公开(公告)号：US11972507B2

公开(公告)日：2024-04-30

申请号：US17440221

申请日：2019-04-03

Applicant: NANJING POLAGIS TECHNOLOGY CO. LTD

Inventor： Liangchen Zhou ,  Zhengyuan Lv ,  Guonian Lv

IPC: G06T11/00 ,  G06T7/60 ,  G06T7/70 ,  G06T15/20 ,  H04N23/698

CPC classification number: G06T11/00 ,  G06T7/60 ,  G06T7/70 ,  G06T15/205 ,  H04N23/698 ,  G06T2207/20068 ,  G06T2207/30244 ,  G06T2210/56

Abstract: Disclosed is an orthophoto map generation method based on a panoramic map, the method comprising: overlapping and fusing a panoramic map and panoramic field depth data when the panoramic map is photographed, such that each pixel of the panoramic map has a corresponding field depth value; acquiring a pitch angle and azimuth angle of a reference pixel relative to a photographing device, and in conjunction with a 360 degree feature of a panorama, calculating an azimuth angle and pitch angle, relative to a camera, of an object represented by each pixel; in conjunction with calculation results and geographic coordinates, determined by a positioning device when the panoramic map is photographed, of the camera, calculating a geographic position corresponding to the object represented by each pixel to form point cloud data.