CN103226838A - Real-time spatial positioning method for mobile monitoring target in geographical scene - Google Patents
Real-time spatial positioning method for mobile monitoring target in geographical scene Download PDFInfo
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Abstract
The invention discloses a real-time spatial positioning method for a mobile monitoring target in a geographical scene, which aims at solving the problems of great difficulty, time consumption and the like due to the fact that spatial positioning of a target in a video monitoring system requires artificial interpretation. The method comprises the steps of adopting a three-dimensional scene modeling technology, constructing a three-dimensional virtual geographical scene virtual imaging and a target spatial positioning computing system, rendering the existing high-precision digital elevation model or a three-dimensional scene model of a monitoring area, generating a three-dimensional virtual scene, setting parameters such as positions, postures and focal distances of cameras in a shooting process of each video image as virtual camera parameters in the scene according to a consistency relation between OpenGL (Open Graphics Library) perspective imaging and a photogrammetric principle, generating a simulated image, and reversely deducing three-dimensional geographic coordinates of the target according to consistency of the video image and the simulated image, and a reverse process of the perspective imaging. According to the real-time spatial positioning method, the quick positioning of a field mobile target can be achieved by utilizing a video monitoring image in a wide-range geographic environment.
Description
Technical field
The present invention relates to fields such as video monitoring and geographical information technology.Obtain the real-time video information of monitoring objective merely compares with traditional video surveillance, the video monitoring system that combines with geographical information technology can be brought into play the visual advantage of video monitoring system realtime graphic, can give full play to the characteristics of geographical information technology again, in time feed back the spatial positional information of monitoring objective, promote the efficient of safety precaution work.The invention provides the real-time space-location method of mobile monitor target in a kind of geographical scene, this method is applicable to the object space location in the outdoor video monitoring system on a large scale, reduces the workload of artificial location, improves video monitoring engineering application quality.
Technical background
The video monitoring technology has obtained application more and more widely, as management of public safety, environmental monitoring, legacy protection, scenic spot management, fire monitoring etc. with characteristics such as it are directly perceived, accurate, timely, information capacity is abundant in every field.In application of practical project, still with manual method identification, discovery, tracing and monitoring target, system requirements monitoring attending personnel was made corresponding response and decision-making by the video image of seeing when most of video monitoring system was runed.Situations such as these supervisory systems are used for having the monitoring fixed angle more, coverage is little and known.But on a large scale, in the complicated physical geographic environment, because of monitoring camera constantly rotates, lacks necessary factors such as ground reference thing, attending personnel is difficult to judge apace and the residing present position of tracked mobile target.
Along with the development of technology such as computer stereo vision, photogrammetry, Digital Image Processing and geography information, multi-disciplinary mixing together is the new way of dealing with problems.Occur some at present and solved the thinking and the method for video image object space location.The perspective imaging of computer graphics graphics standard storehouse OpenGL is consistent with photogrammetric principle, can utilize the inverse process of OpenGL imaging to try to achieve the locus of image object like this.Utilize the CCD digital camera that known point is photographed and learn model, thereby determine its locus in the hope of peek.Video and geography information are combined, proposed geographical video notion.Geographical video has been inherited the measured distance and bearing that map has, the characteristics that spatial relationship is clear and definite; Have video data again concurrently and have characteristics such as real-time, true, had some correlative studys at home and abroad, every frame video is added geographical index tab or metadata, realize that every frame video is related with positional information.Simultaneously, geographical video obtains Preliminary Applications: automobile navigation, the geographical video in campus etc.This coupling process can be realized geographical environment and combining of (or specific geographic object) video among a small circle, satisfies demands such as sub-district security protection, traffic monitoring.Yet, along with the performance of monitoring collecting device improves constantly, rig camera monitoring range with high definition, Penetrating Fog performance reaches 20 kilometers far away, in the large-scale outdoor environment monitoring of complexity, only need to lay a spot of control point, get final product the behavioral activity of various moving targets in the tracing area in the high-altitude.In this case, how fast, find in real time, location and tracked mobile target just become a significant challenge.
OpenGL is a kind of open API storehouse of graphics industry standard.It is powerful, by a series of functions such as graph transformation, photo-irradiation treatment, texture, projective transformations, realizes the simulation of three-dimensional body in the real world (as the mobile monitor target) in computing machine.The main process of OpenGL imaging is: in the model space, three-dimensional body through the model transferring matrix M be rotated, translation and convergent-divergent change, to determine its size, position and shape; Carry out perspective transform through perspective projection matrix P again, formation rule is observed body; Through viewing matrix V conversion, realize three-dimensional model to the conversion of screen image coordinate, realize that the two dimension of three-dimensional model shows.The OpenGL perspective imaging is consistent with photogrammetric principle.The formula of matrix multiple is:
[x y 1]
T＝V·P·M[X Y Z 1]
T (1)
OpenGL function glFrustum (X
1, X
r, Y
b, Y
t, Z
n, Z
f) realization perspective projection transformation, wherein (X
l, Y
b, Z
n), (X
r, Y
t, Z
n) be respectively in the view frustums the lower left corner and upper right corner coordinate on the nearly cutting face, Z
n, Z
fDetermined the cutting face near far away of projection view frustums respectively.The defined projection cone of glFrustum can embody photogrammetric elements of interior orientation.The length and width of supposing film (CCD) are respectively Lx, Ly, and utilizing geometric ratio to concern can be with elements of interior orientation (focal distance f and principal point coordinate x
0, y
0) be set in each parameter of one-tenth transform glFrustum of OpenGL, thereby simulation actual camera projection result, corresponding relation such as formula 2.
Calculate corresponding projection matrix P according to formula 2, as formula 3.
The perspective projection image to be mapped on the computer screen, and consistent with the actual camera imaging results, must corresponding viewing matrix be set according to length and width Lx, the Ly of CCD, as formula 4.
In photogrammetric, the elements of exterior orientation meaning is the position and the attitude of chronophotography moment photo centre.Suppose that elements of exterior orientation camera position parameter is (X
s, Y
s, Z
s), the angle element in the elements of exterior orientation is that (Ψ, ω к), are used for determining that the photography light beam is in the photography spatial attitude of moment.Thereby can calculate outer parameter matrix, as shown in Equation 5.
OpenGL perspective projection imaging is consistent with the principle of photogrammetric imaging in sum, and each parameter of OpenGL projection imaging and photogrammetricly have a clear and definite corresponding relation.
Summary of the invention
The real-time space-location method that the purpose of this invention is to provide mobile monitor target in a kind of geographical scene.
The real-time space-location method of monitoring objective in a kind of geographical scene of the present invention may further comprise the steps:
Collect or measure the high accuracy number elevation model and the high-definition remote sensing image data of monitoring geographic area;
Utilize described high accuracy number elevation model and high-definition remote sensing image data to set up the three-dimensional virtual scene of guarded region;
In described three-dimensional virtual scene, set up virtual camera, make its locus consistent with the video camera locus and the attitude of shooting monitoring objective video image with attitude;
Described virtual camera obtains emulating image by the described video camera imaging process of simulation;
Obtain the pixel coordinate of pairing monitoring objective in every frame video image in the emulating image;
According to the inverse process of monitoring objective pixel coordinate and OpenGL perspective projection virtual image in every frame video image, extrapolate the coordinate of mobile monitor target in the single frames video image, as world coordinates;
Wherein, described OpenGL is computer graphics graphics standard storehouse.
Preferably, the step of setting up virtual camera in described three-dimensional virtual scene comprises:
Elements of exterior orientation, elements of interior orientation and the intrinsic parameter of video camera when obtaining every frame video image and taking;
Utilize elements of exterior orientation, elements of interior orientation and the intrinsic parameter of described video camera, the virtual camera imaging parameters is set;
Wherein, described elements of exterior orientation comprises the position and the attitude of video camera, and described elements of interior orientation comprises focus of camera and principal point coordinate, and described intrinsic parameter comprises length and width and the film length and width of unit picture element on egative film.
Preferably, the described step of utilizing described high accuracy number elevation model and high-definition remote sensing image data to set up the three-dimensional virtual scene of monitoring geographic area comprises:
The increase income landform generation module exploitation of three-dimensional scenic drawing engine of employing forms three-dimensional scenic virtual image and video image object locating system;
Described three-dimensional scenic virtual image and video image object locating system as ground texture, generate three-dimensional virtual scene with high-definition remote sensing image data according to guarded region high accuracy number elevation model or three-dimensional scene models.
Preferably, the described step of obtaining the s internal and external orientation of camera comprises:
The parameters such as length and width, position and attitude that the s internal and external orientation of camera was passed focal length, film back by the digital The Cloud Terrace in the video monitoring hardware system when the every frame video image of guarded region was taken directly or calculate, wherein attitude comprises the horizontal azimuth of camera, the well-behaved straight angle of pitch;
Focal range and the CCD intrinsic according to video camera go up the distance of unit picture element on X, Y direction, carry out camera calibration, calculate the coordinate figure of principal point under the different focal situation, thereby set up the coordinated indexing table of principal point under the different focal.
Preferably, described virtual camera comprises by the step of simulating described video camera imaging process and obtaining emulating image:
According to handling the s internal and external orientation of video image when taking, from the principal point coordinated indexing table of being set up, retrieve the principal point coordinate of this frame video image, utilize each parameter of one-tenth transform of OpenGL and the elements of interior orientation of camera to have clear and definite corresponding relation then, calculate projection matrix;
According to the length and width of CCD film, the viewing matrix of computation model;
According to the camera position and the attitude parameter of elements of exterior orientation, calculate outer parameter matrix M, then outer parameter matrix M is arranged to OpenGL model view matrix v;
Elder generation's designated model viewing matrix is current operation matrix, is unit matrix with the model view arranged in matrix, and matrix M is multiply by on the last right side, and elements of exterior orientation is set in the virtual camera;
According to described projection matrix P, model viewing matrix and virtual camera, utilize OpenGL perspective projection imaging process, simulation actual camera imaging process and obtain the emulating image of guarded region.
Preferably, described inverse process according to monitoring objective pixel coordinate and OpenGL perspective projection virtual image in every frame video image, the step of extrapolating the coordinate of mobile monitor target in the single frames video image comprises:
Import the pixel coordinate of mobile monitor target in the single frames video image into emulating image, calculate the pixel coordinate of monitoring objective on emulating image, then according to the inverse process of OpenGL virtual image, calculate the imaging projection ray of target in three-dimensional geographic space, and ray and three-dimensional scenic asked friendship, the intersection point that obtains promptly is the real three-dimensional geographic coordinate of target.
Preferably, the inverse process of OpenGL virtual image is expressed as
[X Y Z 1]
T＝M
-1·P
-1·V
-1[winX winY winZ]
T；
Wherein [X Y Z 1]
TRepresent the homogeneous coordinates of monitoring objective, [winX winy winZ]
TRepresent screen coordinate, X, Y, Z are the Three-dimension Target geographic coordinate, M is the model view matrix, the outer parameter matrix of corresponding true camera, P is a projection matrix, the intrinsic parameter matrix of corresponding true camera, V is a viewing matrix, and M
-1, P
-1, V
-1Be respectively its corresponding inverse matrix, winX and winY are screen coordinate, and winZ is the depth value of screen coordinate correspondence.
With respect to prior art; the invention has the beneficial effects as follows: can utilize video monitoring image to realize the quick location of open-air moving target on a large scale in the geographical environment, thereby natural resource management and protection, the auxiliary emergent decision-making of disaster, etc. the aspect will play a significant role.
Description of drawings
Fig. 1 is the synoptic diagram of the real-time space-location method of mobile monitor target in a kind of geographical scene of the present invention;
Fig. 2 is a synoptic diagram of ray and three-dimensional scenic being asked friendship of the present invention.
Embodiment
The present invention will be further described below in conjunction with drawings and Examples.
Fig. 1 has shown the real-time space-location method of mobile monitor target in a kind of geographical scene of the present invention, may further comprise the steps:
Collect or measure the high accuracy number elevation model and the high-definition remote sensing image data of monitoring geographic area;
Utilize described high accuracy number elevation model and high-definition remote sensing image data to set up the three-dimensional virtual scene of guarded region;
Setting up virtual camera in described three-dimensional virtual scene (can become transform to set up virtual camera by OpenGL is set, these become transform to comprise projection matrix, observation matrix and viewing matrix), make its locus consistent with the video camera locus and the attitude of shooting monitoring objective video image, thereby make the intrinsic parameter and the elements of interior orientation of the parameter employing real camera of virtual camera with attitude;
Described virtual camera obtains emulating image by the described video camera imaging process of simulation;
Obtain the pixel coordinate of pairing monitoring objective in every frame video image in the emulating image; The pixel coordinate of monitoring objective or the monitoring objective pixel coordinate in every frame video image obtains when digital camera or video camera are taken pictures to monitoring objective usually;
According to the inverse process of monitoring objective pixel coordinate and OpenGL perspective projection virtual image in every frame video image, extrapolate the world coordinates of mobile monitor target in the single frames video image;
Wherein, described OpenGL is computer graphics graphics standard storehouse.
The step of setting up virtual camera in the three-dimensional virtual scene of the present invention comprises:
Elements of exterior orientation, elements of interior orientation and the intrinsic parameter of video camera when obtaining every frame video image and taking;
Utilize elements of exterior orientation, elements of interior orientation and the intrinsic parameter of described video camera, the virtual camera imaging parameters is set;
Wherein, described elements of exterior orientation comprises the position and the attitude of video camera, and described elements of interior orientation comprises focus of camera and principal point coordinate, and described intrinsic parameter comprises length and width and the film length and width of unit picture element on egative film.
The step of the virtual three-dimensional scene of structure monitoring of the present invention geographic area comprises:
The increase income landform generation module exploitation of three-dimensional scenic drawing engine of employing forms three-dimensional scenic virtual image and video image object locating system;
Described three-dimensional scenic virtual image and video image object locating system as ground texture, generate three-dimensional virtual scene with remote sensing image according to guarded region high accuracy number elevation model or three-dimensional scene models.
The step of obtaining the s internal and external orientation of camera of the present invention comprises:
The parameters such as length and width, position and attitude that the s internal and external orientation of camera was passed focal length, film back by the digital The Cloud Terrace in the video monitoring hardware system when the every frame video image of guarded region was taken directly or calculate, wherein attitude comprises the horizontal azimuth of camera, the well-behaved straight angle of pitch;
Focal range and the CCD intrinsic according to video camera go up the distance of unit picture element on X, Y direction, carry out camera calibration, calculate the coordinate figure of principal point under the different focal situation, thereby set up the coordinated indexing table of principal point under the different focal.
Virtual camera of the present invention comprises by the step of simulating described video camera imaging process and obtaining emulating image:
According to handling the s internal and external orientation of video image when taking, from the principal point coordinated indexing table of being set up, retrieve the principal point coordinate of this frame video image, utilize each parameter of one-tenth transform of OpenGL and the elements of interior orientation of camera to have clear and definite corresponding relation then, calculate projection matrix;
According to the length and width of CCD film, the viewing matrix of computation model;
According to the camera position and the attitude parameter of elements of exterior orientation, calculate outer parameter matrix M, then outer parameter matrix M is arranged to OpenGL model view matrix v.Elder generation's designated model viewing matrix is current operation matrix (can realize by the function glMatrixModel (GL_MODELVIEW) of OpenGL), with the model view arranged in matrix is unit matrix, matrix M (realizing by calling glMultMatrixd (M)) is multiply by on the last right side, and elements of exterior orientation is set in the virtual camera;
According to described projection matrix P, model viewing matrix and virtual camera, utilize OpenGL perspective projection imaging process, simulation actual camera imaging process and the emulating image that obtains guarded region are (promptly, at first create a view window, the opengl imaging results is outputed in the window, and this window content displayed promptly is an emulating image).
Outer parameter matrix M is calculated as follows formula:
Wherein, Xs, Ys, Zs are three vertical elements that are used to describe the camera position coordinate figure, and ψ, ω, κ are three corresponding angle elements.
Inverse process according to monitoring objective pixel coordinate and OpenGL perspective projection virtual image in every frame video image of the present invention, the step of extrapolating the coordinate of mobile monitor target in the single frames video image comprises:
Import the pixel coordinate of mobile monitor target in the single frames video image into emulating image, calculate monitoring objective and (in emulating image, find corresponding screen coordinate winX, winY, utilize formula at the pixel coordinate on the emulating image
Obtain pixel coordinate.Wherein winX, winY are screen coordinate, wr, hr are that real image is wide and high, wv, hv are analogous diagram image width and height, u, v are the pixel coordinate of target on real image), then according to the inverse process of OpenGL virtual image, calculate the imaging projection ray of target in three-dimensional geographic space, and ray and three-dimensional scenic are asked friendship, the intersection point that obtains promptly is the real three-dimensional geographic coordinate of target.
Fig. 2 has shown that ray and three-dimensional scenic ask the situation of friendship, and as shown in Figure 2, ray P0P and Plane intersects are in a P, and the normal vector on plane is N, and the distance of line segment P0P is t.Suppose the definition of the parametric equation of ray P0P and plane equation suc as formula:
Ray definition: P (t)=p0+tR
Plane definition: p (x) * N=d
In the formula: P (t) is the arbitrfary point on the ray, and P0 is the ray initial point, and t represents the distance with initial point, and R is the direction of ray, and P (x) is the point on the plane, and N is the normal on plane, and d is the distance that initial point is arrived on the plane.Calculate intersecting point coordinate.
The API that provides ray to ask friendship among the OSG can realize simply that ray and landform are asked hand over to calculate.OsgViewer is by api interface accept, with 2 on the ray as parameter, calculate the intersection point of ray and scenario node, and intersection point is stored in the osgUtil::LineSegmentIntersector::Intersections common factor detected object, the getWorldIntersectPoint () interface by the common factor detected object can obtain intersection value.
The inverse process of OpenGL virtual image of the present invention is expressed as:
[X Y Z 1]
T＝M
-1·P
-1·V
-1[winX winY winZ]
T；
Wherein [X Y Z 1]
TRepresent the homogeneous coordinates of monitoring objective, [winX winy winZ]
TRepresent screen coordinate, X, Y, Z are the Three-dimension Target geographic coordinate, M is the model view matrix, the outer parameter matrix of corresponding true camera, P is a projection matrix, the intrinsic parameter matrix of corresponding true camera, V is a viewing matrix, and M
-1, P
-1, V
-1Be respectively its corresponding inverse matrix, winX and winY are screen coordinate, and winZ is the depth value of screen coordinate correspondence.
In order to make those of ordinary skills better understand the present invention, more above-mentioned three-dimensional model method for building up and space orientation are further described below in conjunction with specific embodiment.
The video monitoring system that actual high precision video camera+digital The Cloud Terrace is formed is simulated by three dimensional field sight spot cloud and the photo acquisition system of this specific embodiment to adopt the synchronous photographing camera Nikon D300s of territorial laser scanning instrument RIEGL V400+ (camera lens is AFNikkor 20mm f/2.8D) to form.In certain campus of sample plot point selection.In the experiment place, the diverse location of range sweep instrument is placed the instantaneous position that 13 reflector plates are represented 13 moving targets, and reflector plate is close to ground.When experiment is carried out, will on the three-dimensional laser scanner The Cloud Terrace, camera be installed, be used to write down the position and the attitude of camera.With three-dimensional laser scanner angular resolution being carried out in this zone is the scanning of 0.04 high precision, obtain this regional high precision cloud data (the some cloud coordinate that comprises each reflector plate), and scanning area taken a picture synchronously to obtain the pixel coordinate of reflector plate in real image, the Duplication of photo is 20%, takes 3 altogether to realize all standing of reflector plate setting area.
(1) three-dimensional modeling of geographical scene
The three-dimensional model of geographical scene adopts laser point cloud data to carry out three-dimensional reconstruction.For result of calculation being compared with cloud data, three-dimensional scenic makes up and adopts the employed engineering coordinate system of scanner.The three-dimensional scenic building process is as follows:
1) cloud data of selection reflector plate region, carrying out the vacuate that x, y, z direction of principal axis precision be 0.1m handles, with the engineering coordinate system is that coordinate reference exports as the ASCII fromat text data, utilizes applied geography infosystem software ArcGIS9.3 to generate digital elevation model;
2) digital elevation model that obtains is imported three-dimensional scenic virtual image and object locating system, make up three-dimensional virtual scene.
(2) three-dimensional scenic virtual image
Because position and attitude when camera is taken every photo (corresponding to the single-frame images of video camera) are stored in the three-dimensional laser scanner system with matrix form, therefore in to virtual camera imaging array computation process, the calculating that need relate to a plurality of correlation matrixes of three-dimensional laser scanner system is found the solution.
1) projection matrix calculates
In order to make the analog imaging result consistent with the video camera pictures taken, the OpenGL imaging parameters needs when taking elements of interior orientation, camera position, the attitude of camera corresponding on the spot.At first according to the intrinsic parameter of digital camera, promptly focal distance f is 20mm, unit picture element on X, Y direction apart from d
x, d
yBe 0.0055mm, the L of film
x, L
yBe respectively 23.584mm, 15.664mm, carry out camera calibration, obtaining the principal point coordinate is x
0=0.222mm, y
0=0.1875mm.Can draw corresponding virtual camera projection matrix P.
After current arranged in matrix is projection matrix,, can simulate the projection result of true camera by OpenGL function glMultMatrixd (P).Next, to setting of virtual camera position and attitude, make it consistent with true camera.
2) model view matrix computations
The position of camera and attitude can obtain by the transform operation of three kinds of coordinate systems of three-dimensional laser scanner system.Three kinds of coordinate systems are respectively: scanner coordinate system SOCS (Scanner ' s Own Coordinate System); Camera coordinates is CMCS (Camera Coordinate System); Engineering coordinate system PRCS (Project Coordinate System).Coordinate transformation process comprises following 2 steps:
1. engineering coordinate system (PRCS) is to the conversion of scanner coordinate system (SOCS)
At each scanning website, a PRCS coordinate system is all arranged, write down SOCS position and orientation therein, position and azimuth information characterize by 6 parameters, and wherein 3 parameters are used for characterizing positional information, and 3 parameters are used for characterizing its rotational component.Here represent with SOP, as shown in Equation 7.
Wherein, r
11To r
33Be illustrated in three the direction rotational components of x, y, z in the rotation matrix of a 3*3.
Suppose that PRCS is C
p, SOCS is C
s, engineering coordinate system can be transformed into the scanner coordinate system according to formula 8.
C
s＝SOP
-1*C
p (8)
2. scanner coordinate system (SOCS) is to the conversion of camera coordinates system (CMCS)
The coordinate of supposing camera is C
cThe transformational relation of two kinds of coordinate systems can be expressed with formula 9.
Above camera is installed matrix M
MountBe used to write down camera and be installed in behind the scanner The Cloud Terrace and the relation between the scanner, wherein, R is a rotation matrix, and T is the coordinate vector of scanner in camera coordinates.Camera Z axle with scanner in shooting process is that turning axle obtains photo, therefore needs a matrix to write down camera at angle and the attitude matrix of each moment with respect to scanner, here represents with COP, as shown in Equation 10.
In conjunction with (8) (9), can be with the three-dimensional laser scanner coordinate transformation to camera coordinates, conversion formula is suc as formula 11.
C
c＝M
mount*COP
-1*C
s (11)
According to formula (8) (11), engineering coordinate system can be transformed into camera coordinates system, conversion formula is suc as formula 12.
C
c＝M
mount*COP
-1*SOP
-1*C
P (12)
The present embodiment three dimensional point cloud is to be reference with engineering coordinate system (PRCS), and three-dimensional virtual scene also is to be structured under the engineering coordinate system, therefore with engineering coordinate system (PRCS) as the world coordinate system in the camera imaging model, according to above coordinate transformation relation, the external parameter matrix M=M when camera is taken every image as can be known about three-dimensional laser scanner
Mount* COP
-1* SOP
-1, the model view matrix of corresponding emulating image just.
3) virtual image
By above-mentioned matrix operation, the model view matrix of captured 3 photos is respectively M1 in the time of can calculating laser scanning, M2, M3, the projection matrix and the model view matrix that draw are imported three-dimensional scenic virtual image and object locating system respectively, position, attitude and the projection imaging parameter of virtual camera are set, can corresponding generation 3 width of cloth emulating images.The distribution of reflector plate the emulation picture is consistent with real pictures as can be seen from analog result, but virtual camera simulates real reality machine imaging process, in the principle of checking 1OpenGL perspective imaging with when photogrammetric principle is consistent, for the space orientation calculating of moving target provides the foundation.
(3) video image object space position calculation
According to the pixel coordinate of reflector plate in photo,, can calculate the three dimensional space coordinate of reflector plate by above-mentioned object space localization method.Result of calculation and three-dimensional laser are measured the gained data compare, obtain the error on X, Y, three coordinate components of Z.The volume coordinate of each reflector plate and error are shown in table 1, table 2, table 3 in 3 width of cloth images.As can be seen, the error amount of 3 components is mostly between+0.1m, and each reflector plate and camera distance are in the 2-15m scope.The unit distance error amount that obtains can be found from each table, and all values is all between 0.728%-5.396%, and is average 1.82%, and the space orientation errors of moving target may be at 18 and 200 meters at a distance roughly to estimate 1000 meters and ten thousand metres.This result has important application value for the real-time space orientation that realizes open-air moving target in the geographical environment on a large scale by video monitoring image.
Table 1 image 1 target localization result of calculation and error (unit: rice)
Table 2 image 2 target localization result of calculations and precision analysis (unit: rice)
The target localization result of calculation of table 3 image 3 and precision analysis (unit: rice)
Although above the present invention is had been described in detail, the invention is not restricted to this, those skilled in the art of the present technique can carry out various modifications according to principle of the present invention.Therefore, all modifications of doing according to the principle of the invention all should be understood to fall into protection scope of the present invention.
Claims (8)
1. the real-time space-location method of monitoring objective in the geographical scene is characterized in that, may further comprise the steps:
Set up the three-dimensional virtual scene of monitoring geographic area;
In described three-dimensional virtual scene, set up virtual camera, make its locus consistent with the video camera locus and the attitude of shooting monitoring objective video image with attitude;
Described virtual camera obtains emulating image by the described video camera imaging process of simulation;
Obtain the pixel coordinate of pairing monitoring objective in every frame video image in the emulating image;
According to the inverse process of monitoring objective pixel coordinate and OpenGL perspective projection virtual image in every frame video image, extrapolate the coordinate of mobile monitor target in the single frames video image;
Wherein, described OpenGL is computer graphics graphics standard storehouse.
2. method according to claim 1 is characterized in that, the step of setting up the three-dimensional virtual scene of monitoring geographic area comprises:
Collect or measure the high accuracy number elevation model and the high-definition remote sensing image data of monitoring geographic area;
Utilize described high accuracy number elevation model and high-definition remote sensing image data to set up the three-dimensional virtual scene of monitoring geographic area.
3. method according to claim 1 and 2 is characterized in that, the step of setting up virtual camera in described three-dimensional virtual scene comprises:
Elements of exterior orientation, elements of interior orientation and the intrinsic parameter of video camera when obtaining every frame video image and taking;
Utilize elements of exterior orientation, elements of interior orientation and the intrinsic parameter of described video camera, the virtual camera imaging parameters is set;
Wherein, described elements of exterior orientation comprises the position and the attitude of video camera, and described elements of interior orientation comprises focus of camera and principal point coordinate, and described intrinsic parameter comprises length and width and the film length and width of unit picture element on egative film.
4. method according to claim 2 is characterized in that, the described step of utilizing high accuracy number elevation model and high-definition remote sensing image data to set up the three-dimensional virtual scene of monitoring geographic area comprises:
The increase income landform generation module exploitation of three-dimensional scenic drawing engine of employing forms three-dimensional scenic virtual image and video image object locating system;
Described three-dimensional scenic virtual image and video image object locating system as ground texture, generate three-dimensional virtual scene with high-definition remote sensing image data according to guarded region high accuracy number elevation model or three-dimensional scene models.
5. according to claim 2 or 3 described methods, it is characterized in that the described step of obtaining the s internal and external orientation of camera comprises:
The parameters such as length and width, position and attitude that the s internal and external orientation of camera was passed focal length, film back by the digital The Cloud Terrace in the video monitoring hardware system when the every frame video image of guarded region was taken directly or calculate, wherein attitude comprises the horizontal azimuth of camera, the vertical angle of pitch;
Focal range and the CCD intrinsic according to video camera go up the distance of unit picture element on X, Y direction, carry out camera calibration, calculate the coordinate figure of principal point under the different focal situation, thereby set up the coordinated indexing table of principal point under the different focal.
6. method according to claim 2 is characterized in that: described virtual camera comprises by the step of simulating described video camera imaging process and obtaining emulating image:
According to handling the s internal and external orientation of video image when taking, from the principal point coordinated indexing table of being set up, retrieve the principal point coordinate of this frame video image, utilize each parameter of one-tenth transform of OpenGL and the elements of interior orientation of camera to have clear and definite corresponding relation then, calculate projection matrix;
According to the length and width of CCD film, the viewing matrix of computation model;
According to the camera position and the attitude parameter of elements of exterior orientation, calculate outer parameter matrix M, then outer parameter matrix M is arranged to OpenGL model view matrix V;
Elder generation's designated model viewing matrix is current operation matrix, is unit matrix with the model view arranged in matrix, and matrix M is multiply by on the last right side, and elements of exterior orientation is set in the virtual camera;
According to described projection matrix P, model viewing matrix and virtual camera, utilize OpenGL perspective projection imaging process, simulation actual camera imaging process and obtain the emulating image of guarded region.
7. method according to claim 2, it is characterized in that: described inverse process according to monitoring objective pixel coordinate and OpenGL perspective projection virtual image in every frame video image, the step of extrapolating the coordinate of mobile monitor target in the single frames video image comprises:
Import the pixel coordinate of mobile monitor target in the single frames video image into emulating image, calculate the pixel coordinate of monitoring objective on emulating image, then according to the inverse process of OpenGL virtual image, calculate the imaging projection ray of target in three-dimensional geographic space, and ray and three-dimensional scenic asked friendship, the intersection point that obtains promptly is the real three-dimensional geographic coordinate of target.
8. method according to claim 7 is characterized in that: the inverse process of OpenGL virtual image is expressed as 0X Y Z 1]
T=M
-1P
-1V
-1[winX winY winZ]
T
Wherein [X Y Z 1]
TRepresent the monitoring objective homogeneous coordinates, [winX winy winZ]
TRepresent screen coordinate, X, Y, Z are the Three-dimension Target geographic coordinate, M is the model view matrix, the outer parameter matrix of corresponding true camera, P is a projection matrix, the intrinsic parameter matrix of corresponding true camera, V is a viewing matrix, and M
1, P
-1, V
1Be respectively its corresponding inverse matrix, winX and winY are screen coordinate, and winZ is the depth value of screen coordinate correspondence.
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