF.

[0012] The present invention also proposes a tourist scenic area digital display system, which includes: A scenic area information collection module, which is used to obtain the scenic spot information, its distribution information and road information in the tourist scenic area, and to obtain the pedestrian flow of each road in the scenic area in real time. A navigation route generation module, which is used to construct a structure of the tour route map according to the location of the tourist and the distribution of the destination scenic spots, combined with the road information; based on the influence of the pedestrian flow of each road on the nodes and paths in the tour route map structure, generate the navigation route of the tourist. The scenic area three-dimensional modeling module is used to obtain the three-dimensional modeling model of the tourist scenic area; The real-scene combined display module is used to obtain the viewing direction at each moment during the tourist's progress based on the advancing direction of the navigation route, combined with the position distribution of other scenic spots between the tourist's location and the destination scenic spot; according to the viewing direction at each moment during the tourist's progress and the distance between their location and each scenic spot, combined with the scenic spot information, obtain several feature points of each scenic spot map; through several feature points of the scenic spot map, perform feature point matching on the three-dimensional modeling model of the tourist scenic area to realize the digital display of the scenic area during navigation.

[0013] The present invention also proposes a tourist scenic area digital display device, including display platforms arranged at several positions in the tourist scenic area. The display platform includes a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the modules of the above system are realized.

[0014] The beneficial effects of the present invention are as follows: After constructing the structure of the tour route map based on the distribution of scenic spots and roads in the tourist scenic area, the present invention simultaneously considers the influence of road traffic flow on the tourist's progress, reduces the reference weight of roads with large traffic flow, and reduces the influence of slow progress caused by passenger flow congestion on the tourist's tour process. Considering that the overall distance of the road is shorter, a tour route from the tourist's location to the destination scenic spot is generated; after obtaining the three-dimensional modeling of the scenic area, by extracting the advancing direction of the navigation route and combining the distribution of other scenic spots along the navigation route, determine the positions for staying and observing the scenic spots along the navigation route, and obtain the corresponding changed viewing direction. At the same time, consider the influence of the height change of the scenic spots in the tourist scenic area on the viewing direction in the vertical direction; based on the viewing direction at each moment when the tourist is advancing on the navigation route, determine the viewing angle of the tourist for the scenic spots along the way at each moment, combine the real-scene map of the scenic spot information to obtain the feature points of the scenic spots along the way, further obtain the feature points of the corresponding area in the three-dimensional model of the scenic area, and adjust the feature point matching process according to the viewing angle and the distance between the tourist and the scenic spot to improve the fusion accuracy of the real-scene map and the three-dimensional model, thereby enhancing the tourist's playing experience during real-time real-scene navigation under the digital display of the scenic area. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1Schematic flowchart of a digital display method for a tourist scenic area provided by an embodiment of the present invention; Figure 2 Block diagram of the structure of a digital display system for a tourist scenic area provided by another embodiment of the present invention. Detailed implementation manners

[0017] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0018] Please refer to Figure 1 , which shows a flowchart of a digital display method for a tourist scenic area provided by an embodiment of the present invention. The method includes the following steps: Step S001: Obtain the information and distribution information of scenic spots in the tourist scenic area and the road information, and obtain the pedestrian flow of each road in the scenic area in real time.

[0019] The purpose of this embodiment is that during the digital display of a tourist scenic area, the route planning of the tourist destination scenic spot is affected by the pedestrian flow in the scenic area. At the same time, the orientation of the tourist's perspective will change during the route planning process. It is necessary to timely adjust the fusion of the real scene texture map and the 3D model to avoid the influence of gaps, cracks, and occlusion areas on the real scene display and navigation of the scenic area guide platform. Therefore, it is necessary to pre-enter the relevant information of the scenic spots in the tourist scenic area in several display platforms in the tourist scenic area, such as the multi-perspective texture maps, positions, heights, etc. of the scenic spots, and it is also necessary to analyze the relevant information of each road in the scenic area, then it is necessary to enter the orientation and length of the whole road; at the same time, for the pedestrian flow of each road, it is obtained through the monitoring probes arranged on each road.

[0020] Specifically, display platforms are arranged at multiple positions in the tourist scenic area as digital display devices. In the display platforms, the position information, height, and real scene texture maps (photos under the corresponding direction perspectives) of each scenic spot in the scenic area are entered. Among them, the height and multi-directional real scene texture maps are the scenic spot information, and the position information is the distribution information of the scenic spots; at the same time, the length of each road in the scenic area and the extension direction of the whole road are entered, that is, the geographical information of the scenic spots and roads in the scenic area is preferentially entered in the display platforms through the GIS system; based on the monitoring probes arranged on each road, which are linked to the scenic area data center, the pedestrian flow of each road is statistically obtained through the tourist pictures on the road captured by the monitoring probes. In this embodiment, the pedestrian flow of each road is counted every 10 minutes. Among them, obtaining the pedestrian flow of the road through the monitoring probe is a well-known technology, and this embodiment will not be elaborated.

[0021] Step S002: Construct a tour route map structure based on the location of the tourists and the distribution of the destination scenic spots, and combine with the road information; generate a navigation route for the tourists based on the influence of the pedestrian flow on each road on the nodes and paths in the tour route map structure.

[0022] It should be noted that the distribution of scenic spots and road information in the scenic area have been entered into the display platform. Then, by constructing a graph structure based on the location of the display platform, with the scenic spots and display platforms as nodes and the roads as the edges connecting the nodes, the shortest path between the location of the tourists and the destination scenic spot is obtained based on the graph structure. During the process of obtaining the shortest path, it is necessary to consider the influence of the pedestrian flow on each road on the tourists' tour process. Excessive pedestrian flow will lead to road congestion, slow down the progress of tourists, and also affect the tourists' viewing of the scenic spots near the road. Therefore, it is necessary to assign a reference weight to the edges corresponding to each road according to the pedestrian flow, and the edge value in the graph structure itself is the length of the corresponding road. Then, the navigation route is generated based on this.

[0023] Specifically, the tourists touch one of the several scenic spots distributed in the scenic area displayed on the display platform to input the destination scenic spot of the tourists on the display platform. Then, the display platform generates a navigation route for the tourists by combining the relevant information of the scenic spots and road information that have been entered, and considering the pedestrian flow on each road.

[0024] Preferably, in an embodiment of the present invention, the method for constructing a tour route map structure based on the location of the tourists and the distribution of the destination scenic spots, and combining with the road information includes the following specific method: Take each road in the scenic area as an edge of the graph structure. The two endpoints corresponding to each road include the locations of each scenic spot and important places in the scenic area such as the tourist center, etc. All the endpoints corresponding to the roads are used as nodes in the graph structure; for several display platforms arranged in the scenic area, most of them are distributed at the road endpoints, that is, node positions, and there are also some display platforms arranged along the road. For the display platforms that are not at the node positions, take the location of the display platform as a node, and divide the corresponding road where the display platform is located into two edges in the graph structure; take the length of the road as the edge value of the corresponding edge. For the two edges corresponding to the road divided by the display platform as a node, take the lengths of the two parts of the road after division as the edge values of the corresponding edges. The constructed graph structure is used as the tour route map structure of the tourist scenic area.

[0025] Preferably, in an embodiment of the present invention, the method for generating a navigation route for the tourists based on the influence of the pedestrian flow on the nodes and paths in the tour route map structure includes the following specific method: Traverse the nodes and edges in the tour route map structure, with the starting node being the location of the tourists and the ending node being the destination scenic spot of the tourists, and generate several initial routes from the starting node to the ending node as the several initial routes of the tourists.

[0026] Further, during the construction of the tour route map structure, there is a road that is split into two edges in the graph structure due to the presence of a display stand. The pedestrian flow of this road is assigned to the corresponding two edges respectively as the pedestrian flow of the corresponding two edges, and the pedestrian flow of other roads is directly assigned to the corresponding edge as its pedestrian flow; based on the edge values and pedestrian flows of each edge in each initial route, the preference degree of each initial route is quantified. The preference degree of the th initial route is calculated as follows: where represents the number of edges in the th initial route, represents the th edge in the th initial route, represents the maximum value of the pedestrian flow of all roads in the tourist attraction on the day, represents the th edge in the th initial route, represents the exponential function with the natural constant as the base. In this embodiment, the model is used to present the inverse proportional relationship and normalization processing,

[0027] is the input of the model, and the implementer can set the inverse proportional function and normalization function according to the actual situation. It should be noted that for the judgment of the preference degree of the initial route, it is necessary to ensure that the cumulative edge value in the initial route is small enough, that is, the shorter the overall length of the route, the greater the preference degree. At the same time, for the roads corresponding to each edge, the real-time pedestrian flow of the road will also affect the route selection. Therefore, the reference weight of each edge is constructed based on the pedestrian flow. Among them, represents the th edge in the th initial route. The smaller the pedestrian flow of the road, the more recommended the route selection, and the greater the reference weight of the corresponding edge. In this way, the preference degree of each initial route is quantified.

[0028] Further, the initial route corresponding to the maximum preference degree among all initial routes is used as the navigation route for tourists, and the generation of the navigation route is completed.

[0029] So far, after constructing the tour route map structure based on the distribution of scenic spots and roads in the tourist attraction, considering the impact of road pedestrian flow on the tourist's progress, reducing the reference weight of roads with large pedestrian flow, reducing the impact of slow progress caused by passenger congestion on the tourist's tour process, and combining with the shorter overall distance of the road, the tour route from the tourist's location to the destination scenic spot is generated.

[0030] Step S003: Obtain the three-dimensional modeling model of the tourist scenic area; based on the traveling direction of the navigation route and in combination with the location distribution of other scenic spots between the location where the tourist is and the destination scenic spot, obtain the viewing directions at each moment during the tourist's travel.

[0031] It should be noted that after the navigation route is generated, the digital display platform of the scenic area needs to generate the generated navigation route in the real-scene three-dimensional modeling of the scenic area and display it to the tourists. The tourists can view the real-scene navigation route in real time by scanning the code with a handheld terminal or a mobile phone, and the real-scene three-dimensional modeling of the scenic area during the route travel process can be displayed to the tourists in real time, that is, digitally display the scenic area. At the same time, there are other scenic spots near the navigation route. During the process of the tourists traveling along the navigation route, the handheld terminal prompts the tourists of other scenic spots, and the viewing angle of the tourists will change towards other scenic spots. When the distance between the navigation route and other scenic spots is the shortest, the tourists can stop to observe the other scenic spots in the distance. Therefore, based on the traveling direction of the navigation route and in combination with the distribution of other scenic spots near the navigation route, it is necessary to determine the viewing directions at each moment during the navigation route travel process of the tourists.

[0032] Preferably, in an embodiment of the present invention, the method for obtaining the three-dimensional modeling model of the tourist scenic area specifically includes: For the early stage of digital display preparation of the tourist scenic area, the three-dimensional modeling of the tourist scenic area is carried out through two modes of drone aerial photography combined with lidar (LiDAR). The lidar generates the three-dimensional point cloud data of the scenic area, and the drone aerial photography obtains a large number of aerial images of the tourist scenic area. The software (such as ContextCapture, Pix4D) automatically generates the initial three-dimensional model from the aerial images, and combines the spatial information between the three-dimensional model and the three-dimensional point cloud data to match with the three-dimensional point cloud data generated by the lidar to obtain the three-dimensional modeling model of the tourist scenic area; among them, generating a three-dimensional model by drone aerial photography and obtaining three-dimensional point cloud data by lidar are both existing technologies in scenic area planning, which will not be elaborated in this embodiment; at the same time, the fusion production of the scenic area three-dimensional modeling by drone aerial photography combined with lidar is a common method for large-scale scenic area planning, which will not be elaborated in this embodiment.

[0033] Furthermore, it should be noted that the oblique photogrammetry technology used in drone aerial photography combined with the scanning measurement of lidar can obtain a relatively accurate three-dimensional model of the scenic area. However, due to the image distortion in the top-down view generated by drone aerial photography, it is necessary to combine the on-site shooting of nearby scenic spots for display during the digital display process of the scenic area. Therefore, taking the three-dimensional model of the scenic area as the basis, it is necessary to obtain the real-time viewing direction of the tourists subsequently to perform real-scene combined display for the tourists in real time.

[0034] Preferably, in an embodiment of the present invention, based on the traveling direction of the navigation route and in combination with the position distribution of other scenic spots between the location where the tourist is located and the destination scenic spot, the perspective orientation at each moment during the tourist's travel is obtained. The specific method includes: Draw a straight line from the location where the tourist is located to the destination scenic spot as the tourist's current tour straight line, and use the length of the tour straight line as the distribution threshold; obtain the connection lines between each other scenic spot in the tourist scenic area and the location where the tourist is located. If the length of the connection line corresponding to any scenic spot is less than the distribution threshold and the included angle between this connection line and the tour straight line is less than , take this scenic spot as a scenic spot along the navigation route generated by the tourist, and thus obtain several scenic spots along the way.

[0035] Furthermore, obtain the shortest distance between each scenic spot along the way and the navigation route, and use the position corresponding to the shortest distance on the navigation route as the viewing position of the corresponding scenic spot; based on the connection line between any scenic spot along the way and its viewing position, with the direction from the viewing position to this scenic spot along the way, obtain the viewing vector of this scenic spot along the way.

[0036] It should be noted that due to reasons such as the scenic area roads, the navigation route includes various forms such as straight lines, broken lines, and curves. In the case of straight lines and broken lines, the viewing position is the projection point of the scenic spot along the way on the navigation route, and the connection line between the scenic spot along the way and the viewing position is perpendicular to the corresponding straight line part of the navigation route. If the part where the viewing position is located is a curve part of the navigation route, there may be a situation where the connection line between the scenic spot along the way and the viewing position is the normal line of the corresponding curve part at the viewing position, or due to the continuous change of the curve curvature, the convex direction of the curve is not fixed, and the corresponding viewing position is only the one with the minimum distance from the scenic spot along the way, but the connection line is not perpendicular to the tangent line corresponding to the viewing position.

[0037] Furthermore, with north as the positive direction and the counterclockwise angle gradually increasing, obtain the tangent vectors at each position on the navigation route (the width of the road is not considered in the navigation route). Since the tangent line does not have a direction, take the side pointing to the destination scenic spot as the direction of the tangent line to obtain the tangent vector; use the included angle between the tangent vector and the positive direction as the horizontal perspective orientation at each position on the navigation route. In this embodiment, every If the live scene display is updated every second, each update is used as the acquisition moment of a viewing angle orientation. Based on the positioning of the tourist on the navigation route at each update, the horizontal viewing angle orientation at each acquisition moment can be obtained. At the same time, when the tourist moves to the viewing position of any scenic spot along the way, the included angle between the viewing vector of the scenic spot along the way and the positive direction is obtained and used as the horizontal viewing angle orientation of the viewing position. The moments when the tourist arrives at and leaves the viewing position are both used as an acquisition moment, and the horizontal viewing angle orientation is obtained with the corresponding tangent vector. During the stay at the viewing position, the horizontal viewing angle orientation is obtained with the viewing vector, and the acquisition moment is obtained every 10 seconds starting from the arrival at the viewing position. Except for the periods when the tourist stays at and leaves the viewing position, the other acquisition moments remain unchanged. By analogy, the horizontal viewing angle orientations corresponding to the viewing positions of each scenic spot along the way are obtained, and then the horizontal viewing angle orientations at each moment during the tourist's movement along the navigation route are obtained.

[0038] It should be further noted that there are differences in the heights (bottom elevations) of different scenic spots in the tourist scenic area. For example, in some natural scenic areas, scenic spots are distributed at the foot of the mountain, on the mountainside, and at the top of the mountain. There will also be changes in the viewing angle in the vertical direction during the tourist's movement along the navigation route. During normal movement, the viewing angle in the vertical direction is a straight-ahead view, while when viewing the scenic spots along the way, a downward or upward viewing angle will be generated due to the height difference between the scenic spot and the road, and the vertical viewing angle orientation is obtained in this way.

[0039] Specifically, taking the straight-ahead view as the positive direction in the vertical direction For each moment during the movement along the navigation route, except during the stay at each viewing position, the viewing angle in the vertical direction at other acquisition moments is a straight-ahead view, and the vertical viewing angle orientation is ; while during the stay at the viewing position, based on the elevation of the viewing position and the elevation of the bottom of the corresponding scenic spot along the way, as well as the distance between the viewing position and the corresponding scenic spot along the way (the distance is the horizontal distance, excluding the height difference in the vertical direction), the vertical viewing angle orientation of the viewing position is obtained, and then the vertical viewing angle orientations at each acquisition moment during the stay at each viewing position are obtained, and the vertical viewing angle orientations at each moment during the tourist's movement along the navigation route are obtained.

[0040] So far, after obtaining the three-dimensional modeling of the scenic area, by extracting the direction of movement along the navigation route and combining the distribution of other scenic spots along the navigation route, the positions for staying and viewing the scenic spots along the way are determined, and the corresponding changed viewing angle orientations are obtained. At the same time, the influence of the height change of the scenic spots in the tourist scenic area on the viewing angle orientation in the vertical direction is considered.

[0041] Step S004: Based on the viewing directions at each moment during the tourist's movement and the distances between their positions and each scenic spot, combined with the scenic spot information, obtain several feature points of each scenic spot's texture map at each moment; through the several feature points of the scenic spot texture map, perform feature point matching on the 3D modeling model of the tourist scenic area to achieve the digital display of the scenic area during navigation.

[0042] It should be noted that the viewing direction at each moment during the tourist's movement along the navigation route is the change in the tourist's own viewing direction. While the real-scene texture map is the feature point matching and fusion of the real-scene image based on the scenic spot and the 3D model, and is displayed on the tourist's handheld terminal. Then, it is necessary to quantify the viewing angles based on each scenic spot along the way and correct the feature point matching process with these viewing angles.

[0043] Furthermore, it should be noted that the real-scene texture maps of each scenic spot in the tourist scenic area include close-range photography texture maps in the four directions of east, west, south, and north. Then, based on the obtained scenic spot viewing angles, correct the viewing angles with the real-scene texture map in the closest direction and obtain the feature points. At the same time, since there is a distance between the camera and the scenic spot when taking the real-scene texture map, and for the real-scene texture map during the tourist's movement, the distance between the tourist's position and the scenic spot also changes. Also, it is necessary to consider the scale impact of the distance change on the feature point matching.

[0044] Furthermore, it should be noted that during the subsequent 3D modeling model matching process, since the 3D point cloud obtained by fusing drone aerial photography and lidar has a top-down viewing angle distortion generated by the drone aerial photography in the 3D model, it is necessary to consider the impact of the vertical viewing direction change on the feature point matching in the 3D modeling, and further achieve the feature point matching between the feature points of the real-scene texture map with corrected viewing angles and the feature points of the 3D modeling, so as to update and display the real-scene texture map in real time for the tourist's navigation movement during the digital display of the scenic area.

[0045] Preferably, in an embodiment of the present invention, based on the viewing directions at each moment during the tourist's movement and the distances between their positions and each scenic spot, combined with the scenic spot information, obtaining several feature points of each scenic spot's texture map at each moment includes the following specific method: For any scenic spot along the tourist's navigation route, take all the moments from the start point to the moment when the tourist leaves the viewing position of this scenic spot as several viewing moments of this scenic spot; based on the horizontal viewing directions of the tourist at each viewing moment, combined with the connection lines between the tourist's positions at each viewing moment and this scenic spot, obtain the horizontal viewing angles of the tourist for this scenic spot at each viewing moment, that is, obtain the horizontal viewing angles through the horizontal viewing directions and the included angles between the connection lines between the positions at each viewing moment and the scenic spot along the way and the horizontal viewing directions.

[0046] Further, the scenic spot information of the scenic spots along the way includes real-scene maps in four directions. For any horizontal viewing angle corresponding to a viewing moment of the scenic spots along the way, the real-scene map corresponding to the viewing direction with the smallest difference between the viewing directions corresponding to the real-scene maps in the four directions and the horizontal viewing angle corresponding to this viewing moment is used as the viewing real-scene reference map for this viewing moment; the angle by which the horizontal viewing angle corresponding to this viewing moment is deflected relative to the viewing direction of the corresponding viewing real-scene reference map is used as the horizontal rotation angle for this viewing moment.

[0047] It should be further noted that the horizontal rotation angle reflects the angle by which the real-scene map needs to be rotated for feature points in the subsequent matching process, that is, the influence brought by the change in the angle in the feature point descriptor needs to be considered. And due to the difference in the distance between the real-scene map taken and the scenic spot during shooting, and the distance between the tourist and the scenic spot at each viewing moment, there will be a scale change in the feature point matching process. Then, based on the deflection influence of the horizontal rotation angle, the scale influence brought by the distance difference needs to be quantified to improve the accuracy of feature point matching.

[0048] Specifically, for any viewing moment of the scenic spots along the way, obtain the distance between the position where the tourist is located at this viewing moment and the scenic spots along the way, and the distance between the camera and the scenic spots along the way during the shooting of the viewing real-scene reference map for this viewing moment, as the real-scene reference distance for this viewing moment; then for the scale scaling factor at the th viewing moment of the scenic spots along the way, the calculation method is as follows: where represents the distance between the position where the tourist is located at the th viewing moment and the scenic spots along the way, represents the real-scene reference distance at the th viewing moment, represents the horizontal rotation angle at the

[0049] th viewing moment.

[0050] Further, a number of feature points and feature descriptors under the SURF feature matching algorithm are obtained from the observed real scene image at the observation moment, and the feature descriptors are adjusted according to the horizontal rotation angle at the observation moment. The SURF feature matching algorithm is a well-known technology and will not be elaborated in this embodiment.

[0051] Further, according to the above method, the observed real scene images and a number of feature points at each observation moment of each scenic spot along the way are obtained, as well as the feature descriptors after the adjustment of the feature points; similarly, for the destination scenic spot, according to the horizontal view orientation at each moment during the tourist's navigation route progress and the tourist's current tour straight line, combined with the multi-direction real scene texture maps of the destination scenic spot, the destination real scene images and a number of feature points at each moment during the progress are obtained, as well as the feature descriptors after the adjustment of the feature points.

[0052] Preferably, in an embodiment of the present invention, feature point matching is performed on the three-dimensional modeling model of the tourist scenic area through a number of feature points of the scenic spot texture map to realize the digital display of the scenic area during navigation. The specific method includes: During the three-dimensional modeling process of the scenic area, for the UAV aerial photography of each scenic spot in the scenic area, the top view angle in this embodiment is described according to ; for a number of observation moments of any one scenic spot along the way, the vertical view orientation at each observation moment is obtained, and with this scenic spot along the way as the reference, the vertical observation view angle is obtained. Combining the aerial photography top view angle, the vertical rotation angle of this scenic spot along the way is obtained; the acquisition process of the vertical rotation angle is the same as the acquisition process method of the horizontal rotation angle.

[0053] Further, feature points and feature descriptors are obtained from the three-dimensional modeling model of this scenic spot along the way, and the feature descriptors are adjusted according to the vertical rotation angle. The adjustment method is the same as the method of adjusting the feature descriptors of the observed real scene image by the horizontal rotation angle.

[0054] Further, the observed real scene images, feature points and their adjusted feature descriptors at each observation moment of this scenic spot along the way are matched with the feature points and adjusted feature descriptors in the three-dimensional modeling model through SURF. According to the matching result, the observed real scene image is textured in the three-dimensional modeling model. The texturing process is the real scene texture map of this scenic spot along the way at the corresponding observation moment, and the other parts are directly displayed according to the three-dimensional modeling model. Then, during the tourist's navigation route progress, at a fixed real scene update time interval, the real scene texture map of the scenic spot along the way is updated in real time, so as to realize the digital display of the tourist scenic area.

[0055] Thus, based on the viewing directions of the tourist at each moment during the navigation along the route, the viewing angles of the tourist towards the scenic spots along the way are determined. By combining the real-scene textures of the scenic spot information, the feature points of the scenic spots along the way are obtained. Further, the feature points of the corresponding area are obtained in the three-dimensional model of the scenic area. According to the viewing angle and the distance between the tourist and the scenic spot, the feature point matching process is adjusted to improve the fusion accuracy of the real-scene texture and the three-dimensional model, thereby enhancing the tourist experience during the real-time real-scene navigation under the digital display of the scenic area.

[0056] Please refer to Figure 2 , which shows a block diagram of a digital display system for a tourist scenic area provided by another embodiment of the present invention. The system includes: Scenic area information collection module 101: Obtain the scenic spot information, its distribution information, and road information within the tourist scenic area, and obtain the pedestrian flow of each road in the scenic area in real time; Navigation route generation module 102: Construct a structure of the tour route map based on the location of the tourist and the distribution of the destination scenic spots, in combination with the road information; Generate the navigation route of the tourist based on the influence of the pedestrian flow of each road on the nodes and paths in the tour route map structure; Scenic area three-dimensional modeling module 103: Obtain the three-dimensional modeling model of the tourist scenic area; Real-scene combination display module 104: Based on the traveling direction of the navigation route, in combination with the location distribution of other scenic spots between the location of the tourist and the destination scenic spot, obtain the viewing directions of the tourist at each moment during the traveling process; According to the viewing directions of the tourist at each moment during the traveling process and the distance between the tourist's location and each scenic spot, in combination with the scenic spot information, obtain a number of feature points of each scenic spot texture; Through the number of feature points of the scenic spot texture, perform feature point matching on the three-dimensional modeling model of the tourist scenic area to achieve the digital display of the scenic area during the navigation process.

[0057] Another embodiment of the present invention provides a digital display device for a tourist scenic area, including display platforms arranged at several positions within the tourist scenic area. The display platform includes a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the above system modules 101 to 104 are implemented.

[0058] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A digital display method for tourist attractions, characterized in that, The method includes the following steps: Obtain the information of scenic spots in the tourist scenic area, their distribution information, and road information, and obtain the pedestrian flow of each road in the scenic area in real time; Construct the structure of the tour route map based on the location of the tourist and the distribution of the destination scenic spots, combined with the road information. The nodes in the structure of the tour route map are the scenic spots in the scenic area, and the roads are used as the paths connecting the nodes; Generate the navigation route for the tourist based on the influence of the pedestrian flow of each road on the nodes and paths in the structure of the tour route map; Obtain the three-dimensional modeling model of the tourist scenic area; Based on the traveling direction of the navigation route, combined with the location distribution of other scenic spots between the location of the tourist and the destination scenic spot, obtain the viewing orientation at each moment during the tourist's travel; According to the viewing orientation at each moment during the tourist's travel, the distance between the tourist's location and each scenic spot, combined with the scenic spot information, obtain several feature points of each scenic spot texture map; Through the several feature points of the scenic spot texture map, perform feature point matching on the three-dimensional modeling model of the tourist scenic area to realize the digital display of the scenic area during the navigation process.

2. The digital display method for a tourist scenic area according to claim 1, characterized in that The specific method for constructing the structure of the tour route map includes: Regard each road in the scenic area as the edge of the graph structure, and regard all the end points corresponding to the roads as the nodes in the graph structure; Regard the location of the display stand that is not at the node position as a node, and divide the road where the node is located into two edges in the graph structure; Regard the length of the road as the edge value of the corresponding edge. For the two edges corresponding to the road divided by the display stand as a node, use the lengths of the two parts of the road after division as the edge values of the corresponding edges, and the constructed graph structure is used as the structure of the tour route map of the tourist scenic area.

3. A digital display method for a tourist scenic area according to claim 1, characterized in that, The specific method for obtaining the navigation route of the tourist is: Generate several initial routes from the starting node to the ending node by traversing the nodes and edges in the structure of the tour route map, where the starting node is the location of the tourist and the ending node is the destination scenic spot of the tourist; Quantify the preference degree of each initial route based on the edge values and pedestrian flow of each edge in each initial route; Regard the initial route corresponding to the maximum value of the preference degree among all the initial routes as the navigation route of the tourist.

4. A digital display method for a tourist scenic area according to claim 3, characterized in that, The specific method for obtaining the preference degree of each initial route is: Use the output value of the negative correlation function of the pedestrian flow of each edge in any initial route as the reference weight of each edge, and perform weighted summation on the inverse proportional normalization value of the edge value of each edge. The obtained sum value is used as the preference degree of this initial route.

5. A digital display method for a tourist scenic area according to claim 1, characterized in that, The specific method for obtaining the viewing orientation at each moment during the tourist's travel is: Draw a straight line from the location of the tourist to the destination scenic spot as the current tour straight line of the tourist, and regard the length of the tour straight line as the distribution threshold; Obtain the connection lines between other scenic spots in the tourist scenic area and the location of the tourist, judge the length of the connection lines according to the distribution threshold, and analyze the included angle between the connection lines and the tour straight line, so as to obtain several scenic spots along the navigation route generated by the tourist; Obtain the shortest distance between each scenic spot along the way and the navigation route, and use the position corresponding to the shortest distance on the navigation route as the viewing position of the corresponding scenic spot; based on the connection line between any scenic spot along the way and its viewing position, with the direction from the viewing position to the scenic spot along the way, obtain the viewing vector of the scenic spot along the way. Based on the viewing vectors of each scenic spot along the way, the along-the-way direction of the navigation route, and combining the heights of each scenic spot along the way and the height changes of the roads along the navigation route, obtain the horizontal viewing angle orientation and the vertical viewing angle orientation of the tourist at each moment during the progress of the navigation route.

6. A digital display method for a tourist scenic area according to claim 5, characterized in that, The specific method for obtaining the horizontal viewing angle orientation and the vertical viewing angle orientation of the tourist at each moment during the progress of the navigation route includes: Obtain the tangent vectors at each position on the navigation route, and use the included angle between the tangent vector and the positive direction as the horizontal viewing angle orientation at each position on the navigation route. Update the live scene display once every second. Each update is used as the acquisition moment of a viewing angle orientation. Based on the positioning of the tourist on the navigation route at each update, obtain the horizontal viewing angle orientation at each acquisition moment. When a tourist moves to the viewing position of any scenic spot along the way, obtain the included angle between the viewing vector of the scenic spot along the way and the positive direction, and use it as the horizontal viewing angle orientation of the viewing position; the moments when the tourist arrives at and leaves the viewing position are both regarded as a collection moment, and the horizontal viewing angle orientation is obtained with the corresponding tangent vector; during the stay at the viewing position, the horizontal viewing angle orientation is obtained with the viewing vector, and the collection moment is obtained every second; And so on, obtain the horizontal viewing angle orientations of the viewing positions corresponding to each scenic spot along the way, and further obtain the horizontal viewing angle orientations of the tourist at each moment during the progress of the navigation route. For each moment during the progress of the navigation route, except during the stay at each viewing position, the viewing angle in the vertical direction is horizontal at other acquisition moments, and obtain the vertical viewing angle orientation at each acquisition moment. During the stay at the viewing position, based on the height of the viewing position and the height of the bottom of the corresponding scenic spot along the way, as well as the distance between the viewing position and the corresponding scenic spot along the way, obtain the vertical viewing angle orientation of the viewing position, and thus obtain the vertical viewing angle orientations at each acquisition moment during the stay at each viewing position, and obtain the vertical viewing angle orientations of the tourist at each moment during the progress of the navigation route.

7. A digital display method for a tourist scenic area according to claim 5, characterized in that, The specific method for obtaining several feature points of the texture map of each scenic spot at each moment, based on the viewing angle orientation of the tourist at each moment during the progress, the distance between the position where the tourist is located and each scenic spot, and combining the scenic spot information, includes: For any scenic spot along the way on the tourist's navigation route, take all the moments from the starting point of the tourist to the moment when the tourist leaves the viewing position of this scenic spot along the way as several viewing moments of this scenic spot; based on the horizontal viewing angle orientation of the tourist at each viewing moment, combine the connection line between the position where the tourist is located at each viewing moment and this scenic spot, and obtain the horizontal viewing angle of the tourist for this scenic spot at each viewing moment. Based on the horizontal viewing angle and the viewing angle directions corresponding to the real-scene texture maps in four directions of this scenic spot along the way, obtain the viewing real-scene reference map at each viewing moment of this scenic spot; take the angle by which the horizontal viewing angle corresponding to any viewing moment is deflected relative to the viewing angle direction of the corresponding viewing real-scene reference map as the horizontal rotation angle at this viewing moment. According to the distance between the position where the tourist is located at this viewing moment and this scenic spot along the way, adjust through the horizontal rotation angle and compare with the distance between the camera and this scenic spot in the viewing real-scene reference map at this viewing moment, and obtain the scale scaling coefficient of this scenic spot at this viewing moment; and then perform scale adjustment on the viewing real-scene reference map to obtain the viewing real-scene map at this viewing moment. Obtain several feature points and their feature descriptors for the viewing real-scene map at this viewing moment, and adjust the feature descriptors through the horizontal rotation angle at this viewing moment.

8. A digital display method for a tourist scenic area according to claim 7, characterized in that, Performing feature point matching on the three-dimensional modeling model of the tourist scenic area includes the following specific methods: For several viewing moments of any scenic spot along the way, obtain the vertical viewing angle orientations at each viewing moment, and taking this scenic spot along the way as a reference, obtain the vertical viewing angle. Combine with the aerial overhead view angle to obtain the vertical rotation angle of this scenic spot along the way; Obtain the feature points and feature descriptors of this scenic spot along the way in the three-dimensional modeling model of the scenic area, and adjust the feature descriptors through the vertical rotation angle; Match the viewing real-scene images, feature points and their adjusted feature descriptors of this scenic spot along the way at each viewing moment with the feature points and adjusted feature descriptors in the three-dimensional modeling model through SURF.

9. A digital display system for tourist attractions, characterized in that, The system includes: A scenic area information collection module, which is used to obtain the scenic spot information, its distribution information and road information in the tourist scenic area, and obtain the pedestrian flow of each road in the scenic area in real time; A navigation route generation module, which is used to construct the structure of the tour route map according to the location of the tourist and the distribution of the destination scenic spots, in combination with the road information; generate the navigation route of the tourist based on the influence of the pedestrian flow of each road on the nodes and paths in the tour route map structure; A scenic area three-dimensional modeling module, which is used to obtain the three-dimensional modeling model of the tourist scenic area; A real-scene combined display module, which is used to obtain the viewing angle orientation at each moment during the tourist's progress based on the traveling direction of the navigation route, in combination with the position distribution of other scenic spots between the tourist's location and the destination scenic spot; according to the viewing angle orientation at each moment during the tourist's progress and the distance between their location and each scenic spot, in combination with the scenic spot information, obtain several feature points of each scenic spot texture map at each moment; perform feature point matching on the three-dimensional modeling model of the tourist scenic area through the several feature points of the scenic spot texture map to realize the digital display of the scenic area during the navigation process.

10. A digital display device for tourist attractions, comprising display platforms arranged at several positions within the tourist attractions, characterized in that, The display platform includes a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it realizes the steps of a tourist scenic area digital display method as described in any one of claims 1-8.

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