241 results about "Triangulation" patented technology

The invention provides a low-airspace public route construction method, device and equipment, and relates to the technical field of aircraft airspace route planning. The method comprises the following steps: determining a plurality of target candidate nodes corresponding to a city based on ground traffic topological characteristics of the city corresponding to a low airspace and spatial distribution characteristics of low-risk ground features; performing triangulation on the plurality of target candidate nodes to obtain an initial edge set; wherein the initial edge set comprises a plurality of initial edges; performing sparse processing on the plurality of initial edges based on a greedy tensor graph algorithm, and determining a plurality of target edges from the plurality of initial edges; wherein the length of the shortest path between the two nodes of the target edge is greater than the greedy tensor coefficient times of the Euclidean distance between the two nodes; and constructing a low-airspace public route based on the plurality of target edges. By adopting the technical scheme provided by the invention, the utilization efficiency and safety of the low airspace can be effectively improved by constructing the unified low airspace public route.

The invention provides an airborne point cloud building contour point extraction method based on a constraint triangulation network and semantic ring analysis, and belongs to the field of airborne laser radar data processing, and the method comprises the steps: obtaining an airborne laser radar point cloud data set of a to-be-processed region; performing classification processing by using a filtering algorithm to obtain a surface point set and a non-surface point set; building candidate seed points are extracted, and building point clouds are extracted; a Delaunay triangulation network is constructed based on the building point clouds, and constraint is carried out based on the distance between the point clouds; constructing a concurrent triangle set, and extracting contour points and contour connecting edges; and constructing a topological graph, performing traversal search on the topological graph, determining the minimum inclusion rectangle of the closed loop, and judging the contour point type corresponding to the closed loop according to the geometrical shape parameter and the spatial distance parameter of the minimum inclusion rectangle. According to the method, the triangulation network is constructed by using the disordered contour points, and the sequence relationship and semantic information between the points are considered, so that accurate extraction of the semantic contour points is realized.

The invention relates to the technical field of underwater topographic surveying and mapping, in particular to a sea area water taking channel scanning survey method and system based on multi-beam measurement, and the method comprises the following steps: constructing a rigid support, fixing a depth finder through a three-way cable fastening device, and building a Boolean parameter model; sound velocity, tide level and original echo data are collected; performing space-time registration, coordinate conversion and filtering denoising on the data to generate corrected water depth; and constructing an irregular triangulation network by using hard boundary constraint, generating a digital elevation model, and extracting a siltation area. According to the invention, multi-beam wide sector scanning and multi-sensor attitude correction technologies are fused, a limited water area full-coverage measurement system is constructed, and the problems of terrain blind areas and detail loss are solved. A boundary constraint reconstruction algorithm is utilized to realize closed-loop processing from coordinate reference unification to micro-landform restoration, the accuracy of channel bottom pit capture and edge topography expression is improved, and data support is provided for sedimentation analysis.

The invention provides a structured light projector calibration method and system and a medium, and the method comprises the steps: projecting a multi-frequency stripe pattern to a target region based on an MEMS micromirror array module, obtaining a distorted image sequence, and carrying out the phase decoding, and obtaining a phase diagram corresponding to each frequency; resolving the phase diagram based on a phase shift method and an optical path triangulation principle to obtain a preliminary three-dimensional point coordinate; constructing a neural network model and a calibration sample set, obtaining a real three-dimensional coordinate by using a standard calibration plate or a known curved surface, and calculating the deviation between the initial three-dimensional point coordinate and the real three-dimensional coordinate to obtain a training sample set; and training the neural network model according to a training sample set based on an Euclidean distance loss function, outputting a three-dimensional offset compensation amount according to the neural network model, correcting the initial three-dimensional point coordinates, and realizing an end-to-end error self-compensation mechanism through the neural network model, so that deviation compensation is effectively performed on the three-dimensional point coordinates, and the accuracy of the three-dimensional point coordinates is improved. And the three-dimensional reconstruction precision is improved.

The invention discloses a digital twin modeling method and system based on binocular vision and target dynamic tracking, and the method comprises the steps: constructing a binocular camera system, completing the calibration of internal parameters, distortion and external parameters, and building a coordinate system mapping relation; synchronously collecting and correcting target images, extracting coordinates of feature points, and then removing anomalies and distinguishing multiple targets; the parallax of the feature points is calculated, three-dimensional coordinates are obtained through triangulation, and optimized target point cloud is generated; solving target space poses through a PNP algorithm, and realizing single / multi-target dynamic tracking in combination with time sequence difference; carrying out anomaly detection and smoothing processing on the pose sequence, and constructing a weighted error model closed-loop optimization feature recognition parameter; transmitting pose data to realize virtual and real synchronous visualization of the workpiece; the workpiece space relation and the collision risk are monitored, an alarm is given, and data are stored for backtracking analysis. According to the method and the system provided by the invention, high-precision dynamic measurement, attitude tracking and assembly process digitization and visualization of a complex workpiece assembly process are realized.

The invention discloses a multi-view image Gaussian reconstruction method and system guided by LiDAR point cloud. The method comprises the following steps: step S1, realizing accurate registration of LiDAR point cloud and a multi-view image in the same earth-centered earth-fixed coordinate system through GNSS constrained aerial triangulation, and uniformly carrying out center-of-gravity normalization to ensure space consistency and numerical stability; s2, estimating surface normal and scale parameters based on the local geometric features of the LiDAR point cloud, constructing a Gaussian ellipsoid consistent with the local geometry, and realizing Gaussian ellipsoid initialization of geometric perception; and S3, generating a sub Gaussian ellipsoid according to the Gaussian gradient and the tangent plane direction, and improving the modeling density and geometric continuity of the detail region through local encryption and parameter inheritance. According to the method, the fusion of LiDAR point cloud high-precision geometry and multi-view image texture information is realized, the geometric precision, the structural integrity and the detail expression capability of three-dimensional reconstruction are effectively improved, and the method is particularly suitable for high-precision live-action three-dimensional modeling of unmanned aerial vehicle multi-view images.

A medical-device navigation system includes, in some embodiments, an electromagnetoresponsive (“EMR”) element, a magnetic interrogator, and a console. The magnetic interrogator generates an external magnetic field, transduces resonance-based responses of the EMR element thereto, and provides response data for the EMR element as an elongate portion of a medical device including the EMR element moves through the external magnetic field. The console instantiates medical-device navigation processes including a data-acquisition process, a triangulation process, and a plotting process for navigating the elongate portion of the medical device as it is advanced through the external magnetic field to a target location. The data-acquisition process acquires the response data from the magnetic interrogator over time, the triangulation process triangulates the EMR element with respect to magnetic sensors of the magnetic interrogator over time, and the plotting process plots a location of the EMR element on a display screen of the console over time.

The invention discloses a binocular vision-based fish body quality non-contact estimation method, which comprises the following steps of: in a land-based facility circulating water high-density culture environment in which a fish body freely swims and is easy to block, firstly, obtaining a fish head local image through fish head region segmentation, and carrying out position alignment and scale normalization processing on the fish head local image; constructing a stable fish head geometric anchor point; then, the fish head anchor point is used as condition input, and a generative model is used for inferring and complementing the overall shape of the fish body so as to recover a continuous geometric structure of the fish body; on the basis, binocular stereo vision is combined to carry out stereo matching on key points of the head and the tail of the fish body, and the length of the fish body is obtained through triangulation; finally, based on the mapping relation between the body length and the quality, automatic estimation of the fish body quality is achieved, manual contact with the fish body is not needed, stable and automatic measurement of the fish body quality can be achieved in a complex breeding scene, and the method has the advantages of being high in adaptability, low in stress risk and high in application value.

The invention provides a road element recognition method and device based on a vehicle-mounted point cloud image and a storage medium. The method comprises the following steps: adding time identifiers for an image sequence, point cloud data and original navigation data under a unified time reference; carrying out inertia and satellite integrated navigation calculation according to the original navigation data to obtain vehicle pose information at each time point; road elements in the image are detected and recognized, and the two-dimensional position and attribute text information of each road element in the image are obtained; performing cross-frame correlation tracking on the same road element to obtain a pixel coordinate sequence of the road element in the multi-frame image and a corresponding camera pose sequence; three-dimensional coordinates of all the road elements in the geographic coordinate system are obtained through triangulation calculation, and road element data containing the three-dimensional coordinates and attribute information are output. According to the invention, the automatic identification and three-dimensional positioning precision of the road elements can be improved, the large-range acquisition efficiency is improved, and unified structured road element data is formed.

The invention relates to a spoil field three-dimensional form change analysis method, which comprises the following steps: constructing an air-space-ground collaborative multi-scale three-dimensional monitoring network by adopting an unmanned aerial vehicle carrying a laser radar system; dynamic construction of a multi-period digital elevation model and a digital terrain model is realized through a weighted fusion algorithm based on point cloud density difference and an improved progressive triangulation network encryption algorithm; performing time sequence alignment on the digital terrain models in different periods, and constructing a digital elevation difference model; and through a digital elevation difference model and a self-adaptive threshold change detection technology, the space-time differentiation characteristics and evolution rules of a slope curvature sudden change area, a surface roughness abnormal zone and a deformation rate of the spoil site are disclosed. According to the scheme provided by the invention, high-precision three-dimensional form dynamic modeling and deformation process precise monitoring of the spoil ground can be realized, and reliable technical support is provided for ecological safety situation assessment and geological disaster advanced early warning of the spoil ground.

The invention relates to a method for determining the position and / or orientation of tools of construction machines in a construction area, comprising the steps of: attaching at least one stereo camera to at least one construction machine or to a movable carrier, such that the stereo camera can detect at least one detection region within the construction area, preferably a working region of the construction machine, providing at least one reference point, the position of which is known relative to a predefined 3D world coordinate system and which can be recognised in the images of the stereo camera, in the detection region of the at least one stereo camera, calibrating the at least one stereo camera on the basis of the detection of the at least one reference point and triangulation in order to ascertain a transformation between the 3D world coordinate system and a 2D image coordinate system of the at least one stereo camera, preparing a virtual digital 3D terrain model of the construction area by means of digital image processing, in particular stereoscopy, and image recognition on the basis of the detection of the construction area by means of the at least one stereo camera, and representing predetermined working positions and detected actual tool positions and / or actual tool inclinations of the tool of the at least one construction machine in the virtual digital 3D terrain model.

The invention discloses a component horizontal displacement monitoring device and monitoring method, and relates to the technical field of building structure monitoring, the component horizontal displacement monitoring device comprises a laser displacement sensor assembly, an acceleration sensor, a data processing module, a communication module and a power supply module; wherein the laser displacement sensor assembly is installed at the top of a component and used for measuring the linear distance between a point to be measured and a reference point, the acceleration sensor is connected with the top of the component and used for measuring a double-axis inclination angle, and the data processing module is electrically connected with the laser displacement sensor assembly and the acceleration sensor. Based on the fusion of the geometric triangulation principle and the inertial sensing technology, the precise calculation of the horizontal displacement of the top of the component is realized through the cooperative work of the laser displacement sensor and the acceleration sensor. The device has the advantages of high precision, real-time monitoring, strong anti-interference capability, convenient installation and the like, is suitable for health monitoring of stand column structures such as buildings and bridges, and can effectively improve the safety early warning capability of the structures.

The invention discloses a firefighter safety dynamic path planning and intelligent navigation homeward voyage method and system, and relates to the field of path planning, and the method comprises the steps: collecting the air pressure, distance, attitude and other data of a fire scene through an air pressure sensor, a UWB, an electronic compass and other sensors, obtaining the three-dimensional positioning coordinates of a firefighter through a fusion algorithm, and carrying out the navigation of the firefighter. Recording tracks and marking feature points to construct a path database; evaluating a danger level in combination with environmental parameters, and dynamically planning an optimal path by using an improved A * algorithm; judging getting lost through positioning continuity and the like, triggering return voyage, generating a reference path through reverse track tracing, and correcting the reference path; when the UWB signal is lower than a threshold value, a search and rescue request is sent, the position is optimized through triangulation positioning, the direction is guided, a manual and automatic multi-scene alarm mechanism is constructed, and alarm related data are synchronously transmitted through multiple channels. The system has the advantages that through precise three-dimensional positioning, dynamic path planning, intelligent homeward voyage and cooperative search and rescue, the system adapts to the complex environment of a fire scene, and the operation safety of firefighters and the emergency disposal efficiency are guaranteed.

The invention provides a three-dimensional modeling method and system based on multi-source heterogeneous data, and relates to the technical field of three-dimensional reconstruction. Multi-view point clouds, images and environment data in the same time state are obtained, and point cloud alignment precision is enhanced through feature detection and descriptor matching; an iterative nearest point algorithm is utilized to complete initial point cloud fusion to generate a three-dimensional model, position calibration is realized in combination with geometric features of environmental data, triangular meshes are divided by adopting a triangulation algorithm, surface defects of the model are repaired by adopting a hole filling algorithm, camera calibration is performed on image data, the image data are projected to the corresponding triangular meshes, and the three-dimensional model is obtained. And setting a pixel boundary threshold value to control a projection position, realizing accurate texture mapping, and defining a degradation coefficient to evaluate a local deformation condition of the three-dimensional model. According to the method, by fusing multi-source heterogeneous data and combining feature matching, position calibration and degradation coefficient evaluation, high-precision and complete three-dimensional model construction is achieved.

The invention discloses a workpiece contour projection extraction method and system based on ordered point cloud, and is applied to the technical field of three-dimensional precision measurement. The method comprises the following steps of obtaining high-precision ordered point cloud data of a target workpiece and performing preprocessing; geometric analysis is carried out through the three-dimensional visual point cloud model, and section parameters are defined; performing rapid gridding processing on the ordered point cloud data through an efficient triangulation algorithm; calculating to obtain an intersection discrete point set of the cross section and the triangular mesh; and establishing a section plane local coordinate system and implementing two-dimensional projection transformation to obtain the contour projection of the target workpiece. According to the method, high-precision, high-efficiency and automatic extraction of the section contour of the workpiece can be realized, the actual requirements of industrial field online detection and quality control are met, and the method can be applied to scenes such as part size detection, reverse engineering, quality control and contour analysis in industrial manufacturing.

The invention relates to the technical field of precision measurement and optical detection, and discloses a complex inner hole rapid detection method based on laser scanning. According to the method, full-automatic three-dimensional reconstruction of the special-shaped inner hole with the high depth-diameter ratio is achieved through cooperative movement of a rotating platform and an axial feeding laser measuring head in combination with triangulation method laser displacement sensing, multi-source data fusion and an environment compensation mechanism. According to the invention, a traditional contact type measuring means is abandoned, and a non-contact laser scanning technology is adopted, so that the problem of workpiece surface scratch or measuring head wear caused by physical contact is avoided; through cooperative movement of the rotating platform and the linear feeding mechanism, full-circumferential and full-depth coverage scanning of a complex inner hole is achieved, and the limitation that only discrete points or local information can be obtained through an existing method is solved.

The invention discloses a grid diagram and boundary optimization combined three-dimensional incremental model updating method and device, and the method comprises the steps: setting a plane as a grid diagram, and carrying out the fine registration of an incremental model and a stock model based on the registration relation between an incremental model layering line cluster and a stock model layering line cluster on the grid diagram; obtaining a to-be-updated overlapping region through the overlapping part of the incremental model and the stock model; projecting the point cloud in the to-be-updated overlapping region to a two-dimensional plane to obtain a two-dimensional point set, constructing a triangulation network for the two-dimensional point set through triangulation, and forming an initial contour along the boundary of the triangulation network; optimizing the initial contour to obtain an optimized mosaic line; and respectively cutting the triangulation network of the incremental model and the triangulation network of the stock model by using the optimized mosaic line, and merging the triangulation network parts after cutting to complete updating of the stock model. By the adoption of the technical scheme, fine registration is achieved, and the accuracy and smoothness of the complex scene boundary are improved.

A method for hand tracking is described. In one aspect, a method includes accessing an image captured with a first camera of a device, the device includes a light source, detecting a location of the light source, a location of the first camera, a location of a hand depicted in the image, a location of a shadow of the hand depicted in the image, determining a scene geometry in the image, and determining a hand scale and a hand pose by applying a triangulation algorithm based on the scene geometry, the location of the light source, the location of the first camera, the location of the hand, and the location of the shadow of the hand.

The invention discloses a strip mine road surface unevenness evaluation method based on point cloud processing, and the method comprises the steps: obtaining three-dimensional point cloud data covering a road region based on a laser radar or an image mapping system carried by an unmanned plane; performing noise reduction processing on the road point cloud data; road point extraction and road classification; road reconstruction is carried out by adopting an improved greedy projection triangulation algorithm; multiple optimization strategies are introduced to perform high-precision fitting on the point cloud data to generate a main reference surface; and constructing a space-frequency two-dimensional comprehensive evaluation system and establishing an evaluation model. According to the method, through unmanned aerial vehicle point cloud data collection, automatic road extraction and high-precision curved surface reconstruction, a multi-dimensional evaluation model fusing space and frequency domain features is innovatively provided, finally, accurate, efficient and full-automatic evaluation and grading of the road unevenness of the mining area are achieved, and a scientific basis is provided for maintenance decision making.

A three-dimensional measurement method and apparatus for a structured light system based on system pose optimization is provided. The method includes acquiring multiple binary fringe modulations and performing intrinsic and extrinsic parameter calibration of a projector and a camera by using a preset visual positioning method to determine an initial inter-optical-center horizontal distance; calculating system distance magnification data based on each sinusoidal fringe image and the initial inter-optical-center horizontal distance; determining defocus phase undetermined coefficients based on each binary fringe modulation; applying a preset system pose optimization mathematical model to determine a target inter-optical-center horizontal distance based on the initial inter-optical-center horizontal distance, the system distance magnification data, and the defocus phase undetermined coefficients; and adjusting the system pose of the structured light system based on the target inter-optical-center horizontal distance, and constructing a three-dimensional model of an object to be measured based on the triangulation method.

The application discloses an aluminum bar surface quality detection method and system based on visual detection, and relates to the technical field of image processing.The system is composed of a plurality of function modules, and comprises a multi-modal data acquisition module, which generates a three-dimensional point cloud through phase solving and triangulation measurement by acquiring a structured light image of an aluminum bar; an infrared camera is used to capture the temperature field of the surface of the aluminum bar to generate a temperature image; a defect feature extraction module is used to estimate the normal vector of the three-dimensional point cloud, identify the surface discontinuous area by the normal vector change rate to generate a defect area, and construct a morphological feature vector; a PointNet++ architecture is used to perform hierarchical feature extraction on the morphological feature vector and output a morphological feature map; a temperature feature is calculated based on the temperature image to construct a thermal field feature vector; the thermal field feature vector is input into a preset thermal resistance defect correlation model to output a thermal field feature map; and a defect recognition and classification module is used to acquire the morphological feature map and the thermal field feature map.

The invention belongs to the technical field of wind power plants, and discloses a point location information determination method and device, equipment, a storage medium and a product. The method comprises the following steps: clustering a plurality of to-be-queried point locations in an available land parcel of a wind power plant to obtain a target clustering center, then constructing a triangulation network by taking the target clustering center as a vertex, and determining an affiliation relationship between the plurality of to-be-queried point locations and triangles in the triangulation network; and determining wind speed and wind direction information corresponding to the plurality of to-be-queried point locations according to the target wind speed and wind direction information corresponding to the target clustering center and the affiliation relationship. The multiple to-be-queried points are clustered, the number of the points needing to be queried through the wind resource interface is reduced, then the wind speed and wind direction information corresponding to the multiple to-be-queried points is determined according to the target wind speed and wind direction information corresponding to the target clustering center and the affiliation relation, and therefore under the condition that the number of query times of the wind resource interface is limited, the query efficiency of the wind resource interface is improved. The wind speed and wind direction information of a large number of to-be-queried point locations in available plots is effectively and accurately determined through a clustering center query method.

The invention discloses a multi-source visual feature fused sparse texture scene positioning method and system, and the method comprises the steps: firstly constructing a high-precision map, collecting a target scene image through a binocular camera, defining each pair of three-dimensional images as a map node, and recording the physical collection sequence of each node; performing multi-source feature extraction and fusion on each map node image to form a fusion feature set which keeps high robustness under various texture conditions; and for each matching point pair in the fusion feature set, obtaining a three-dimensional coordinate of the matching point pair in a camera coordinate system by using internal and external parameters of a binocular camera and a triangulation principle, and storing the three-dimensional coordinates of all fusion feature points of each node to form a scene structure layer of the node. And determining the pose of each map node in the global unified coordinate system, and integrating the poses of all the nodes to form a node track, thereby completing map construction, and the constructed map can be used for vehicle positioning. According to the method, the problems of incomplete map information, poor positioning robustness and low precision caused by difficult feature extraction and matching of a single vision positioning method in sparse texture and high repeatability scenes such as underground parking lots can be effectively solved.

Provided in the present disclosure are a rendering method and apparatus, and a computer program product. The method comprises: at least using a flowing-light start point color and a flowing-light end point color as flowing-light rendering parameters for separate configuration, such that a flowing-light texture image is no longer required to have a fixed color scheme, and it is only necessary to set transparency values of pixel points. For vertices of triangles obtained by means of performing triangulation on the basis of trajectory points comprised in trajectory data to be rendered, texture coordinates of the corresponding vertices of the triangles are obtained by means of flowing-light rendering parameters, trajectory distances associated with the vertices of the triangles, and a rendering time parameter; on the basis of the texture coordinates of the vertices of the triangles, sampling is performed on a flowing-light texture image having known transparency values, so as to obtain color offset weights of the corresponding vertices of the triangles; and the color offset weights, a flowing-light start point color and a flowing-light end point color are then used to obtain rendering colors of the corresponding vertices of the triangles, such that even if the flowing-light texture image does not have a fixed color scheme, the rendering colors of the corresponding vertices of the triangles can be calculated.

The application discloses a passive sonar ranging method and device for a linear fiber hydrophone array, which comprises the following steps: performing primary beam forming according to original data at a first position, searching for a first azimuth angle with the maximum signal strength according to the primary beam forming result; performing secondary beam forming according to original data at a second position, searching for a second azimuth angle with the maximum signal strength according to the secondary beam forming result; and then calculating the target distance according to the first azimuth angle, the second azimuth angle, the speed and the running time. Compared with triangulation, the method and the device can reduce the measurement deviation caused by the uncertainty of the position of the fiber hydrophone array, the distance variance is smaller, and the reliability is higher in actual use.

A method includes identifying an image captured by an image capture device set at a first angle about an axis, the image corresponding to a time at which the image was captured, identifying within the image, a region of interest including an object to be used for calibration, determining, an image coordinate at which the object is displayed within the image, determining a camera angle corresponding to a position of the image capture system relative to the axis when the image was captured, identifying a bearing of the object relative to the reference direction, the bearing of the object determined using a geolocation of the image capture system and the time at which the image was captured, and determining, using the image coordinate, the camera angle, and the bearing of the object, an angular offset between the first angle and the reference direction to determine a second angle.

The application discloses a digital twin modeling method and system based on binocular vision and target dynamic tracking, and the method comprises the following steps: constructing a binocular camera system, completing internal parameter calibration, distortion calibration and external parameter calibration, and establishing a coordinate system mapping relationship; synchronously collecting target images and correcting the target images, extracting feature point coordinates, and performing abnormal elimination and multi-target area division; calculating feature point parallax, obtaining three-dimensional coordinates through triangulation, and generating an optimized target point cloud; solving the spatial pose of the target through a PNP algorithm, realizing single / multi-target dynamic tracking in combination with time sequence difference; performing abnormal detection and smoothing processing on the pose sequence, constructing a weighted error model, and optimizing feature recognition parameters in a closed loop; transmitting the pose data to realize virtual-real synchronous visualization of workpieces; monitoring the spatial relationship of the workpieces and collision risks, and alarming; and storing data for backtracking analysis. The method and system realize high-precision dynamic measurement, attitude tracking and digital and visual assembly process of a complex workpiece assembly process.

The application discloses a three-dimensional Gaussian sputtering initialization method based on Fast3R, which performs Fast3R fast reasoning on an input image sequence under low resolution; calculates Anchor scores of each view based on the product combination of quality scores and mutual view coverage scores, takes Fast3R output as initialization, performs feature extraction and matching, triangulation to obtain sparse trajectory constraints, introduces dense consistency constraints based on point graph projection, constructs a joint geometric optimization model, and robustly iteratively solves camera external parameters and internal parameters. The QSP strategy is introduced, high-confidence and strong cross-view consistency point clouds are preferentially retained under uniform spatial voxel constraints, the point cloud size is controlled, and outlier and floating points are reduced, thereby providing high-integrity, high-precision and controllable-scale initialization for three-dimensional Gaussian sputtering. The sensitivity of Fast3R to the selection of the first frame is effectively reduced, the stability and point cloud quality of large-scale scene reconstruction are improved, and the 3DGS training convergence and rendering effect are improved under the premise of ensuring the initialization efficiency.

The invention provides a bird's-eye view orthographic image generation method and device and a computer readable storage medium. The method comprises the following steps: generating a three-dimensional ground triangulation network model according to three-dimensional ground point cloud data; penetrating dotting is conducted on the three-dimensional ground triangulation network model, multi-layer tile data are generated, the position information of tiles in the multi-layer tile data comprises row numbers, column numbers and elevation values, the row numbers and the column numbers indicate the horizontal positions of the tiles, and the elevation values indicate the vertical heights of the tiles; and according to the multi-layer tile data, generating a hierarchical aerial view orthographic image corresponding to the elevation data of the track points. Through the three-dimensional ground triangulation network model, penetrating dotting is carried out, the multi-layer tile data including the row number, the column number and the elevation value can be generated, the information capable of covering the multi-layer road surface can be generated, the aerial view orthographic image of the level corresponding to the elevation data of the track point can be generated according to the multi-layer tile data, and the aerial view orthographic image can be conveniently displayed to a user.