CN107170033A - Smart city 3D live-action map systems based on laser radar technique - Google Patents
Smart city 3D live-action map systems based on laser radar technique Download PDFInfo
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Abstract
The invention provides a kind of smart city 3D live-action map systems based on laser radar technique, including three-dimensional map base map generation system, for generating 3D base maps；Map datum and map projection's system, for storing 3D live-action map data, complete the projection of 3D base maps and the projection of 3D live-action maps；Three-dimensional map data storehouse system, is used for storing the three-dimensional modeling data of all 3D atural objects and the appearance attribute information of 3D atural objects for user's inquiry；Three-dimensional map shows and browses system, calls 3D live-action maps for user and shows 3D live-action maps.User can be brought more real city 3D experience during navigation, the What You See Is What You Get in navigation is realized, the accuracy rate and reliability of navigation are improved, so as to improve the efficiency and security performance of map.
Description
Technical field
The invention belongs to electronic map technique field, and in particular to a kind of smart city 3D based on laser radar technique is real
Scape map system.
Background technology
The people's trip that develops into of electronic map provides very many facilities, but we are widely used that two dimension at present
Map, and increasing people is when using two-dimensional map the problem of run into such, when going to a place, it is easy to pass through
Two-dimensional map finds orientation, but if going to obscure place, is also not easy to be accurately positioned even in periphery, in modern city
In fractal road, often because the situation of navigational error occur in overpass or fork, need what is navigated to complete
Common people's trip brings puzzlement.
With the development of 3-D technology, three-dimensional map technology also begins to research, but existing electronic three-dimensional map is accurate
It is true say be 2.5D electronic map, this map can not carry out the positioning of multi-angle and browse, from visual effect for body
Existing is class 3D effect, in actual applications, it is impossible to give full play to the advantage of three-dimensional map.
The content of the invention
The invention provides a kind of smart city 3D live-action map systems based on laser radar technique, existing three-dimensional is overcome
Actual map is 2.5D electronic maps, it is impossible to carry out the problem of being accurately positioned and browse of multi-angle.
A kind of smart city 3D live-action map systems based on laser radar technique that the present invention is provided,
System is generated including three-dimensional map base map, for generating 3D base maps；
Map datum and map projection's system, for storing 3D live-action map data, complete the projection of 3D base maps and 3D are real
Scape map projection；
Three-dimensional map data storehouse system, for storing the three-dimensional modeling data of all 3D atural objects and the outward appearance category of 3D atural objects
Property information for user inquiry use；
Three-dimensional map shows and browses system, calls 3D live-action maps for user and shows 3D live-action maps.
Further, the 3D base maps are generated by the following method：Cloud data is gathered by laser radar, and will be passed through
The relative coordinate and geographical position coordinates that the cloud data of pretreatment carries out point cloud are resolved, and the point cloud after resolving is through denoising, impurity elimination
Point, splicing, three-dimensional grid is rebuild, and texture mapping, scene is integrally spliced, and essay ornamenting ultimately generates 3D base maps.
Further, the 3D live-action maps data include classification, title, three-dimensional modeling data, data texturing and height
Journey information.
Further, the 3D base maps are projected through parallel projection mode and completed, and 3D live-action maps are projected through regard more
The mode of angular projection is completed.
Further, three-dimensional map data storehouse system includes two-dimensional map information, two dimensional attributes information, three-dimensional elevation
Grid data information and threedimensional model number after information, three-dimensional elevation direction attribute information, individual-layer data information, piecemeal storage
It is believed that breath.
Further, three-dimensional map data storehouse system is split using secondary data and data is carried out with the method indexed
Call and store.
Further, the method for the secondary data segmentation is that the two-dimensional map of 3D live-action map zero elevations is cut
Piece and numbering, to one data storage capacity of each piece of setting, travel through the size of the data volume of the block after once cutting, if certain
One piece, beyond default memory capacity, is carried out after secondary section, all pieces of traversal, until the data volume of smallest blocks is not more than to the block
Preset stored amount terminates segmentation.
Further, the method for the index is to be indexed according to data volume size.
Further, the three-dimensional map is shown passes through foreground display interface, background system, three-dimensional map with browsing system
Database Systems, 3D forms carry out calling and showing for 3D live-action maps.
Further, the level and data type for calling data are differentiated by recognizing the distance of 3D forms and atural object,
When the distance between 3D forms and atural object exceed fixed threshold, the three-dimensional map is shown only calls threedimensional model with browsing system
Data and minimum bounding box data, when the distance between 3D forms and atural object be less than fixed threshold, the three-dimensional map show and
The system of browsing calls three-dimensional modeling data and data texturing.
Beneficial effects of the present invention：
User can be brought more real city 3D experience during navigation, while the increase of elevation information is enhanced
The ability of Map Expression real world, dimensionally target introduce more real expression geographical environment and atural object, such as purpose-built,
Link entry etc..Last link that navigation is not enough unified with actual environment is solved, the What You See Is What You Get in navigation is realized, carries
The accuracy rate and reliability of height navigation, so as to improve the efficiency and security performance of map.
Brief description of the drawings
Fig. 1 is 3D live-action maps theory diagram of the present invention,
Fig. 2 is image space and image plane coordinates transition diagram,
Fig. 3 is three-dimensional map data storehouse system construction drawing,
Fig. 4 is data segmentation principle schematic,
Fig. 5 is data directory principle schematic.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is used only for explaining the present invention, no
It is understood that as the restriction to specific protection domain of the invention.
Embodiment
Reference picture 1, the smart city 3D live-action map systems based on laser radar technique,
System is generated including three-dimensional map base map, for generating 3D base maps；
Map datum and map projection's system, for storing 3D live-action map data, complete the projection of 3D base maps and 3D are real
Scape map projection；
Three-dimensional map data storehouse system, for storing the three-dimensional modeling data of all 3D atural objects and the outward appearance category of 3D atural objects
Property information for user inquiry use；
Three-dimensional map shows and browses system, calls 3D live-action maps for user and shows 3D live-action maps.
3D live-action map data are generated by the cloud data containing geographical coordinate, containing geographic coordinate data, are not only existed
In-plane has accurate measurable geodata, in the same altitude data containing optional position in elevation direction, in outdoor scene
In figure especially positioning building, there is abundant atural object characteristic.The 3D base maps are generated by the following method：Pass through laser radar
Cloud data is gathered, and the cloud data by pretreatment is carried out into point cloud relative coordinate and geographical position coordinates are resolved, solution
Point cloud after calculation is through denoising, impurity elimination point, and splicing, three-dimensional grid is rebuild, and texture mapping, scene is integrally spliced, essay ornamenting, finally
Generate 3D base maps.The laser radar can use mobile lidar to be combined with ground laser radar, airborne laser radar.
The above-mentioned three-dimensional reconstruction based on laser radar substantially increases the efficiency of cartography, effectively reduces cost of manufacture.
The 3D live-action maps data include classification, title, three-dimensional modeling data, data texturing and elevation information.
Map projection refers to the method for mathematically projecting to the geography information in the earth in plane, is geographical coordinate
Expression.In the present embodiment, it is contemplated that city 3D live-action maps are a kind of new technologies, we use the superposition side of reprojection
Formula realizes map projection.The 3D base maps are projected through parallel projection mode and completed, and 3D live-action maps are projected through various visual angles and thrown
The mode of shadow is completed.Specifically, projection for the first time is the projection of 3D base maps part, the base map in 3D live-action maps is to clearly build
The geographical coordinate of thing is built, therefore, the purpose of 3D base maps projection is that deformation can not be too big, to obtain more accurate geography information
Data.We are completed by the way of parallel projection, and this projection pattern uses parallel light projection, the reduction thing of energy bottom line
The deformation of body, accuracy is higher.Second of projection is the projection of 3D live-action maps, and live-action map is 3 D stereo, therefore will
It is exactly the mode of various visual angles projection by the way of, what tripleplane completed is throwing of the three-dimensional body to three-dimensional coordinate system
Shadow, two projection process of projection of three-dimensional coordinate system to image plane, the process of various visual angles projection is as follows：
Determine after the projection of base map it is necessary to the progress various visual angles projection of 3D live-action maps, the various visual angles of 3D live-action maps
What projection to be solved is the coordinate relation between the coordinate (X, Y, Z) of object and image plane coordinate (x, y).Initially set up object
Coordinate (X, Y, Z) arrives image space (Xv,Yv,Zv) Coordinate Conversion, and then by image space Coordinate Conversion to image plane (x, y) sit
In mark system.
Object dimensional coordinate is to carry out rotating acquisition, the wherein anglec of rotation according to (Z, X, Y) three reference axis by object
Degree is respectively (α, beta, gamma), then transfer matrix is：
Calculated according to the anglec of rotation of matrix, each parameter is as follows in matrix：
The coordinate (X, Y, Z) and image space (X of objectv,Yv,Zv) conversion relation it is as follows：
Therefore relation between image space and image plane as shown in Fig. 2 can derive turning between image space and image plane
Change relation as follows：
The coordinate between the coordinate (X, Y, Z) of atural object and image plane coordinate (x, y) is can be obtained by from above formula (4)
Relation.
Reference picture 3, three-dimensional map data storehouse system includes two-dimensional map information, two dimensional attributes information, three-dimensional elevation
Grid data information and threedimensional model number after information, three-dimensional elevation direction attribute information, individual-layer data information, piecemeal storage
It is believed that breath.Map delamination is that two classes are stored by 3D live-action maps, two-dimensionally figure layer and dimensionally figure layer, two-dimensional map and three
The attribute list of map is tieed up up to inconsistent, both subdivision overlap-add procedure is subjected to, information is not in lookup and position fixing process
With one-to-many chaotic problem.
In three-dimensional map level, the data volume of three-dimensional map data is different with two-dimensional map, and it can dividing according to 3D atural objects
The different distributions of data are presented in situations such as height and complexity of cloth and 3D atural objects.Meanwhile, according to the limitation of model data amount, I
In 3D live-action maps by model partition be smart mould and Jian Mo.Smart mould requirement shows the level of detail of target 3D atural objects, line
Manage visibility high, simple mould requires simple poly and textures, and in the 3D live-action maps of city, data volume is very important
Factor.Three-dimensional scenic is compared with two-dimensional scene, and scene data amount is bigger, and in different regions, three-dimensional data also has
The characteristics of density is different, such as city and suburb, the data volume of the map of 2-D data record, in general area and complex region
Data volume difference will not be very big.But three-dimensional data is exactly the growth of geometry rank, therefore, in the invention, three-dimensional map data
Storehouse system is split using secondary data to be called and stores to data with the method indexed, to improve the speed of data call.
Reference picture 4, the method for the secondary data segmentation is that the two-dimensional map of 3D live-action map zero elevations is cut into slices
And numbering, such as section divide into six pieces for the first time in figure, and to one data storage capacity of each piece of setting, traversal is once cut into slices
The size of the data volume of block afterwards, if a certain piece beyond default memory capacity, secondary section, such as first row are carried out to the block
Second piece of data volume is carried out after secondary splitting and three segmentations, all pieces of traversal, until most just beyond default memory capacity
The data volume of fritter is not more than preset stored amount and terminates segmentation, also each piece of region is numbered while segmentation, this implementation
Example requires power side's progress map section according to 2, and in order to not waste memory space, by all moulds in a certain region of outdoor scene
Type and textures storage set up individually unique index into some block according to numbering.
Elevation information in 3D live-action maps, is collectively stored in database with the minimum bounding box data of 3D models, this
Sample can accurately recognize the elevation information of atural object.In elevation direction, attribute information is not unique, and this is the difference of 3D live-action maps
In the place of two-dimensional map.In the elevation direction of threedimensional model, attribute information is inconsistent, i.e., under identical geographical coordinate, have
Different attribute informations, therefore, in database, add two layers of coordinate data, geographical coordinate layer and and elevation layer, correspondence attribute
Information.
Hierarchical classification in the drawing of 3D live-action maps, comprising：Building, landform, road, greening, essay etc., hierarchical classification
Purpose one is more regular targeted in 3D live-action map manufacturing process, and two be that classification layering can allow database purchase more
Rationally, later stage query scheduling is more rapidly.Title is mainly stored in database, and the title in 3D live-action maps is comprising more diversified
Information, such as building enters unit, and the information such as floor number is included, the corresponding true category of each elevation information
Property information；Threedimensional model is the important expression content of 3D live-action maps, and threedimensional model has the feature of stereoscopic three-dimensional, threedimensional model
The characteristics of data have skewness weighing apparatus, therefore, while data segmentation is carried out, in data directory, we are according to data
Amount size is indexed to data.
As shown in Fig. 5 (a), in the case where data volume is same greatly, to the two-dimensional map region of 3D live-action map zero elevations
Divide, the size in each region may be different, and this is accomplished by being indexed indexing means according to data volume size.
Referring to Fig. 5 (b), the first step：Take out whole region the best part
I.e.：Level (1) area (a)=max (areas)；
Then remaining region is temporarily combined into an area
I.e.：- the area (a) of level (2) area (b)=1；
It is remaining to carry out two grades of sequence divisions again referring to Fig. 5 (c), (d)
level(3):Area (c)=area (b)-max (area (b))；
By that analogy, sequence is constantly indexed in this way, all regions are finally completed, and will finally produce root
Hierarchical index is produced according to region and data volume size.
The three-dimensional map is shown passes through foreground display interface, background system, three-dimensional map data storehouse system with browsing system
System, 3D forms carry out calling and showing for 3D live-action maps.Foreground display interface is responsible for receiving, passing on instruction, carries out 3D outdoor scenes
Map denotation, background system is responsible for receiving the instruction that foreground display interface is passed on, and passing the result to foreground through data processing shows
Show interface carry out display expression, three-dimensional map data storehouse system be responsible for the information such as building, landform, attribute, elevation are classified,
Piecemeal, partitioned storage, 3D forms are the display windows of 3D live-action maps.
Display interface is drawn based on http5, the input information in 3D viewing windows is read, passes through three-dimensional map data storehouse system
The data message in region is called, comprising model, textures, the information such as attribute is finally plotted in computer vision.
Three-dimensional map data storehouse system storage two-dimensional map information, three-dimensional elevation information, attribute information etc., in 3D outdoor scenes
In figure, the data volume of three-dimensional model information especially texture mapping data is very huge, the present embodiment by recognize 3D forms and
The distance of atural object calls the level and data type of data to differentiate, when the distance between 3D forms and atural object exceed fixed threshold
Value, the three-dimensional map is shown only calls three-dimensional modeling data and minimum bounding box data with browsing system, when 3D forms and ground
The distance between thing is less than fixed threshold, and the three-dimensional map is shown calls three-dimensional modeling data and texture number with browsing system
According to.
Claims (10)
1. a kind of smart city 3D live-action map systems based on laser radar technique, it is characterised in that：
System is generated including three-dimensional map base map, for generating 3D base maps；
Map datum and map projection's system, for storing 3D live-action map data, with completing the projection of 3D base maps and 3D outdoor scenes
Figure projection；
Three-dimensional map data storehouse system, for storing the three-dimensional modeling data of all 3D atural objects and the appearance attribute letter of 3D atural objects
Breath is used for user's inquiry；
Three-dimensional map shows and browses system, calls 3D live-action maps for user and shows 3D live-action maps.
2. the smart city 3D live-action map systems according to claim 1 based on laser radar technique, it is characterised in that
The 3D base maps are generated by the following method：Cloud data, and the cloud data that will pass through pretreatment are gathered by laser radar
The relative coordinate and geographical position coordinates for carrying out point cloud are resolved, and the point cloud after resolving is through denoising, impurity elimination point, splicing, three-dimensional grid
Rebuild, texture mapping, scene is integrally spliced, and essay ornamenting ultimately generates 3D base maps.
3. the smart city 3D live-action map systems according to claim 1 based on laser radar technique, it is characterised in that：
The 3D live-action maps data include classification, title, three-dimensional modeling data, data texturing and elevation information.
4. the smart city 3D live-action map systems according to claim 3 based on laser radar technique, it is characterised in that：
The 3D base maps are projected through parallel projection mode and completed, and the mode that 3D live-action maps are projected through various visual angles projection is completed.
5. the smart city 3D live-action map systems according to claim 1 based on laser radar technique, it is characterised in that：
Three-dimensional map data storehouse system includes two-dimensional map information, two dimensional attributes information, three-dimensional elevation information, three-dimensional elevation direction
Grid data information and three-dimensional modeling data information after attribute information, individual-layer data information, piecemeal storage.
6. the smart city 3D live-action map systems according to claim 5 based on laser radar technique, it is characterised in that：
Three-dimensional map data storehouse system is split using secondary data to be called and stores to data with the method indexed.
7. the smart city 3D live-action map systems according to claim 6 based on laser radar technique, it is characterised in that：
The method of the secondary data segmentation is that the two-dimensional map of 3D live-action map zero elevations is cut into slices and numbered, and each piece is set
A data storage capacity is put, the size of the data volume of the block after once cutting is traveled through, if a certain piece beyond default storage appearance
Amount, secondary section is carried out to the block, is traveled through after all pieces, is terminated point until the data volume of smallest blocks is not more than preset stored amount
Cut.
8. the smart city 3D live-action map systems according to claim 5 based on laser radar technique, it is characterised in that：
The method of the index is to be indexed according to data volume size.
9. the smart city 3D live-action map systems according to claim 1 based on laser radar technique, it is characterised in that：
The three-dimensional map is shown passes through foreground display interface, background system, three-dimensional map data storehouse system, 3D forms with browsing system
Carry out calling and showing for 3D live-action maps.
10. the smart city 3D live-action map systems according to claim 9 based on laser radar technique, its feature exists
In：The level and data type for calling data are differentiated by recognizing the distance of 3D forms and atural object, when 3D forms and atural object it
Between distance exceed fixed threshold, the three-dimensional map show and browses system and only calls three-dimensional modeling data and minimum bounding box
Data, when the distance between 3D forms and atural object are less than fixed threshold, the three-dimensional map is shown calls three-dimensional with browsing system
Model data and data texturing.
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| CN111046005A (en) * | 2019-11-01 | 2020-04-21 | 宝略科技(浙江)有限公司 | Gridding coding method for urban three-dimensional live-action data |
| CN111046005B (en) * | 2019-11-01 | 2023-09-01 | 宝略科技(浙江)有限公司 | Gridding coding method for urban three-dimensional live-action data |
| CN111028950A (en) * | 2019-12-26 | 2020-04-17 | 中科彭州智慧产业创新中心有限公司 | Three-dimensional human body meridian display method and system, electronic device and storage medium |
| CN114398119A (en) * | 2021-12-21 | 2022-04-26 | 深圳市易图资讯股份有限公司 | Intelligent information system and method for multi-person real-time synchronous control of smart city |
| CN117194704A (en) * | 2023-11-07 | 2023-12-08 | 航天宏图信息技术股份有限公司 | Method, device and equipment for inquiring attribute of component-level live-action three-dimensional model |
| CN117194704B (en) * | 2023-11-07 | 2024-02-06 | 航天宏图信息技术股份有限公司 | Method, device and equipment for inquiring attribute of component-level live-action three-dimensional model |
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