技术领域technical field
本发明属于电子地图技术领域，具体涉及一种基于激光雷达技术的智慧城市3D实景地图系统。The invention belongs to the technical field of electronic maps, and in particular relates to a smart city 3D real-scene map system based on laser radar technology.
背景技术Background technique
电子地图的发展为人们出行提供了非常多的便利，但目前我们广泛使用的是二维地图，而越来越多的人在使用二维地图时都遇到这样的问题，在去一个地方时，很容易通过二维地图找到方位，但如果去不著名的地方，即使在周边也不容易准确定位，在现代城市的多维立体结构道路中，经常因为高架桥或者岔口出现导航错误的情况，给完全需要导航的民众出行带来困扰。The development of electronic maps has provided a lot of convenience for people to travel, but at present we are widely using two-dimensional maps, and more and more people encounter such problems when using two-dimensional maps, when going to a place , it is easy to find the direction through the two-dimensional map, but if you go to an unknown place, it is not easy to locate it accurately even in the surrounding area. The travel of people who need navigation brings troubles.
随着三维技术的发展，三维地图技术也开始研究起来，但现有的三维电子地图准确的说是2.5D的电子地图，这种地图不能进行多角度的定位和浏览，从视觉效果上来说体现的是类3D的效果，在实际应用中，不能充分发挥三维地图的优势。With the development of 3D technology, 3D map technology has also begun to be studied, but the existing 3D electronic map is precisely a 2.5D electronic map. This kind of map cannot be positioned and browsed from multiple angles. What is more is a 3D-like effect. In practical applications, the advantages of 3D maps cannot be fully utilized.
发明内容Contents of the invention
本发明提供了一种基于激光雷达技术的智慧城市3D实景地图系统，克服现有三维地图实际为2.5D电子地图，无法进行多角度的精确定位和浏览的问题。The invention provides a smart city 3D real scene map system based on laser radar technology, which overcomes the problem that the existing three-dimensional map is actually a 2.5D electronic map and cannot be accurately positioned and browsed from multiple angles.
本发明提供的一种基于激光雷达技术的智慧城市3D实景地图系统，A smart city 3D real-scene map system based on laser radar technology provided by the present invention,
包括三维地图底图生成系统，用于生成3D底图；Including a 3D map base map generation system for generating 3D base maps;
地图数据与地图投影系统，用于存储3D实景地图数据，完成3D底图投影以及3D实景地图投影；Map data and map projection system, used to store 3D real map data, complete 3D basemap projection and 3D real map projection;
三维地图数据库系统，用于存储所有3D地物的三维模型数据以及3D地物的外观属性信息供用户查询使用；The 3D map database system is used to store the 3D model data of all 3D objects and the appearance attribute information of 3D objects for users to query and use;
三维地图显示与浏览系统，用于用户调用3D实景地图并展示3D实景地图。The 3D map display and browsing system is used for users to call and display 3D real map.
进一步的，所述3D底图通过以下方法生成：通过激光雷达采集点云数据，并将经过预处理的点云数据进行点云的相对坐标和地理位置坐标解算，解算后的点云经去噪、去杂点，拼接，三维网格重建，纹理映射，场景整体拼接，小品整饰，最终生成3D底图。Further, the 3D base map is generated by the following method: the point cloud data is collected by laser radar, and the relative coordinates and geographic location coordinates of the preprocessed point cloud data are solved for the point cloud, and the solved point cloud is passed through Denoising, denoising, splicing, 3D mesh reconstruction, texture mapping, overall scene splicing, sketch finishing, and finally generating a 3D base map.
进一步的，所述3D实景地图数据包括类别、名称、三维模型数据、纹理数据以及高程信息。Further, the 3D real scene map data includes category, name, 3D model data, texture data and elevation information.
更进一步的，所述3D底图投影通过平行投影方式完成，3D实景地图投影通过多视角投影的方式完成。Further, the 3D base map projection is completed by parallel projection, and the 3D real scene map projection is completed by multi-view projection.
进一步的，所述三维地图数据库系统包括二维地图信息、二维属性信息、三维高程信息、三维高程方向属性信息、分层数据信息、分块存储后的网格数据信息以及三维模型数据信息。Further, the 3D map database system includes 2D map information, 2D attribute information, 3D elevation information, 3D elevation direction attribute information, hierarchical data information, grid data information stored in blocks, and 3D model data information.
进一步的，所述三维地图数据库系统采用二次数据分割与索引的方法对数据进行调用和存储。Further, the three-dimensional map database system uses the method of secondary data segmentation and indexing to call and store data.
更进一步的，所述二次数据分割的方法为对3D实景地图零高程的二维地图进行切片和编号，对每一块设置一个数据存储容量，遍历一次切割后的块的数据量的大小，如果某一块超出预设存储容量，对该块进行二次切片，遍历所有块后，直到最小块的数据量不大于预设存储量结束分割。Further, the method of secondary data segmentation is to slice and number the two-dimensional map of zero elevation of the 3D real scene map, set a data storage capacity for each block, and traverse the size of the data volume of the block after traversing once, if If a block exceeds the preset storage capacity, the block is sliced twice, and after traversing all the blocks, the segmentation ends until the data volume of the smallest block is not greater than the preset storage capacity.
进一步的，所述索引的方法为按照数据量大小进行索引。Further, the indexing method is to index according to the size of the data.
进一步的，所述三维地图显示与浏览系统通过前台显示界面、后台系统、三维地图数据库系统、3D视窗进行3D实景地图的调用和显示。Further, the three-dimensional map display and browsing system calls and displays the 3D real-scene map through the foreground display interface, the background system, the three-dimensional map database system, and the 3D window.
更进一步的，通过识别3D视窗和地物的距离来判别调用数据的层级和数据类型，当3D视窗和地物之间的距离超过固定阈值，所述三维地图显示与浏览系统只调用三维模型数据和最小包围盒数据，当3D视窗和地物之间的距离小于固定阈值，所述三维地图显示与浏览系统调用三维模型数据和纹理数据。Further, by identifying the distance between the 3D view window and the ground object to determine the level and data type of the called data, when the distance between the 3D view window and the ground object exceeds a fixed threshold, the 3D map display and browsing system only calls the 3D model data and the minimum bounding box data, when the distance between the 3D window and the ground object is less than a fixed threshold, the 3D map display and browsing system invokes 3D model data and texture data.
本发明的有益效果：Beneficial effects of the present invention:
在导航的过程中能带给用户更加真实的城市3D体验，同时高程信息的增加增强了地图表达现实世界的能力，三维地标的引入更加真实的表达地理环境和地物，如特色建筑、道路入口等。解决导航与实际环境不够统一的最后一个环节，实现导航中的所见即所得，提高导航的准确率和可靠性，从而提高地图的效率和安全性能。In the process of navigation, it can bring users a more realistic urban 3D experience. At the same time, the increase of elevation information enhances the ability of the map to express the real world. The introduction of 3D landmarks can more realistically express the geographical environment and features, such as characteristic buildings and road entrances. Wait. Solve the last link that the navigation is not unified with the actual environment, realize what you see is what you get in the navigation, improve the accuracy and reliability of the navigation, and thus improve the efficiency and safety performance of the map.
附图说明Description of drawings
图1是本发明3D实景地图原理框图，Fig. 1 is a schematic block diagram of a 3D real scene map of the present invention,
图2是像空间和像平面坐标坐标转换示意图，Fig. 2 is a schematic diagram of image space and image plane coordinate coordinate conversion,
图3是三维地图数据库系统结构图，Fig. 3 is a structural diagram of the three-dimensional map database system,
图4是数据分割原理示意图，Figure 4 is a schematic diagram of the principle of data segmentation,
图5是数据索引原理示意图。Fig. 5 is a schematic diagram of the principle of data indexing.
具体实施方式detailed description
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用于解释本发明，不能理解为对本发明具体保护范围的限定。In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, and should not be construed as limiting the specific protection scope of the present invention.
实施例Example
参照图1，所述基于激光雷达技术的智慧城市3D实景地图系统，Referring to Fig. 1, the smart city 3D real scene map system based on laser radar technology,
包括三维地图底图生成系统，用于生成3D底图；Including a 3D map base map generation system for generating 3D base maps;
地图数据与地图投影系统，用于存储3D实景地图数据，完成3D底图投影以及3D实景地图投影；Map data and map projection system, used to store 3D real scene map data, complete 3D base map projection and 3D real scene map projection;
三维地图数据库系统，用于存储所有3D地物的三维模型数据以及3D地物的外观属性信息供用户查询使用；The 3D map database system is used to store the 3D model data of all 3D objects and the appearance attribute information of 3D objects for users to query and use;
三维地图显示与浏览系统，用于用户调用3D实景地图并展示3D实景地图。The 3D map display and browsing system is used for users to call and display 3D real map.
3D实景地图数据是由含地理坐标的点云数据生成的，含有地理坐标数据，不仅在平面方向有精确可测量的地理数据，在高程方向同样含有任意位置的高程数据，在实景地图尤其是定位建筑物中，有丰富的地物特性。所述3D底图通过以下方法生成：通过激光雷达采集点云数据，并将经过预处理的点云数据进行点云的相对坐标和地理位置坐标解算，解算后的点云经去噪、去杂点，拼接，三维网格重建，纹理映射，场景整体拼接，小品整饰，最终生成3D底图。所述激光雷达可以使用车载激光雷达与地面激光雷达、机载激光雷达相结合。上述基于激光雷达的三维重建大大提高了地图制作的效率，有效降低了制作成本。3D real scene map data is generated by point cloud data containing geographic coordinates. It contains geographic coordinate data. It not only has accurate and measurable geographic data in the plane direction, but also contains elevation data at any position in the elevation direction. In real scene maps, especially positioning In buildings, there are rich ground features. The 3D base map is generated by the following method: the point cloud data is collected by laser radar, and the relative coordinates and geographic location coordinates of the preprocessed point cloud data are solved for the point cloud, and the point cloud after the solution is denoised, Denoising, stitching, 3D mesh reconstruction, texture mapping, overall scene stitching, sketch finishing, and finally generating a 3D base map. The lidar can use the combination of vehicle lidar, ground lidar and airborne lidar. The above-mentioned 3D reconstruction based on lidar greatly improves the efficiency of map production and effectively reduces the production cost.
所述3D实景地图数据包括类别、名称、三维模型数据、纹理数据以及高程信息。The 3D real scene map data includes category, name, 3D model data, texture data and elevation information.
地图投影是指用数学方法将地球中的地理信息投影到平面中的方法，是地理坐标的表达。在本实施例中，考虑到城市3D实景地图是一种新技术，我们采用二次投影的叠加方式实现地图投影。所述3D底图投影通过平行投影方式完成，3D实景地图投影通过多视角投影的方式完成。具体的，第一次投影是3D底图部分投影，3D实景地图中的底图是为了明确建筑物的地理坐标的，因此，3D底图投影的目的是变形不能太大，以便获取更精确的地理信息数据。我们采用平行投影的方式完成，这种投影方式采用平行光投影，能最低限度的降低物体的变形，精确度更高。第二次投影是3D实景地图的投影，实景地图是三维立体的，因此要采用的方式就是多视角投影的方式，三维投影完成的是三维物体到三维空间坐标系的投影，三维空间坐标系到像平面的投影两个投影过程，多视角投影的过程如下：Map projection refers to the method of projecting the geographical information in the earth onto the plane by mathematical method, which is the expression of geographical coordinates. In this embodiment, considering that the city 3D real-scene map is a new technology, we implement the map projection by superimposing the secondary projection. The 3D base map projection is completed by parallel projection, and the 3D real scene map projection is completed by multi-view projection. Specifically, the first projection is a partial projection of the 3D basemap. The basemap in the 3D real-world map is to clarify the geographic coordinates of the building. Therefore, the purpose of the 3D basemap projection is that the deformation should not be too large in order to obtain a more accurate geographic information data. We use the method of parallel projection to complete. This projection method uses parallel light projection, which can minimize the deformation of the object and have higher accuracy. The second projection is the projection of the 3D real scene map. The real scene map is three-dimensional, so the method to be adopted is the multi-view projection method. The three-dimensional projection completes the projection of the three-dimensional object to the three-dimensional space coordinate system, and the three-dimensional space coordinate system to There are two projection processes for the projection of the image plane, and the process of multi-view projection is as follows:
确定了底图的投影后，就要对3D实景地图进行多视角投影，3D实景地图的多视角投影要解决的是物体的坐标(X,Y,Z)与像平面坐标(x,y)之间的坐标关系。首先建立物体的坐标(X,Y,Z)到像空间(Xv,Yv,Zv)的坐标转换，其次再将像空间坐标转换到像平面(x,y)坐标系中。After determining the projection of the base map, it is necessary to perform multi-view projection on the 3D real scene map. The multi-view projection of the 3D real scene map needs to solve the relationship between the coordinates (X, Y, Z) of the object and the coordinates (x, y) of the image plane. coordinate relationship between them. First establish the coordinate transformation from the coordinates (X, Y, Z) of the object to the image space (Xv , Yv , Zv ), and then convert the coordinates of the image space into the coordinate system of the image plane (x, y).
物体三维坐标是经过物体按照(Z,X,Y)三个坐标轴进行旋转获得的，其中旋转角度分别为(α,β,γ)，则转移矩阵为：The three-dimensional coordinates of the object are obtained by rotating the object according to the three coordinate axes (Z, X, Y), where the rotation angles are (α, β, γ), and the transfer matrix is:
根据矩阵的旋转角度计算，矩阵中各参数如下：According to the calculation of the rotation angle of the matrix, the parameters in the matrix are as follows:
物体的坐标(X,Y,Z)和像空间(Xv,Yv,Zv)的换算关系如下：The conversion relationship between object coordinates (X, Y, Z) and image space (Xv , Yv , Zv ) is as follows:
像空间和像平面之间的关系如图2所示，因此可以推导像空间和像平面之间的转换关系如下：The relationship between the image space and the image plane is shown in Figure 2, so the conversion relationship between the image space and the image plane can be deduced as follows:
从以上公式(4)中就可以得到地物的坐标(X,Y,Z)与像平面坐标(x,y)之间的坐标关系。From the above formula (4), the coordinate relationship between the coordinates (X, Y, Z) of the ground object and the coordinates (x, y) of the image plane can be obtained.
参照图3，所述三维地图数据库系统包括二维地图信息、二维属性信息、三维高程信息、三维高程方向属性信息、分层数据信息、分块存储后的网格数据信息以及三维模型数据信息。3D实景地图将地图分层为两类进行存储，二维地图层和三维地图层，二维地图和三维地图的属性表达不一致，将两者进行剖分叠加处理，信息在查找和定位过程中不会出现以一对多的混乱问题。Referring to Figure 3, the 3D map database system includes 2D map information, 2D attribute information, 3D elevation information, 3D elevation direction attribute information, layered data information, grid data information and 3D model data information after block storage . The 3D real scene map divides the map into two types for storage, the two-dimensional map layer and the three-dimensional map layer. The attribute expressions of the two-dimensional map and the three-dimensional map are inconsistent. There will be a one-to-many confusion problem.
三维地图层级中，三维地图数据的数据量跟二维地图不同，它会根据3D地物的分布和3D地物的高度和复杂度等情况呈现数据的不同分布。同时，根据模型数据量的限制，我们在3D实景地图中将模型划分为精模和简模。精模要求显示出目标3D地物的细节程度，纹理可见度高，简模要求简单的poly和贴图即可，在城市3D实景地图中，数据量是非常重要的因素。三维场景与二维场景相比，三维场景数据量更大，在不同的区域内，三维数据还有着密度不同的特点，比如城市与郊区，二维数据记录的地图的数据量，在一般区域和复杂区域数据量相差不会很大。但三维数据就是几何级别的增长，因此，在该发明中，三维地图数据库系统采用二次数据分割与索引的方法对数据进行调用和存储，以提高数据调用的速度。In the 3D map level, the data volume of 3D map data is different from that of 2D maps. It will present different distributions of data according to the distribution of 3D objects and the height and complexity of 3D objects. At the same time, according to the limitation of the amount of model data, we divide the model into fine model and simple model in the 3D real scene map. The fine model needs to show the details of the target 3D features, and the texture has high visibility. The simple model requires simple poly and texture. In the urban 3D real map, the amount of data is a very important factor. Compared with two-dimensional scenes, three-dimensional scenes have larger data volumes. In different areas, three-dimensional data also have different characteristics of density, such as cities and suburbs. The data volume of maps recorded by two-dimensional data is different in general areas and The amount of data in complex areas will not vary greatly. However, three-dimensional data is growth at the geometric level. Therefore, in this invention, the three-dimensional map database system uses the method of secondary data segmentation and indexing to call and store data to increase the speed of data calling.
参照图4，所述二次数据分割的方法为对3D实景地图零高程的二维地图进行切片和编号，例如图中第一次切片分成了六块，对每一块设置一个数据存储容量，遍历一次切片后的块的数据量的大小，如果某一块超出预设存储容量，对该块进行二次切片，比如第一排第二块数据量就超出了预设存储容量，进行二次分割以及三次分割，遍历所有块后，直到最小块的数据量不大于预设存储量结束分割，分割的同时也对每一块区域进行编号，本实施例要求按照2的幂次方进行地图切片，而且为了不浪费存储空间，将实景某一区域内所有模型以及贴图存储到某一个块中，根据编号建立单独唯一的索引。Referring to Fig. 4, the method of the secondary data segmentation is to slice and number the two-dimensional map of the zero elevation of the 3D real-scene map, for example, the first slice in the figure is divided into six blocks, and a data storage capacity is set for each block, traversing The size of the data volume of the block after one slicing. If a certain block exceeds the preset storage capacity, the block is sliced twice. For example, the data volume of the second block in the first row exceeds the preset storage capacity, and the second division is performed and Three divisions, after traversing all blocks, the division ends until the data volume of the smallest block is not greater than the preset storage capacity, and each area is also numbered during division. This embodiment requires map slices according to the power of 2, and in order to Without wasting storage space, all models and textures in a certain area of the real scene are stored in a certain block, and a separate and unique index is established according to the number.
3D实景地图中的高程信息，与3D模型的最小包围盒数据一起存储在数据库中，这样能精准的识别地物的高程信息。在高程方向，属性信息是不唯一的，这是3D实景地图区别于二维地图的地方。在三维模型的高程方向，属性信息是不一致的，即相同地理坐标下，有不同的属性信息，因此，在数据库中，添加两层坐标数据，地理坐标层和和高程层，对应属性信息。The elevation information in the 3D real map is stored in the database together with the minimum bounding box data of the 3D model, so that the elevation information of the ground objects can be accurately identified. In the direction of elevation, the attribute information is not unique, which is where the 3D real scene map differs from the 2D map. In the elevation direction of the 3D model, the attribute information is inconsistent, that is, under the same geographic coordinates, there are different attribute information. Therefore, in the database, add two layers of coordinate data, the geographic coordinate layer and the elevation layer, corresponding to attribute information.
3D实景地图制图中的层次分类，包含：建筑、地形、道路、绿化、小品等，分层分类的目的一是在3D实景地图制作过程中更加规整有针对性，二是分类分层可以让数据库存储更合理，后期查询调度更快速。名称主要存储在数据库中，3D实景地图中的名称包含更多样化的信息，如一个建筑物的入驻单位，楼层号等信息都包含在内，每个高程信息都对应真实属性信息；三维模型是3D实景地图重要的表达内容，三维模型具有立体三维的特征，三维模型数据具有分布不均衡的特点，因此，在进行数据分割的同时，在数据索引时，我们按照数据量大小对数据进行索引。The hierarchical classification in 3D real-scene map drawing includes: buildings, terrain, roads, greening, sketches, etc. The purpose of hierarchical classification is to make the 3D real-scene map production process more regular and targeted, and the second is to make the database The storage is more reasonable, and the later query scheduling is faster. The name is mainly stored in the database. The name in the 3D real scene map contains more diverse information, such as the occupancy unit of a building, the floor number and other information, and each elevation information corresponds to the real attribute information; the 3D model It is an important expression content of 3D real scene map. The 3D model has the characteristics of three-dimensional and three-dimensional, and the data of the 3D model has the characteristics of uneven distribution. Therefore, while performing data segmentation, when data indexing, we index the data according to the size of the data .
如图5(a)所示，在数据量同样大的情况下，对3D实景地图零高程的二维地图区域划分，每个区域的面积大小可能不同，这就需要对索引方法按照数据量大小进行索引。As shown in Figure 5(a), in the case of the same large amount of data, the area of each area may be different for the two-dimensional map area division of the 3D real map with zero elevation, which requires the indexing method to be adjusted according to the size of the data to index.
参见图5(b)，第一步：取出整个区域最大的部分See Figure 5(b), the first step: take out the largest part of the entire area
即：level(1)area(a)＝max(areas)；Namely: level(1)area(a)=max(areas);
然后将剩下的区域暂时合为一个区Then temporarily merge the remaining regions into one region
即：level(2)area(b)＝1–area(a)；Namely: level(2)area(b)=1–area(a);
参见图5(c)、(d)，剩下的再进行二级排序划分See Figure 5(c), (d), and the rest are divided into two levels of sorting
level(3):area(c)＝area(b)–max(area(b))；level(3):area(c)=area(b)–max(area(b));
以此类推，用这种方法不断进行索引排序，最终完成所有的区域，最后就会产生根据区域和数据量大小产生分层索引。By analogy, using this method to continuously perform index sorting, and finally complete all areas, and finally generate hierarchical indexes based on the size of the area and data volume.
所述三维地图显示与浏览系统通过前台显示界面、后台系统、三维地图数据库系统、3D视窗进行3D实景地图的调用和显示。前台显示界面负责接收、传达指令，进行3D实景地图显示，后台系统负责接收前台显示界面传达的指令，经数据处理将结果传递给前台显示界面进行显示表达，三维地图数据库系统负责对建筑、地形、属性、高程等信息进行分类、分块、分区存储，3D视窗是3D实景地图的显示窗口。The three-dimensional map display and browsing system calls and displays the 3D real-scene map through the foreground display interface, the background system, the three-dimensional map database system, and the 3D window. The front display interface is responsible for receiving and conveying instructions, and displaying 3D real scene maps. The background system is responsible for receiving instructions conveyed by the front display interface, and passing the results to the front display interface for display and expression after data processing. The 3D map database system is responsible for building, terrain, Attributes, elevation and other information are classified, divided into blocks, and stored in partitions. The 3D window is the display window of the 3D real map.
基于http5绘制显示界面，读取3D视窗口中的输入信息，通过三维地图数据库系统调用区域内的数据信息，包含模型，贴图，属性等信息，最终绘制在计算机视图中。Draw the display interface based on http5, read the input information in the 3D view window, call the data information in the area through the 3D map database system, including the model, texture, attribute and other information, and finally draw it in the computer view.
三维地图数据库系统存储二维地图信息，三维高程信息，属性信息等，在3D实景地图中，三维模型信息尤其是纹理贴图数据的数据量非常庞大，本实施例通过识别3D视窗和地物的距离来判别调用数据的层级和数据类型，当3D视窗和地物之间的距离超过固定阈值，所述三维地图显示与浏览系统只调用三维模型数据和最小包围盒数据，当3D视窗和地物之间的距离小于固定阈值，所述三维地图显示与浏览系统调用三维模型数据和纹理数据。The 3D map database system stores 2D map information, 3D elevation information, attribute information, etc. In the 3D real scene map, the data volume of 3D model information, especially the texture map data, is very large. In this embodiment, the distance between the 3D window and the ground object To distinguish the level and data type of the calling data, when the distance between the 3D window and the feature exceeds a fixed threshold, the 3D map display and browsing system only calls the 3D model data and the minimum bounding box data, when the distance between the 3D window and the feature If the distance between them is less than a fixed threshold, the 3D map display and browsing system invokes 3D model data and texture data.
| Application Number | Priority Date | Filing Date | Title |
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| CN201710235044.6ACN107170033A (en) | 2017-04-12 | 2017-04-12 | Smart city 3D live-action map systems based on laser radar technique |
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| CN201710235044.6ACN107170033A (en) | 2017-04-12 | 2017-04-12 | Smart city 3D live-action map systems based on laser radar technique |
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| CN107170033Atrue CN107170033A (en) | 2017-09-15 |
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| CN201710235044.6APendingCN107170033A (en) | 2017-04-12 | 2017-04-12 | Smart city 3D live-action map systems based on laser radar technique |
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