CN103884334B - Based on the moving target localization method of broad beam laser ranging and single camera - Google Patents
Based on the moving target localization method of broad beam laser ranging and single camera Download PDFInfo
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- CN103884334B CN103884334B CN201410139892.3A CN201410139892A CN103884334B CN 103884334 B CN103884334 B CN 103884334B CN 201410139892 A CN201410139892 A CN 201410139892A CN 103884334 B CN103884334 B CN 103884334B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Multimedia (AREA)
- Automation & Control Theory (AREA)
- Measurement Of Optical Distance (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention discloses a kind of broad beam laser ranger and single camera to moving target localization method, and the technical problem that solve utilizes wide cut laser ranger and single camera that moving target is carried out high fix. Technical scheme shifts to an earlier date Accurate Calibration camera internal reference, reflecting prism is installed in target to be measured, broad beam laser ranger is used to measure the distance of target to be measured to pick up camera in real time, use pick up camera to take target to be measured simultaneously, obtain pick up camera to the angular altitude of target to be measured and position angle, finally obtain the locus of space target. The present invention adopts to achieve based on the shooting measurement means of broad beam laser ranger and single camera and is located by moving target. Can realizing useful range about 10 degree, distance about 5 km, precision can reach 1 meter.
Description
Technical field
The present invention relates to the fields such as shooting measurement, laser ranging and object location, it is specifically related to the moving target localization method based on broad beam laser ranging and single camera.
Background technology
Shooting measuring technology utilizes the locus of the conllinear relation measurement target between the image of moving target and its imaging in pick up camera, has the advantage such as low cost, high precision, has had in object location field and compared ripe application. According to measuring process uses the difference of pick up camera number, photographing measurement method can be divided into many range estimation metering methods and monocular measuring method. Monocular measuring method adopts a pick up camera can obtain the locus of target to be measured, it may also be useful to flexibly, and method is simple, has a wide range of applications. Traditional monocular adopts a pick up camera and narrow beam (being generally less than a 1 milliradian) laser ranger to measure azimuth information and the range information of target to be measured respectively, and both combinations obtain the locus of target to be measured. But this kind of method needs to be arranged on turntable by narrow beam laser ranger and target is followed the tracks of, and therefore this kind of method implements certain difficulty, and cost is also higher.
Summary of the invention
The present invention is directed to existing narrow beam laser ranger, when measuring moving target, exist and need turntable to assist the problem of tracking, it is proposed to a kind of utilize broad beam laser ranger and single camera that moving target is carried out the method for three-dimensional localization.
The technical scheme of the present invention is the distance using broad beam laser ranger to measure target to be measured and pick up camera, launching take optical axis as the conical broad beam laser beam of axis, in the scope that this broad beam can be irradiated, target to be measured by installing additional reflecting prism can be found range. Target is positioned by the space angle that the photocentre obtained in conjunction with pick up camera measurement and the line of target to be measured are formed.
It is specially: by about broad beam laser ranger and single camera or be admittedly linked togather up and down, composition measuring system, installs reflecting prism additional in target to be measured, when target enters in useful range, target measured. Laser beam launched by broad beam stadimeter, the reflecting prism installed in target to be measured reflects to opposite direction after receiving laser, broad beam stadimeter receives the laser being reflected back, and according to laser from being issued to the time and the light velocity that receive Hui Guang, can obtain the distance of target to be measured.
Concrete measuring method carries out according to the following steps:
1, the intrinsic parameter of Accurate Calibration pick up camera;
2, by about broad beam laser ranger and single camera or be admittedly linked togather up and down, composition measuring system, ensures the firm property installed, install reflecting prism additional in target to be measured;
3, broad beam stadia surveying target distance is utilized;
4, with pick up camera, target to be measured is taken, extract the image coordinate of target to be measured. The angular altitude of target under camera coordinate system and position angle is calculated after being modified to desirable picture point;
5, the range information of target to be measured and space angle information is utilized to calculate the volume coordinate of target to be measured;
6, if desired by the coordinate conversion of target to be measured under camera coordinate system under any system of coordinates, only need in camera field of view orientation, arrange two or more reference mark, measure simultaneously the position of pick up camera under required system of coordinates namely obtain arbitrary coordinate system by coordinate conversion under the position of target to be measured.
Adopt the present invention can reach following technique effect:
1, the present invention changes the distance measuring method that conventional narrow wave beam laser ranger needs turntable target to be followed the tracks of. Useful range is within the scope of the circular cone that can cover with broad beam laser ranger laser beam. The useful range about 10 degree realized at present, distance about 5 km, precision can reach 1 meter.
2, the present invention breaches the range of application that tradition shooting is measured, and is some particular surroundingss, and when as installed turntable with a pick up camera and inconvenience, application shooting measurement becomes possibility.
3 compared with other method, the principle of the invention with realize simple and convenient, economical and practical.
Accompanying drawing explanation
Fig. 1 is the principle schematic of wide cut laser ranger range finding,
Fig. 2 is that single camera is to the principle schematic of goal orientation.
Embodiment
1, Zhang Zhengyou one camera scaling method (Z.Zhang is utilized, Flexiblecameracalibrationbyviewingaplanefromunknownorien tations, proceedingsoftheFifthInternationalConferenceonComputerVi sion, 1999, pp.666-673) intrinsic parameter of Accurate Calibration pick up camera, obtains Intrinsic Matrix, a rank coefficient of radial distortion K.
2, broad beam stadimeter and pick up camera are arranged on same measurement platform, target to be measured installs reflecting prism, ensure the firm property installed.
3, laser beam launched by broad beam stadimeter, the prism installed in target to be measured reflects to opposite direction after receiving laser, and broad beam stadimeter receives the laser being reflected back, according to laser from being issued to the time t receiving Hui Guang, light velocity c, can obtain the distance of target to be measured��
4, with pick up camera, target to be measured is taken simultaneously, extract the image coordinate of target to be measured. First the correction differed by the coordinate of target to be measured on image obtains desirable picture point��
The distance of desirable picture point to photocentre is tried to achieve according to known camera intrinsic parameter:
WhereinIt is respectively picture unit to existLength on direction.
Then the angular altitude of target to be measured is, position angle is��
5, the volume coordinate of target to be measured is calculated.
According to conllinear principle, picture point under camera coordinate system angular altitude, position angle be angular altitude, the position angle of target. The distance D thus recycling target to be measured and pick up camera can obtain the position coordinate of target to be measured at camera coordinate system. Utilize the distance D of the angular altitude of target to be measured under shooting system of coordinates, position angle and itself and pick up camera can obtain target to be measured at the position coordinate of camera coordinate system to be respectively:
If 6 camera coordinates are known, within the scope of visual field, there is two or more reference mark, so that it may with the position of target to be measured under obtaining arbitrary coordinate system.
Measure photocentre position, reference mark coordinate
Volume coordinate system initial point is moved to photocentre position, namely subtracts the coordinate of heart position of delustering with the coordinate of each point in space, then photocentre coordinate is, the coordinate at new reference mark is
The coordinate of reference mark under camera coordinate system is tried to achieve according to step 4, then following formula is set up:
Wherein R is rotation matrix.
Character according to antisymmetric matrix,, wherein:
For unit matrix,
Namely
Thus can obtain the value of a, b, c, then a, b, c are substituted into formula, obtain rotation matrix R.
Then the coordinate of target to be measured under this system of coordinates is:
��
Claims (2)
1. based on the moving target localization method of broad beam laser ranging and single camera, it is characterised in that:
By about broad beam laser ranger and single camera or be admittedly linked togather up and down, composition measuring system, reflecting prism is installed additional in target to be measured, when target enters in useful range, target being measured, laser beam launched by broad beam stadimeter, the reflecting prism installed in target to be measured reflects to opposite direction after receiving laser, broad beam stadimeter receives the laser being reflected back, and according to laser from being issued to the time and the light velocity that receive Hui Guang, can obtain the distance of target to be measured;
Concrete measuring method carries out according to the following steps:
(1), the intrinsic parameter of Accurate Calibration pick up camera;
(2), by about broad beam laser ranger and single camera or be admittedly linked togather up and down, composition measuring system, ensures the firm property installed, install reflecting prism additional in target to be measured;
(3) broad beam stadia surveying target distance, is utilized; The prism installed in target to be measured reflects to opposite direction after receiving laser, and broad beam stadimeter receives the laser being reflected back, and according to laser from being issued to the time t receiving Hui Guang, light velocity c, can obtain the distance of target to be measured;
(4), with pick up camera target to be measured is taken, extract the image coordinate of target to be measured, after being modified to desirable picture point, calculate the angular altitude of target under camera coordinate system and position angle; Detailed process is:
First the correction differed by the coordinate of target to be measured on image obtains desirable picture point,
The distance of desirable picture point to photocentre is tried to achieve according to known camera intrinsic parameter:
WhereinIt is respectively picture unit to existLength on direction;
The angular altitude of target to be measured is, position angle is;
(5) range information of target to be measured and space angle information, is utilized to calculate the volume coordinate of target to be measured; Detailed process is:
Utilize the distance D of the angular altitude of target to be measured under shooting system of coordinates, position angle and itself and pick up camera can obtain target to be measured at the position coordinate of camera coordinate system to be respectively:
;
(6), if desired by the coordinate conversion of target to be measured under camera coordinate system under any system of coordinates, only need in camera field of view orientation, arrange two or more reference mark, measure simultaneously the position of pick up camera under required system of coordinates namely obtain arbitrary coordinate system by coordinate conversion under the position of target to be measured.
2. according to claim 1 based on the moving target localization method of broad beam laser ranging and single camera, it is characterised in that: described step (6) detailed process is:
Measure photocentre position, reference mark coordinate,
Volume coordinate system initial point is moved to photocentre position, namely subtracts the coordinate of heart position of delustering with the coordinate of each point in space, then photocentre coordinate is, the coordinate at new reference mark is
The coordinate of reference mark under camera coordinate system is tried to achieve according to step (4), then following formula is set up:
Wherein R is rotation matrix,
Character according to antisymmetric matrix,, wherein:
For unit matrix,
Namely
Thus obtain the value of a, b, c, then a, b, c are substituted into formula, obtain rotation matrix R,
Then the coordinate of target to be measured under this system of coordinates is:
��
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| CN103884334B true CN103884334B (en) | 2016-06-01 |
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| CN105606086A (en) * | 2015-08-28 | 2016-05-25 | 宇龙计算机通信科技(深圳)有限公司 | Positioning method and terminal |
| CN105783880B (en) * | 2016-03-22 | 2018-05-22 | 天津大学 | A kind of monocular laser assisted bay section docking calculation |
| CN106959429A (en) * | 2017-04-25 | 2017-07-18 | 中国人民解放军海军工程大学 | The Calibration Method of area navigation under water and system based on many orthogonal signalling |
| CN111781610A (en) * | 2020-07-14 | 2020-10-16 | 中国人民解放军国防科技大学 | Moving target space position measuring method based on wide beam laser and linear array photoelectric tube |
| CN113050108B (en) * | 2021-03-23 | 2024-01-09 | 湖南盛鼎科技发展有限责任公司 | Electronic world site vision measurement system and measurement method |
| CN113421309A (en) * | 2021-07-29 | 2021-09-21 | 北京平恒智能科技有限公司 | Single-camera cross-visual-field distance measurement platform calibration method, distance measurement method and system |
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