Visual positioning device and three-dimensional surveying and mapping system and method based on same

A visual positioning-based three-dimensional surveying and mapping method, comprising the following steps:

• a) shooting, by a visual positioning device, a first infrared image and a first real scene image, determining absolute position information of the visual positioning device according to information sent from an active signal point, transmitting the first infrared image, the first real scene image and the absolute position information of the visual positioning device to an image storage unit in an image processing server for storage, and recording a first shooting time;
• b) determining, by an image processing unit, whether a number of position identification points in the first infrared image is at least three and the position identification points are not on a same straight line;
• if yes, selecting one or more groups of at least three points that are not on a same straight line and constructing a first family polygon, and performing step c);
• otherwise, returning to the step a);
• c) shooting, by the visual positioning device, a second infrared image and a second real scene image, storing the second infrared image and the second real scene image, and recording a second shooting time;
• d) determining whether a number of infrared identification points in the second infrared image is at least three and the infrared identification points are not on a same straight line;
• if yes, selecting one or more groups of at least three points that are not on a same straight line and constructing a second family polygon, and performing step e);
• otherwise, returning to the step c);
• e) calculating a relative displacement and/or shape change between the first family polygon and the second family polygon, obtaining relative displacement and attitude information of the moving target at the second shooting time relative to the first shooting time, and implementing precise positioning based on the absolute position information;
• and
• f) obtaining, from the image storage unit according to precise positioning information, a corresponding real scene image and neighboring real scene images overlapping the real scene image, reconstructing a three-dimensional model, and sending the three-dimensional model to the at least one visual positioning device by broadcasting.