CN-122023108-A - Space parameter measurement method, device, equipment and medium based on plane image

CN122023108ACN 122023108 ACN122023108 ACN 122023108ACN-122023108-A

Abstract

The invention discloses a method, a device, equipment and a medium for measuring spatial parameters based on a plane image. The method includes acquiring a target spatial panoramic image. And carrying out ink card support projection processing on the panoramic image of the target space to construct an expanded image of the target space. And constructing a three-dimensional model according to the target space panoramic image to obtain a three-dimensional target space model. And carrying out image space mapping processing on the target space expanded image and the three-dimensional target space model based on a space mapping rule to obtain image space mapping information between the target space expanded image and the three-dimensional target space model, and carrying out space parameter measurement according to the target space expanded image and the image space mapping information to obtain target space parameter information. According to the invention, the mapping relation is established between the pixels in the unfolded image and the real three-dimensional space coordinates, so that the space data measurement of the plane image is realized, the intuitiveness and the operation convenience of the space measurement are improved, and the stability and the consistency of the space measurement result are ensured.

Inventors

ZHANG ZIXIN
DU GUANGQIAN
DAI YI
Mao Shaobing

Assignees

深圳市博铭维技术股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260127

Claims (10)

1. A planar image-based spatial parameter measurement method, comprising: obtaining a target space panoramic image obtained by uniformly shooting a target space region through image acquisition equipment, wherein the space panoramic image is projected by equidistant rectangular cylinders; carrying out ink card support projection processing on the target space panoramic image to construct a target space unfolding image; Constructing a three-dimensional model according to the target space panoramic image to obtain a three-dimensional target space model of the target space region; And carrying out image space mapping processing on the target space expanded image and the three-dimensional target space model based on a pre-constructed space mapping rule to obtain image space mapping information between the target space expanded image and the three-dimensional target space model, and carrying out space parameter measurement according to the target space expanded image and the image space mapping information to obtain target space parameter information.
2. The method of claim 1, wherein the subjecting the target space panorama image to an ink-card-bracket projection process to construct a target space unfolded image comprises: Carrying out ink card support projection processing on the target space panoramic image to obtain an ink card support projection image; Determining a transverse central axis of the mercator projection image, and cutting the mercator projection image according to a preset cutting proportion based on the transverse central axis as a cutting center to obtain a target space correction image; and performing stitching processing on the target space correction image through an image stitching algorithm to obtain a target space expansion image.
3. The method according to claim 2, wherein the subjecting the target space panorama image to an ink-card-tray projection process to obtain an ink-card-tray projection image comprises: based on a preset projection size, constructing a blank projection image, wherein the blank projection image is a blank ink card support image which is not subjected to projection processing; Determining corresponding projection proportion coordinates of the pixel points to be projected in the blank projection image according to each pixel point to be projected in the blank projection image, wherein the projection proportion coordinates comprise a horizontal normalization proportion and a longitudinal normalization proportion; performing anti-ink card support projection calculation according to the longitudinal normalization proportion, determining a longitudinal proportion coordinate in the target space panoramic image, and determining the transverse normalization proportion as a transverse proportion coordinate in the target space panoramic image; And determining the projection sampling coordinates of the pixel points to be projected in the target space panoramic image according to the transverse proportional coordinates and the longitudinal proportional coordinates, and constructing a mercator projection image according to the projection sampling coordinates corresponding to each pixel point to be projected.
4. The method according to claim 1, wherein the performing three-dimensional model construction according to the target space panoramic image to obtain a three-dimensional target space model of the target space region comprises: Constructing a three-dimensional model according to the target space panoramic image, and generating a three-dimensional initial space model; And carrying out scale recovery processing on the three-dimensional initial space model according to a predetermined scale constraint condition to obtain a three-dimensional target space model corresponding to the target space region, wherein the scale constraint condition comprises, but is not limited to, installation parameters of imaging equipment, external calibration information, an auxiliary ranging device and a reference structure with a known size.
5. The method according to claim 1, wherein the performing image space mapping processing on the target space expanded image and the three-dimensional target space model based on a pre-constructed space mapping rule to obtain image space mapping information therebetween includes: Determining first mapping relation information between the space point and a pixel point in the target space panoramic image aiming at each space point in the three-dimensional target space model; determining second mapping relation information between the pixel points and the pixel points in the target space panoramic image aiming at each pixel point in the target space expanded image; and determining image space mapping information between the target space expanded image and the three-dimensional target space model according to the first mapping relation information and the second mapping relation information based on a pre-constructed space mapping rule.
6. The method according to claim 1 or 5, wherein the spatial mapping rule comprises: according to the distance relation between the space points in the three-dimensional target space model and the image acquisition equipment, preferentially selecting the space point closest to the image acquisition equipment for space mapping; according to the visibility relation of the space points in the three-dimensional target space model, the shielded space points are eliminated; And selecting a space point with smaller projection error for space mapping according to the projection stability of the space point in the three-dimensional target space model in the target space expansion image.
7. The method according to claim 1, wherein the performing spatial parameter measurement according to the target spatial unfolded image and the image spatial mapping information to obtain target spatial parameter information comprises: Acquiring a spatial parameter measurement operation triggered in the target spatial expansion image; Invoking target mapping relation information corresponding to the spatial parameter measurement operation from the image spatial mapping information; And determining space coordinate information in the three-dimensional target space model according to the target mapping relation information, and calculating target space parameter information according to the space coordinate information, wherein the target space parameter information comprises, but is not limited to, length, area, distance and angle.
8. A planar image-based spatial parameter measurement apparatus, comprising: the panoramic image acquisition module is used for acquiring a target space panoramic image obtained by uniformly shooting a target space region through the image acquisition equipment, wherein the space panoramic image is projected by equidistant rectangular cylinders; the expanded image construction module is used for carrying out ink card support projection processing on the target space panoramic image to construct a target space expanded image; the space model construction module is used for carrying out three-dimensional model construction according to the target space panoramic image to obtain a three-dimensional target space model of the target space region; The space parameter determining module is used for carrying out image space mapping processing on the target space expansion image and the three-dimensional target space model based on a space mapping rule constructed in advance to obtain image space mapping information between the target space expansion image and the three-dimensional target space model, and carrying out space parameter measurement according to the target space expansion image and the image space mapping information to obtain target space parameter information.
9. An electronic device, the electronic device comprising: at least one processor, and A memory communicatively coupled to the at least one processor, wherein, The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the planar image based spatial parameter measurement method of any one of claims 1-7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions for causing a processor to implement the planar image based spatial parameter measurement method of any one of claims 1-7 when executed.

Description

Space parameter measurement method, device, equipment and medium based on plane image Technical Field The present invention relates to the field of image parameter measurement technologies, and in particular, to a method, an apparatus, a device, and a medium for measuring spatial parameters based on a planar image. Background The panoramic unfolding technique has been widely used in the field of closed space detection such as pipeline detection and tunnel inspection. At present, the technology is mainly used for visual display of images and manual identification of apparent defects, and image pixels only bear two-dimensional plane coordinate information and lack a definite and stable mapping relation with three-dimensional physical space coordinates. In practical applications, if the dimension measurement is required based on the unfolded view, the dimension measurement is usually manually estimated by an operator by placing a scale in the scene, or assisted conversion is performed by means of a local laser ranging device. The method has the advantages of complex operation flow, low efficiency, obvious influence on measurement accuracy by human factors, equipment installation errors and image deformation, and insufficient result repeatability and reliability. Especially when the unfolded view is generated by multi-view image stitching or clipping, remapping and other processes are performed to adapt to different viewing requirements, the corresponding relationship between the pixel position and the real space point will be further distorted and distorted. This fundamental defect results in the inability to directly obtain accurate real world size information from the resulting unfolded image, severely restricting the deep application of the technique in quantitative detection and analysis. Disclosure of Invention The invention provides a space parameter measurement method, a device, equipment and a medium based on a plane image, which are used for realizing space data measurement of the plane image by establishing a mapping relation between pixels in an unfolded image and real three-dimensional space coordinates, thereby improving intuitiveness and operation convenience of space measurement and ensuring stability and consistency of space measurement results. According to an aspect of the present invention, there is provided a spatial parameter measurement method based on a planar image. The method comprises the following steps: obtaining a target space panoramic image obtained by uniformly shooting a target space region through image acquisition equipment, wherein the space panoramic image is projected by equidistant rectangular cylinders; carrying out ink card support projection processing on the target space panoramic image to construct a target space unfolding image; Constructing a three-dimensional model according to the target space panoramic image to obtain a three-dimensional target space model of the target space region; And carrying out image space mapping processing on the target space expanded image and the three-dimensional target space model based on a pre-constructed space mapping rule to obtain image space mapping information between the target space expanded image and the three-dimensional target space model, and carrying out space parameter measurement according to the target space expanded image and the image space mapping information to obtain target space parameter information. According to another aspect of the present invention, there is provided a spatial parameter measurement apparatus based on a planar image. The device comprises: the panoramic image acquisition module is used for acquiring a target space panoramic image obtained by uniformly shooting a target space region through the image acquisition equipment, wherein the space panoramic image is projected by equidistant rectangular cylinders; the expanded image construction module is used for carrying out ink card support projection processing on the target space panoramic image to construct a target space expanded image; the space model construction module is used for carrying out three-dimensional model construction according to the target space panoramic image to obtain a three-dimensional target space model of the target space region; The space parameter determining module is used for carrying out image space mapping processing on the target space expansion image and the three-dimensional target space model based on a space mapping rule constructed in advance to obtain image space mapping information between the target space expansion image and the three-dimensional target space model, and carrying out space parameter measurement according to the target space expansion image and the image space mapping information to obtain target space parameter information. According to another aspect of the present invention, there is provided an electronic apparatus including: at least one processor, and A memory communicatively coupled