CN101975952A - Semi-automatic graph measurement method for digital line graph in onboard LIDAR single-chip mode - Google Patents
Semi-automatic graph measurement method for digital line graph in onboard LIDAR single-chip mode Download PDFInfo
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Abstract
The invention discloses a semi-automatic graph measurement method for a digital line graph in an onboard LIDAR single-chip mode. After original onboard LIDAR air survey results are acquired and data are pre-processed, an air photo single-chip graph measurement environment in a laser point cloud integrated mode is constructed; semi-automatic graph measurement of surface feature elements such as buildings, roads, water systems, vegetation and the like is realized with manual aid by efficient algorithm design; drawing of residual surface feature line graphs is manually finished in an air photo single-chip mode; and automatic extraction of contour lines and elevation points with notes is realized through high dense laser point cloud. The method can improve the quality and work efficiency of digital line graph measurement and greatly reduce the project development cost.
Description
One, technical field
The present invention relates to a kind of digital line layout figure mapping technology of surveying and drawing in the remote sensing field, the semi-automatic plotting method of digital line layout figure under particularly a kind of airborne LIDAR technology.
Two, technical background
Traditional digital line layout figure plotting method mainly adopts engineering survey, traditional photogrammetric measurement technology.But these conventional art means all exist significant disadvantages and deficiency:
(1) there are many-sided shortcomings such as workload is big, project cost is high, the cycle is long, labour intensity is big in engineering survey, does not have economic feasibility in the digital line layout figure mapping project on a large scale;
(2) traditional photogrammetric measurement need be laid a large amount of field operation photo control points, the stereoplotting automaticity is low, production efficiency is low, the project cycle is long, particularly forest covering area plotting accuracy is poor in the mountain area, has significant limitation in large scale numeral line layout figure mapping.
So when in digital line layout figure mapping process, adopting methods such as engineering survey, traditional photogrammetric measurement, bring a lot of troubles and inefficiency inevitably.Therefore, there are many-sided shortcomings such as automaticity is low, production efficiency is low, project cost is high, and the construction cycle is long, the product precision is low in prior art.How guaranteeing improving automaticity and production efficiency, reduction project cost under the digital line layout figure mapping product quality premise, the shortening construction cycle becomes this area scientific and technical personnel problem anxious to be solved.
Three, summary of the invention
In order to solve the problems that existing mapping remote sensing technology is brought in digital line layout figure mapping, enhance productivity, the purpose of this invention is to provide the semi-automatic plotting method of digital line layout figure under a kind of airborne LIDAR single chip mode.It has improved the automaticity and the production efficiency of mapping under the situation that guarantees digital line layout figure product precision, greatly reduce the project cost of development, has shortened the project cycle, has overcome the shortcoming that traditional mapping remote sensing technology means exist.
The object of the present invention is achieved like this: go forward side by side after the line data pre-service obtaining the original achievement of airborne LIDAR aerial survey, boat sheet monolithic mapping environment under the structure laser point cloud is auxiliary, by high-efficiency automatic algorithm and practical man-machine interactively method design, realize buildings, road, water system, the semi-automatic extraction that atural object factor vector lines such as vegetation are drawn, in conjunction with the drafting of monolithic mapping environment realization to other atural object key element, realize the automatic generation of level line and elevation number point by highly dense laser point cloud, thereby realize the semi-automatic mapping of digital line layout figure under the airborne LIDAR single chip mode.
This invention compared with prior art has the following advantages:
1. changed the mapping thinking of conventional stereo picture, avoided the complete manual mapping problem of digital line layout figure under traditional airborne survey method, increased exponentially mapping production efficiency mode.
The traditional photography measuring technique also can adopt the monolithic plotting method, but different with this method, and this method can not effectively be utilized the effective information of laser point cloud, can not realize the quick conversion of key element image space to object space.
2. lower mapping project cost, the short mapping cycle
Airborne LIDAR does not need field operation ground photo control point, is realizing semi-automaticly even full-automatic aspect the extraction of segment vector line, can save the project cost of development greatly, shortens the mapping project cycle.
3. high-precision digital line layout figure product
Airborne LIDAR is the same with the digital boat of tradition sheet, can accurately determine the planimetric position of atural object key element with reference to high-resolution digital boat sheet.But airborne LIDAR can obtain high precision, highly dense three-dimensional laser point cloud data simultaneously, can reach about 20cm by level line and the elevation number point height precision that generates after the interpolation, and the mountain area advantage intensive in forest cover is more obvious.Than traditional photogrammetric measurement, airborne LIDAR can obtain more high-precision digital line layout figure product.
Four, embodiment
The semi-automatic plotting method of digital line layout figure under the airborne LIDAR single chip mode compared with prior art is very different, specifically:
By the calibration flight of equipment, can finish the accurate calibration of laser sensor and two kinds of device parameters of digital camera; Lap information with laser point cloud band, digital boat sheet band is reference, with reference to a small amount of ground control point, whole data are carried out overall adjustment to be handled, the digital terrain model of reference point clouds formation and high precision Pos auxiliary positioning information are carried out empty three encryptions of integral body to the boat sheet simultaneously, can obtain surveying high-precision digital elevation model and number boat sheet in the district, realize the some cloud and navigate the accurate coupling of sheet in the image space with high precision elements of exterior orientation; Make up some cloud and the integrated monolithic mapping environment of boat sheet, adopt the semi-automatic extraction of linear ground object characteristic curves such as artificial supplementary mode realization buildings and road, water system, vegetation; Other residue atural object extracts, and still adopts edit to finish in monolithic mapping environment; Simultaneously, with reference to high-precision laser point cloud, realize the automatic generation of the interpolation of contours and elevation number point.
1, the accurate calibration of equipment laser sensor and digital camera parameter.Laser sensor needs calibration heading, three parameters of roll, pitch, and digital camera also needs the distortion parameter of calibration camera except that need calibration heading, roll, pitch.The equipment calibration of two cover sensors need be chosen the calibration field of satisfying technical requirement, measures the field operation ground control point, adopts expert data processing and analytical approach to carry out resolving of equipment calibration parameter, removes the systematic error in the measuring process.
2, the accurate coupling of some cloud and digital boat sheet.Owing to survey and to distinguish on the spot in the aerial survey flight course Pos and decide appearance and have certain accidental error, there is certain error in the sector-meeting of navigating of some cloud that original aerial survey is obtained and number, need carry out overall adjustment optimization, obtains having the achievement data of best precision.For cloud data, can be with reference to airborne LIDAR point cloud measuring principle, determine error model, with adjacent or intersection region point cloud dislocation information serves as with reference to adopting the overall adjustment method to calculate the corrected value of x, y, z, heading, roll, six variablees of pitch, realizing a global optimization of cloud precision; Digital terrain model and POS auxiliary positioning information that the reference ground laser point cloud makes up, interior industry collection is surveyed and is distinguished the sheet overlapping region same place that navigates, distinguish whole empty three encryptions with reference to relatively poor survey of common point, elements of exterior orientation to every boat sheet after the overall adjustment carries out small correction, removes local accidental error.After a cloud and the boat sheet quality of data are carried out global optimization, can realize the accurate coupling of a cloud and boat sheet.The coupling of two kinds of data sources is to realize in the two-dimensional image space in the perspective projection mode, and the Fundamentals of Mathematics of coupling are the collinearity equation in the photogrammetry, and are specific as follows:
x＝-f(a1(X-Xs)+b1(Y-Ys)+c1(Z-Zs))/(a3(X-Xs)+b3(Y-Ys)+c3(Z-Zs))
y＝-f(a2(X-Xs)+b2(Y-Ys)+c2(Z-Zs))/(a3(X-Xs)+b3(Y-Ys)+c3(Z-Zs))
3, linear ground object line of vectors such as buildings under the boat sheet single chip mode and road, water system, the vegetation semi-automatic extraction of drawing.Concrete grammar is as follows:
(1) the buildings outline extracting method of artificial supplementary mode: after filtering classification in laser point cloud ground is finished,, carry out buildings roof dough sheet point cloud classification with reference to features such as elevation difference, roof normal vector consistance.After laser point cloud buildings classification was finished, the extraction of buildings outline mainly comprised based on the buildings outline boundary characteristic line drawing of laser point cloud and digital boat sheet with based on the buildings outline topological relation structure of roof point cloud and boundary characteristic line.
(2) linear ground object characteristic curve extracting method such as the road of artificial supplementary mode, water system, vegetation: the semiautomatic extraction method of boat sheet single chip mode linear ground object characteristic curve, mainly adopt snake algorithm binding site cloud to improve the back and realize.The snake algorithm that with the road is example realizes that thinking is as follows: 1. give in the sheet that sails on the highway sideline a bit, with this point as seed points.2. being the center with the seed points, is radius with suitable length, obtains a circle in the boat sheet.Gray scale sectional curve or gradient sectional curve on this circle are tested, can obtain the extreme point of gray scale or gradient.3. can constitute the curve S 0 of initial snake with two extreme points of seed points and gray scale or gradient sectional curve.4. based on S0, the utilization optimized Algorithm then can be by the outline line C0 of this section initial curve extraction road.If 5. length of a curve can increase, then generate a Ci curve sequence that the whole piece curve is increased.6. serve as with reference to a whole set of curve broken lineization with certain threshold value, determine the elevation of each node on the broken line and be transformed into the three-dimensional article side space.
4, above atural object needs that also other residue atural object is carried out line and draws extraction after finishing semi-automatic extraction, generates level line and elevation number point simultaneously.Atural object line outside buildings, road, water system, the river is drawn extraction, all adopts artificial drafting mode to realize in boat sheet monolithic mapping environment; Level line and elevation number point adopt manual type to verify and revise after can extracting with reference to the mapping standard is full-automatic.
5, wherein the buildings boundary characteristic line drawing method based on laser point cloud and digital boat sheet is as follows: 1. buildings and ground point cloud are united structure triangulation network model, determine the topological relation between the some cloud; 2. the search triangle that the meets buildings fringe region feature row labels of going forward side by side, the criterion of feature triangle is that ground and buildings roof two class triangular apex are arranged on the triangle, height with reference to buildings roof point in the triangle, revise the height value of ground laser spots, be lifted to the buildings roof with high height, editor back forms buildings outline border buffer zone; 3. by the collinearity equation of above introduction, the outline buffer zone in the three dimensions is transformed in the boat sheet two-dimensional image space.Adopt the Canny algorithm in the effective analysis area of boat sheet, to carry out the extraction of buildings boundary characteristic line, information such as the some cloud in the reference analysis district, buildings principal direction, building feature line length, the building feature line that extracts is carried out priority classification, set up the ranked candidate storehouse of buildings boundary characteristic line.4. the boat sheet on classification display building feature line classification results, the rapid extraction and redundancy, the quick deletion of error characteristic line, modification of design one cover man-machine interactively method realization to omitting characteristic curve realizes the semi-automatic extraction of buildings outline boundary characteristic line under artificial the assisting.
6, wherein based on the buildings outline topological relation construction method in roof point cloud and feature sideline: the buildings outline characteristic curve of above extraction is discontinuous vector line segment, substantially can show the outline position and the trend of buildings, but the feature sideline that is fracture of extracting needs to make up topological relation and makes it to form a sealing, the end to end polygon of characteristic curve.For realizing above purpose, this method is quoted classical space binary tree division merge algorithm, specific algorithm realizes that thinking is as follows: 1. read the building object point of buildings correspondence and millet cake peripherally, read all boundary characteristic lines, calculate the minimum outsourcing polygon frame of these points, with this polygon frame as initial zone.2. carry out the prioritization of splitting operation with polygonal length, the subregion that has of up-to-date classification is carried out binary segmentation more.3. final subregion is carried out area attribute and judge mainly classify buildings and ground two classes.For not only comprising the building object point but also comprise topocentric subregion in the subregion,, determine that this subregion is the attribute of subregion than the attribute of multiple spot with that comparative analysis of how much carrying out of point.4. all subregions with buildings attribute flags are carried out mark, and merge all adjacent buildings class subregions.5. the outline border of the final construction zone polygon correspondence that merges is the buildings outline that will extract.
7, the conversion method of atural object element characteristic line from the image space to the object space wherein: after determining the line of vector on the boat sheet two-dimensional image space, some cloud with reference to coupling is determined the elevation coordinate of line of vector at object space, with reference to the collinearity equation in the photogrammetry, adopt the light beam-object space intersection method after improving to resolve the planimetric coordinates of line of vector at object space.The computing formula that light beam-object space intersection method is used always is as follows:
X＝X
L+(Z-Z
L)(u/w)
Y＝Y
L+(Z-Z
L)(v/w)
Wherein, X, Y, Z are the object space three-dimensional coordinate of waiting to ask a little; X
L, Y
L, Z
LObject space three-dimensional coordinate for projection centre; U, v, w are the auxiliary coordinate in image space of waiting to ask picture point.
Claims (4)
1. the semi-automatic plotting method of digital line layout figure under the airborne LIDAR single chip mode, it is characterized in that: go forward side by side after the line data pre-service obtaining the original achievement of airborne LIDAR aerial survey, boat sheet monolithic mapping environment under the structure laser point cloud is auxiliary, by high-efficiency automatic algorithm and practical man-machine interactively method design, realize buildings, road, water system, the semi-automatic extraction that atural object factor vector lines such as vegetation are drawn, in conjunction with the drafting of monolithic mapping environment realization to other atural object key element, realize the automatic generation of level line and elevation number point by highly dense laser point cloud, thereby realize the semi-automatic mapping of digital line layout figure under the airborne LIDAR single chip mode.
2. the semi-automatic plotting method of digital line layout figure under the airborne LIDAR single chip mode according to claim 1, it is characterized in that: the buildings outline semiautomatic extraction method under the wherein airborne LIDAR boat sheet single chip mode is as follows: 1. reference point clouds classification results, determine effective analysis area of buildings outline; 2. adopt the Canny algorithm in the effective analysis area of boat sheet, to carry out the extraction of buildings boundary characteristic line, information such as the some cloud in the reference analysis district, buildings principal direction, building feature line length, the building feature line that extracts is carried out priority classification, set up the ranked candidate storehouse of buildings boundary characteristic line; 3. show building feature line classification results on the boat sheet, design one cover man-machine interactively method realizes rapid extraction and quick deletion and the modification redundant, the error characteristic line to omitting characteristic curve; 4. with reference to buildings roof point cloud level journey information, realize of the conversion of building feature line image space to object space; 5. reference substance space building feature line and analysis area cloud data adopt the division merge algorithm to make up buildings outline topological relation automatically, generate buildings outline border.
3. the buildings outline semiautomatic extraction method under the airborne LIDAR boat sheet single chip mode according to claim 2, it is characterized in that: the ranked candidate storehouse method of wherein setting up buildings boundary characteristic line is as follows: 1. the building feature line is divided into three grades, and the criteria for classifying is mainly: the other density ratio of drift angle, the characteristic curve both sides point varieties of clouds of building feature line effective length, characteristic curve and principal direction.2. the screening technique of first order building feature line is: at first, filter out the characteristic curve of length greater than certain threshold value; Afterwards, filter out and the characteristic curve of principal direction drift angle on the basis as a result at this less than certain threshold value; Then, filter out ground and build object point classification density on the basis as a result at this than characteristic curve greater than certain threshold value; At last, extract concentrated at this, vertical direction on every side there is not characteristic curve less than the certain distance characteristic curve, directly be defined as first order building feature line, for vertical direction on every side characteristic curve less than the certain distance characteristic curve is arranged, deflection ground one side be divided into first order building feature line, deflection buildings one side be divided into third level building feature line.3. for the characteristic curve of length, be divided into third level building feature line less than certain threshold value; The unification of residue building feature line is divided into the second category feature line.Wherein, first order characteristic curve is directly can be with reference to the buildings boundary characteristic line that uses, and third level characteristic curve is the poorest buildings boundary characteristic line of degree of belief, and second level characteristic curve is the boundary candidate characteristic curve of emphasis reference when the later stage manually assisting editor.
4. the buildings outline semiautomatic extraction method under the airborne LIDAR boat sheet single chip mode according to claim 2, it is characterized in that: wherein a cover realizes that the man-machine interactively method of quick deletion, modification to the rapid extraction of omitting characteristic curve and redundant, error characteristic line is as follows: 1. show all first order characteristic curves in the ranked candidate storehouse in boat sheet monolithic mapping environment, the overwhelming majority is true, available characteristic curve; For unnecessary boundary characteristic line, directly delete by the mouse mode that clicks, for the border of position and anisotropy, click and replacing behind the artificial input feature vector line position on the boat sheet again by mouse; 2. the first season characteristic curve examine finish after, shielding does not show first order characteristic curve, shows second level characteristic curve.In the characteristic curve of the second level,, carry out man-machine interactively by the highlighted prompting selection mode of mouse capture for extracting boundary characteristic line correct and that need; 3. the characteristic curve that does not extract automatically for algorithm on the boat sheet, can adopt manually and provide supplementary in boat border, sheet upper edge vertical direction line mode, regulate the parameter value of image border extraction algorithm afterwards, automatically the boundary line of needs is extracted, artificial click gets final product.
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| CN2010102792454A CN101975952A (en) | 2010-09-13 | 2010-09-13 | Semi-automatic graph measurement method for digital line graph in onboard LIDAR single-chip mode |
| CN2011100094838A CN102147250B (en) | 2010-09-13 | 2011-01-17 | Digital line graph mapping method |
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| CN102855810A (en) * | 2012-09-04 | 2013-01-02 | 绍兴文理学院 | Digital line graphic method based on satellite image map |
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| CN111179428B (en) * | 2019-12-31 | 2022-04-15 | 武汉中海庭数据技术有限公司 | Ground object manufacturing method and device based on locking plane |
| CN111652436A (en) * | 2020-06-03 | 2020-09-11 | 中铁二院工程集团有限责任公司 | Contour line-based automatic construction pavement line selection method |
| CN114475665A (en) * | 2022-03-17 | 2022-05-13 | 北京小马睿行科技有限公司 | Control method and control device for automatic driving vehicle and automatic driving system |
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| CN102147250B (en) | 2012-06-27 |
| CN102147250A (en) | 2011-08-10 |
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