CN105066962B - A kind of high-precision photogrammetric apparatus of the big angle of visual field of multiresolution - Google Patents
A kind of high-precision photogrammetric apparatus of the big angle of visual field of multiresolution Download PDFInfo
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- CN105066962B CN105066962B CN201510430400.0A CN201510430400A CN105066962B CN 105066962 B CN105066962 B CN 105066962B CN 201510430400 A CN201510430400 A CN 201510430400A CN 105066962 B CN105066962 B CN 105066962B
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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
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/08—Interpretation of pictures by comparison of two or more pictures of the same area the pictures not being supported in the same relative position as when they were taken
Abstract
This application discloses a kind of high-precision photogrammetric apparatus of the big angle of visual field of multiresolution, device includes：Stereo visual system, it includes at least two large-field shooting machines, the common factor covering tested region of its visual field, the three-dimensional position of the low precision of the target for measuring the measurand in tested region；Multiple small field of view video cameras, the union covering tested region of its visual field, for being imaged to measurand；And data processor, it is connected to stereo visual system and multiple small field of view video cameras, for the three-dimensional position for the low precision of measurand measured according to the stereo visual system, determine that measurand is located in the visual field of which of the small field of view video camera, further the picture position according to measurand in these small field of view video cameras, determines measurand high accuracy three-dimensional position.
Description
Technical field
The invention belongs to the photogrammetric field of stereoscopic vision, it is related to the high-precision photogrammetric apparatus of the big angle of visual field of multiresolution
And measuring method, more particularly to based on different spatial resolutions, the big angle of visual field of the multiresolution of arrangement combinations camera is taken the photograph in high precision
Shadow measurement apparatus and measuring method.
Background technology
Object space three-dimensional coordinate measuring can be applied in multiple fields.Object dimensional measurement of coordinates can use three coordinates
The approach such as instrument, laser measurement and stereo-visiuon measurement are realized.Wherein three-coordinate instrument is measured with laser measurement than traditional photography
Measurement accuracy is high.Compared with photogrammetric, three-coordinate instrument typically to multiple points can not measure simultaneously with laser measurement, order
The efficiency of measurement is very low, it is often more important that, it is impossible to dynamical system is measured.
Existing stereo vision measurement method arranges many cameras (video camera) in measurement field, between camera and testee
Relative angle it is different (optical axis direction of each camera is different), testee is differed in the formation of different cameral image projection.It is vertical
Body vision algorithm can calculate the 3 d space coordinate of testee using difference.Traditional stereo-visiuon measurement instrument mostly by
It is formed on the photogrammetric workbench of its equipment, it is impossible to which large-scale target is measured.
The measurement accuracy of existing Digital Photogrammetric System is depended between resolution ratio, instrument and the testee of photographic instrument
Relative space position.In the Digital Photogrammetric System for needing to carry out multi stations intersection measurement, the distribution of base station is measured also to measurement essence
Degree has a significant impact.In order to improve measurement accuracy, it can be realized by improving the image resolution ratio of photographic instrument.However, figure
As the raising of resolution ratio is limited by all many factors.First, improving image resolution ratio needs the image of higher resolution
Sensor.Secondly, high image resolution is also limited by optical system.Importantly, high image resolution will cause to take the photograph
Shadow measuring system needs data volume to be processed to increase sharply.In dynamically measurement, the processing of mass data needs special hardware system,
Instrument cost is dramatically increased, and economy is bad.
On the other hand, traditional photogrammetric apparatus and method are difficult to while realizing the big angle of visual field and high-acruracy survey.It is logical
Cross the focal length for reducing camera lens, by increasing capacitance it is possible to increase the angle of visual field of camera.At the same time, the spatial resolution of camera declines, and causes
Measurement accuracy is reduced.Conversely, the focal length of increase camera lens can improve spatial resolution, but the angle of visual field of camera will subtract
It is small.Also there are problems that mass data is difficult to transmit, store and calculate using high-resolution camera.This is that restriction is large-scale
Component and the technical difficult points of the dynamic vision of equipment measurement.During being monitored to large-scale measurement field, although referring to
The measurement target drone for showing measurement point is only the sub-fraction of image, but conventional measurement systems are stilled need to all image projections
Sampled, will so produce mass of redundancy data, cause that computer processing data amount is big, under inefficiency the problems such as.Make
It is that high-acruracy survey greatly reduces image projection sampling that the three-dimensional coordinate obtained is calculated with big angle of visual field stereo vision camera
Scope, reduces the data volume of system.
The content of the invention
For demand of the practical application to the big visual field angular measurement of high accuracy, the present invention specifically addresses regard greatly in photogrammetric
Contradiction between rink corner and spatial resolution, and the big angle of visual field, high-resolution, the ability of high measurement accuracy can be provided.This hair
It is bright to reduce high-precision Digital Photogrammetric System need data volume to be processed, the data that the high-precision Digital Photogrammetric System of reduction faces
The pressure of collection, transmission and processing.The high-precision photogrammetric apparatus of the big angle of visual field of multiresolution according to an embodiment of the invention
Include multiple cameras of each camera lens with different focal, multiple measured points in large-scale measurement can be carried out to survey simultaneously
Amount, it is adaptable to large-scale workpiece production, large product assembling and large product experimental test etc..Keep constant in general principle
Change big angle of visual field camera simultaneously and neglect the high-resolution lens parameters in rink corner, can also realize closely superhigh precision measurement.
In view of this, it is a primary object of the present invention to provide a kind of big angle of visual field of multiresolution photogrammetric dress in high precision
Put and measuring method.
The main object of the present invention is that high-acruracy survey is carried out in big field range.Device is main three-dimensional by the big angle of visual field
Vision system and neglect rink corner video camera composition.Stereo visual system can obtain the tested target of low precision by calculating
Three-dimensional coordinate.According to the three-dimensional coordinate of tested target, its image in some or certain several small field of view angles video camera is calculated
Projection.The X-Y scheme for obtaining target in high-definition picture is calculated in multiple target image projections for neglecting rink corner video camera
As coordinate and target are described.Then, stereoscopic vision calculating is carried out using target matching result, obtains high-precision target space three
Dimension coordinate., can be deep according to the light conditions in measurement field and target to different rink corner video cameras of neglecting in measurement process
Spend information and carry out different exposures settings, obtain the two dimensional image of high dynamic.
Embodiments in accordance with the present invention there is provided a kind of high-precision photogrammetric apparatus of the big angle of visual field of multiresolution, including：
Stereo visual system, it includes at least two large-field shooting machines, and the common factor covering tested region of its visual field is tested for measuring
The three-dimensional position of the low precision of the target of measurand in region；Multiple small field of view video cameras, the union covering quilt of its visual field
Region is surveyed, for being imaged to measurand；And data processor, it is connected to stereo visual system and multiple neglected
Field shooting machine, and/or other high-precision photogrammetric apparatus of the big angle of visual field of multiresolution, for according to the stereoscopic vision system
The three-dimensional position of the low precision for the target that unified test goes out, determines that the target is located at regarding for which or which small field of view video camera
In, wherein, the data processor is configured as：If the target is only located at one in the small field of view video camera
Visual field in, it is determined that the target be located at which of high-precision photogrammetric apparatus of the big angle of visual field of another multiresolution or
In the visual field of which small field of view video camera, wherein in the high-precision photogrammetric apparatus of the big angle of visual field of another described multiresolution
The union of the visual field of multiple small field of view video cameras also covers tested region, afterwards, in the target neglecting within the field of view
High-precision target detection is carried out in the high-definition picture that field shooting machine is obtained, the high-precision two-dimensional image for obtaining target is sat
Mark and target description, and target matching is carried out according to target description, according to matching result, obtain the high accuracy of the target
Three-dimensional position.
Beneficial effects of the present invention are essentially consisted in：Due to the single camera of ultrahigh resolution need not be developed, the device
Production cost is relatively low, and multiple cameras can use the product of same model, and volume procurement reduce further the cost of device.
In measurement process, the device by demarcation can be measured successfully.
Brief description of the drawings
Fig. 1 is the unitary device of the high-precision photogrammetric apparatus of the big angle of visual field of multiresolution according to an embodiment of the invention
Schematic diagram.
Fig. 2 shows the baseline of two stereo vision cameras according to an embodiment of the invention.
Fig. 3 shows the field range of stereo vision camera according to an embodiment of the invention.
Fig. 4 is the schematic diagram that table apparatus many according to an embodiment of the invention carry out high-acruracy survey to measurement field.
Fig. 5 is the schematic diagram that unitary device carries out low precision measure to measurement field according to an embodiment of the invention.
Fig. 6 is the schematic diagram split according to an embodiment of the invention using a plane to three dimensions.
Whether Fig. 7 is using 4 planes some three dimensions point can be determined in high score according to an embodiment of the invention
The schematic diagram of the field range of resolution camera.
Description of reference numerals in figure is as follows：The 1 big left camera of angle of visual field stereoscopic vision；2-6 neglects rink corner high-resolution phase
Machine；The 7 big right cameras of angle of visual field stereoscopic vision；8-17 neglects rink corner high resolution camera.
Embodiment
Below, the implementation of technical scheme is described in further detail with reference to accompanying drawing.
Although it will be appreciated by those of skill in the art that the following description is related to many of embodiment for the present invention
Ins and outs, but be only for for illustrate the present invention principle example and do not mean that any limitation.The present invention can be applicable
Occasion outside different from ins and outs exemplified below, principle and spirit without departing from the present invention.
, may pair can be in description in this manual in addition, miscellaneous in order to avoid being limited to the description of this specification
The portion of techniques details obtained in prior art data has carried out the processing such as omission, simplification, accommodation, this technology for this area
It will be understood by for personnel, and this does not interfere with the open adequacy of this specification.
The Basic Ways for realizing above-mentioned target are the camera systems using many spatial resolutions, it include with identical into
Multiple cameras of image plane.Assuming that the number of pixels of the imaging sensor of each camera is identical, the camera lens of different focal is being installed
Afterwards, the spatial resolution of camera will change.In brief, install shorter focal length camera lens camera spatial resolution compared with
It is low, but its angle of visual field is larger；The spatial resolution for installing the camera of longer focal length camera lens is higher, but its angle of visual field is smaller.
Device is using the two cameras formation stereo visual system for installing short-focus lens, to obtain the larger angle of visual field,
Testee in whole measurement field can be sampled (shooting)；Other cameras install the camera lens of longer focal length, Mei Gexiang
A part for machine covering measurement field, is measured to the measurement point that it is covered.The stereo vision camera system of short-focus lens is installed
System can calculate the three dimensional space coordinate for obtaining measured point.Can be to neglect although the computational accuracy of these coordinates is not high
Rink corner high resolution camera provides the basis of high-acruracy survey.Because the three-dimensional coordinate of measured point is substantially, it is known that can be by these
Measurement point is projected in is neglected in the high spatial resolution camera image of rink corner accordingly, and high-precision two dimension is carried out according to image coordinate
Other devices neglects rink corner high resolution camera image in target detection in image, these target detection results and measurement field
Middle to detect that obtained target is matched, principle of the target that the match is successful based on stereoscopic vision can calculate high-precision target
Mark three-dimensional coordinate.
The stereo vision camera relative installation of the two big angle of visual field is fixed；And other neglect rink corner high resolution camera
Also fixed with the installation site of stereo visual system.Before measuring, it is necessary first to which stereo vision camera is demarcated；Then
Can demarcate each neglect rink corner high spatial resolution camera intrinsic parameter in itself and represent it is each neglect rink corner camera with it is vertical
The outer parameter of body vision camera system relativeness.Calculate for convenience, the basic coordinates origin of device can be determined that vertical
The projected centre point of the left camera (short focus camera) of body vision system, other cameras (long-focus camera) and stereo visual system
Spatial relation representation in the outer parameter of each camera.
The measurement of each camera covering is all a three-dimensional cone.Neglected according to obtained by calibrating in the camera of rink corner
Outer parameter, can calculate the spatial dimension of the three-dimensional cone covering of camera.Coverage can be represented with the form of parametrization.According to
These parameter expression forms, can directly calculate whether some three dimensional space coordinate point can be covered by some camera.If some
Space measurement point can be neglected in Duo Tai simultaneously to be projected on the camera image of rink corner high spatial resolution, in this case will
Select subpoint close to picture centre camera as beasurement base camera.The advantage of this selection has two aspects：First,
According to the general principle of optical system, the distortion of projection close to picture centre is smaller；Secondly, the space measurement in measurement motion
During point, post exercise measurement spot projection still has larger may rest in same camera.Approached in the projection of space measurement point
During the image border of some camera, if other magazine spatial point image projections are closer to picture centre, can calculate makes
With other magazine projections.
In measuring system, each camera has camera coordinates system and image coordinate system.The origin of camera coordinates system is in camera
Photocentre；Sensor plane corresponds to x-y plane, and optical axis is used as coordinate system z-axis.Image coordinate system is two-dimensional coordinate system, coordinate
The origin of system is set in the image upper left corner.In stereo visual system, without loss of generality, system coordinate system can be set as and be stood
The camera coordinates system of the left camera of body vision system is overlapped.
Carried out using stereovision technique photogrammetric, it is necessary first to which inside and outside parameter demarcation is carried out to each camera.Camera
Intrinsic parameter is described by Intrinsic Matrix.As described above, the sensor plane of camera is vertical with the z-axis of camera coordinates system, z-axis is with passing
The coordinate in camera coordinates system of the intersection point of sensor plane isWhereinFor camera coordinates system yardstick, c is
Camera photocentre, in the distance in z-axis direction, is the focal length of camera with sensor plane；This intersection point is x in the coordinate of image coordinate system
=s [uc,vc,1]T, wherein s is the yardstick of image coordinate system.According to projection relation, using following formula, camera coordinates system can turn
It is changed to image coordinate systemIt is camera Intrinsic Matrix (referring to ginseng
Examine document 1).
In actual camera projection process, the projection of different directions is not completely the same.In order to more accurately describe projection
Relation, camera Intrinsic Matrix, which can strengthen, is
Wherein (1+m) describes the transversely deforming situation of projection (referring to reference respectively with k
Document 3).
Testee coordinate system can be used as in measurement field by selection coordinate system.According to measure theory, object coordinates system can
Arbitrarily to select.In actual measurement process, often selection is convenient to the coordinate system of measurement, for example, certain fixed point can be selected
It is used as the origin of coordinate system.Turn if object coordinates system is different from camera coordinates system, it is necessary to describe coordinate using outer parameter matrix
Change relation (referring to bibliography 1).The coordinate for making certain point of object coordinates system is Xe=[Xe,Ye,Ze]T, and camera coordinates system
Coordinate of the origin in object coordinates system beOuter parameter matrix includes a spin matrix R and one flat
The amount of shifting to.The conversion of object coordinates system and camera coordinates system is expressed from the next
Different cameral coordinate system carries out Coordinate Conversion, and transfer process is identical with above formula, simply needs object coordinates system to change
For the camera coordinates of an other camera different from Current camera.
Inside and outside parameter demarcation is carried out to two stereo vision cameras first, the basic ginseng needed for stereoscopic vision is calculated is obtained
Number.The solution of intrinsic parameter uses the method for the priori based on plane characteristic point (referring to bibliography 4).Outer parametric solution mistake
Cheng Zhong, can use Direct Linear Transform (DLT) method to solve equation acquisition (referring to bibliography 2).Due to
The outer parameter that DLT methods are tried to achieve is not optimal on geometric meaning, it is therefore desirable to carried out on this basis using the method for iteration outer
Parameter optimization (referring to bibliography 3).On the basis of this, other intrinsic parameters for neglecting rink corner camera and their phases can be demarcated
For the outer parameter of stereo vision camera system.
During photogrammetric, image resolution ratio and spatial resolution have close ties, there is important difference again.In order to
The actual measurement accuracy calculated under rectangular projection model, calculates spatial resolution first.The spatial resolution A of devicesSimplify meter
It is
Wherein SFFor minimum feature size；NFThe projected resolution for being minimal characteristic on image.Image resolution ratio AGSimplify
It is calculated as
Wherein VGFor dimension of object in visual field.Two formulas with reference to more than, the image resolution ratio of instrument may be calculated
According to above-mentioned formula, spatial resolution and image resolution ratio in measurement process can be calculated.
During three-dimensional measurement, the measurement accuracy of depth direction is not only related to image resolution ratio, also with two cameras
Between the factor such as parallax range, depth distance it is related.Parallax range is longer, and measurement accuracy is higher.Using unitary device (bag
Include multiple cameras) when measuring, parallax range depend on the distance between two stereo vision camera photocentres (two cameras
Optical axis is not necessarily parallel).And when many table apparatus cooperate, the distance between two table apparatus can be obtained more with flexible arrangement
Long parallax range, improves the measurement accuracy of device.
Wherein, described device is installed equipped with the stereo vision camera of the big visual field camera lens of short focus and small equipped with long-focus
The high resolution camera of visual field camera lens.First, by stereo vision camera, big angle of visual field image can be obtained, measurement field is calculated
The substantially three dimensional space coordinate of each interior target；Determine that these coordinates are fallen into the visual field of which high resolution camera, utilize
The stereoscopic vision formed between these high resolution cameras, can calculate and obtain high-acruracy survey result.Which incorporates big
The advantages of angle of visual field and high-resolution, can be the experimental test of heavy construction assembling, large-scale workpiece production and large-scale plant
Deng field.
Below, embodiments of the invention are explained with reference to.
Fig. 1 is the unitary device of the high-precision photogrammetric apparatus of the big angle of visual field of multiresolution according to an embodiment of the invention
Schematic diagram.
As shown in figure 1, in actually measurement, multiple cameras flexible configuration in measurement field utilizes the original of stereoscopic vision
Reason carries out high-acruracy survey.System includes high-resolution and the two kinds of video camera of low resolution.Low resolution video camera bag
At least two video cameras are included, the coordinate of the three dimensions point for calculating low precision.Low resolution video camera uses smaller focal length
Camera lens, therefore, low resolution camera chain has the larger angle of visual field.High-resolution camera uses the mirror of longer focal length
Head, and using the imaging sensor with high-resolution, the angle of visual field of single camera is smaller, many high-resolution camera phases
Mutually coordinate, result in the larger angle of visual field.The angle of visual field of each high resolution camera is smaller, multiple high-resolution camera groups
Close, the measurement information at larger field angle can be obtained.The number of high-resolution camera depends on it and imaged with low resolution
The ratio between focal length of machine, the field range of high resolution camera needs to cover the three-dimensional imaging scope of low-resolution cameras, and number can
To be obtained by optimizing below equation：
C_number minimum value is obeyed
Wherein C_number is the number of high resolution camera；V_stereo is the field range of large-field shooting machine；Vi h
It is the field range of separate unit high resolution camera；For high resolution camera field range minimum sounding depth；It is vertical
Body vision camera system minimum sounding depth (is set hereIt is more than or equal toIt is for stereo visual system field range
Interior measured point can be covered by the field range of high resolution camera).In different application scenarios, to whole system
Field range require different.It can be determined according to the position relationship of two stereo vision cameras(as shown in Figure 2)；Also
It can be determined according to the distribution of measured pointDetermined according to the closest measured point of stereo visual system
Here sum formulaIt is that the field range of many high resolution cameras is overlapped, makes its covering whole three-dimensional
The field range of vision camera.
As shown in Figure 6 and Figure 7, the field range of each camera can be determined with four planes to the segmentation in space.Order
ncFor the normal direction of a certain plane,For a certain determination point, X in planecFor Euclid's three dimensions arbitrfary point, whenWhen, XcWith the line and normal n of arbitrfary point in planecIt is at an acute angle, that is, XcIn ncIn the half space in direction；
Otherwise work asWhen, XcWith the line and normal n of arbitrfary point in planecInto obtuse angle, that is, XcIn ncOpposite direction
Half space in.Plane normal can be according to the cross product meter of line between photocentre and two (adjacent) angle points of camera sensor
Calculate.For example, as shown in fig. 7, the left plane normal n of viewing field of camera scopec_l=Ocac×Ocdc。
Optimization process can be carried out by following steps：
A) without loss of generality, the arrangement of high resolution camera is since upper left, according toRequirement, set
The relative position relation of high resolution camera and stereo visual system.The left side field range of high resolution camera is by plane nc_l
Determined, this plane should be in stereo visual system field range left plane, or the left plane with stereoscopic vision field range
It is parallel.The left plane of stereo visual system refers to that the common factor formation of the field range of two stereo visual systems is similar to Fig. 7
Shown in geometry, from photocentre towards the field range of stereoscopic vision, the plane in left side is both its left plane) outside
(planar outboard refers to the region reverse with field range direction.If this plane is in the outside of stereoscopic vision field range, that
Two planes are non-intersect in stereoscopic vision field range；In other words, the field range of high resolution camera is completely covered vertical
The field range of body vision.To meet requirements above, as shown in figure 3, the left view model of the high resolution camera of the system leftmost side
Enclose plane be set to it is parallel with stereoscopic vision field range left plane.The right field range plane of the high resolution camera of the leftmost side
There is intersection with the left view range plane of adjacent high-resolution camera.Thus intersection is determined.It can similarly determine other
The position relationship and high resolution camera field range lower planes and stereopsis of high resolution camera and stereo visual system
Relation between the lower planes of feel system field range.
It can be determined according to the field range of stereo visual system(such as Fig. 2).If the distribution of measurement point is away from phase
Machine, can increase according to the distribution of measured pointIt can setWhereinMost
The depth distance of nearly measurement point and stereo visual system, kmeasureFor coefficient.kmeasureEffect be to ensure that measured point can be by
High resolution camera field range is covered, and can typically be set to 0.5-0.8.
B) it is determined that behind the position of upper left camera, right direction determines the position of each high resolution camera immediately.
After high resolution camera has covered the field range of stereo visual system, determining the arrangement of rightmost side high resolution camera needs
Consider the relation between its right right field range plane of field range plane and stereoscopic vision, at least parallel relation, i.e. two
The normal angle of plane is more than or equal to 0 (clockwise direction).Field range and solid on high resolution camera can similarly be determined
Relation between the upper field range of vision camera system.
C) after the first row high resolution camera is arranged, other rows can be arranged according to the principle in above-mentioned two step
High resolution camera, until completing the foundation of multiresolution high precision measuring system.
2. after multiresolution high precision measuring system is set up, measured according to following steps.
A) first, low resolution (short focus) camera of stereo visual system is demarcated.Intrinsic parameter mark is carried out first
It is fixed, then carry out external parameters calibration.Intrinsic parameter is represented that outer parameter is represented by Ps by Ks, and subscript s represents the identification code of camera.With
Afterwards, high resolution camera is demarcated, also including intrinsic parameter demarcation and external parameters calibration.In the outer ginseng to high resolution camera
In number calibration process, without loss of generality, using the left camera photocentre of stereo visual system as Euclid's origin of coordinates, it can calculate
4 field range plane geometry normals of each high resolution camera, method line computation is the sensor according to high resolution camera
Cross product between two (adjacent) angle points and the line of photocentre is calculated.According to the result of calculation of 4 normals, high-resolution can be obtained
The field range of rate camera：
WhereinFor the normal of the field range left plane of high resolution camera；For the visual field of high resolution camera
The normal of the right plane of scope；For the normal of plane in the field range of high resolution camera；For high resolution camera
The normal of field range lower plane；X is that low resolution stereoscopic vision calculates the three-dimensional coordinate for obtaining certain measured point；OcFor high-resolution
The photocentre coordinate of rate camera.
Above formula describes the field range of some high resolution camera.Any constraint can not be expired in calculating process
Foot can determine that this spatial point not in field range.Therefore, this calculating reduces computation complexity.
B) in measurement process, two low-resolution cameras of low resolution stereo visual system each obtain width correspondence
The big angle of visual field image；
C) target detection is carried out on two width low-resolution images.In Digital Photogrammetric System, nature target can be used
Or artificial target is used as matching object.Natural target detection can be using the method in bibliography 7 or bibliography 8.
Natural target detection can use the method in bibliography 9.After target detection, target matching is carried out.Natural target and artificial target
Target matching process is respectively referring to bibliography 6, bibliography 7 and bibliography 8.The result matched according to target, is stood
Body vision is calculated, and is obtained the three-dimensional coordinate of the low resolution of target, is represented by Xj, wherein subscript j represents target identification code；
D) according to the three-dimensional coordinate X of each targetj, calculate image projection of each target on high resolution camera and sit
Mark.According to external parameters calibration result, image projection coordinate of the target on high resolution camera is calculated.Calculate complicated to reduce
Degree, in actual measurement process, the field range of each high resolution camera is described using 4 planes.In order to determine that some is empty
Between put whether in the field range of some high resolution camera, carry out 4 vector operations be can determine that this spatial point whether
In the field range of some high resolution camera.Specifically, calculate 4 timesIt can determine that this spatial point
In the field range of high resolution camera.
E) the image projection coordinate according to each target on high resolution camera, is carried out on corresponding high-definition picture
Target detection.Because projection coordinate of the target on high-definition picture using the departure of three-dimensional coordinate, it is known that determine high score
Target detection scope on resolution image.Traversal detection, therefore target detection time complexity need not be carried out to whole image
It is relatively low.The departure of three-dimensional coordinate and the image image error of stereo visual system, parallax range, the focal length of stereo vision camera
And the factor such as the depth of measured point is related.The specific calculating of the departure of three-dimensional coordinate uses the method in bibliography 6.Three
The departure of dimension coordinate is projected into the image of high resolution camera, can obtain the scope of target.The projection of departure is main
It is related to the depth of measured point.In order to reduce computation complexity, the distortion of the measured point of different depth can be in measurement
Determined before according to the computational methods of bibliography 6.
F) according to the target detection result on high-definition picture, (target detection result is target in multiple high-resolution phases
Two dimensional image coordinate on the respective image of machine.In addition, in order to carry out target matching, it is necessary to calculate target description vectors.If
Measurement process uses nature target, and the method in the grade of bibliography 7 can be used to be described；, can be with if artificial target
It is described using method introduced in bibliography 9 etc..), matching is distributed in the device high-resolution of measurement field diverse location
Target on image.
G) the high-precision three-dimensional coordinate (bibliography of target is calculated using Stereo Vision according to target matching result
3).If certain measured point forms projection in multiple cameras, the method for iteration can be used to improve the coordinate calculating of this measurement point
Precision (bibliography 5).
In summary, it will be appreciated by those of skill in the art that various repair can be made to the above embodiment of the present invention
Change, modification and replace, it is each fallen within such as protection scope of the present invention defined in the appended claims.
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Claims (9)
1. a kind of high-precision photogrammetric apparatus of the big angle of visual field of multiresolution, including：
Stereo visual system, it includes at least two large-field shooting machines, the common factor covering tested region of its visual field, for measuring
The three-dimensional position of the low precision of the target of measurand in tested region, wherein, it is every in the multiple large-field shooting machine
Individual one group of small field of view video camera of correspondence, the union of the visual field of every group of small field of view video camera is covered each by its corresponding large-field shooting
The visual field of machine；
Data processor, it is connected to the stereo visual system and the small field of view video camera, for according to target in institute
Each image space in multiple large-field shooting machines is stated, the three-dimensional position of the low precision of the target is measured, and it is thus true
The fixed target is located in the visual field of which small field of view video camera, and includes institute for what is obtained in multiple small field of view video cameras
Carry out high-precision target detection in the multiple high-definition pictures for stating target, obtain the high-precision two-dimensional image coordinate of target with
And target description, and target matching is carried out according to target description, according to matching result, obtain the high accuracy three-dimensional of the target
Position.
2. the high-precision photogrammetric apparatus of the big angle of visual field of multiresolution according to claim 1, wherein, it is the multiple to regard greatly
Field shooting machine includes two large-field shooting machines of level or so arrangement,
Wherein, the multiple small field of view video camera is arranged in array around the large-field shooting machine.
3. the high-precision photogrammetric apparatus of the big angle of visual field of multiresolution according to claim 2, wherein, the big visual field is taken the photograph
Camera is short focus video camera, and the small field of view video camera is long-focus video camera.
4. the high-precision photogrammetric apparatus of the big angle of visual field of multiresolution according to claim 3, wherein, according to following process
The multiple small field of view video camera corresponding to each large-field shooting machine of arrangement：
The left side field range of small field of view video camera positioned at the upper left corner of array is arranged on regarding for the large-field shooting machine
The outside of field scope left plane, or it is parallel with the left plane of the field range of the large-field shooting machine, and upside visual field
Scope is arranged on the outside of plane in the field range of the large-field shooting machine, or the visual field with the large-field shooting machine
The upper plane of scope is parallel；
A line small field of view video camera is sequentially arranged to the right, with the visual field model for the left and right directions for collectively covering the large-field shooting machine
Enclose；
According to said process, small field of view video camera is arranged line by line, to collectively cover the above-below direction of the large-field shooting machine
Field range.
5. the high-precision photogrammetric apparatus of the big angle of visual field of multiresolution according to claim 4, wherein, the small field of view is taken the photograph
The number of camera depends on it the ratio between with the focal length of the large-field shooting machine, and the number of the small field of view video camera can pass through
Below equation is obtained：
C_number minimum value is obeyed
Wherein C_number is the number of the small field of view video camera；V_stereo is the visual field model of the stereo visual system
Enclose；Vi hIt is the field range of single small field of view video camera；For the field range minimum sounding depth of small field of view video camera；For the minimum sounding depth of the stereo visual system.
6. the high-precision photogrammetric apparatus of the big angle of visual field of multiresolution according to claim 5, wherein, it is identified below each
The field range of small field of view video camera：
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Wherein,For the normal of the field range left plane of small field of view video camera；For the field range of small field of view video camera
The normal of right plane；For the normal of plane in the field range of small field of view video camera；For the visual field of small field of view video camera
The normal of scope lower plane；X is the three-dimensional coordinate for the target that the stereo visual system is measured；OcFor the light of small field of view video camera
Heart coordinate.
7. the high-precision photogrammetric apparatus of the big angle of visual field of multiresolution according to claim 1, wherein, in measurement process
In, for different small field of view video cameras, according to the light conditions and target depth information in measurement field, carry out different exposures
Set, obtain the two dimensional image of high dynamic.
8. the big angle of visual field of multiresolution described in a kind of one in claim 2 to 6 of use photogrammetric dress in high precision
The measuring method put, including：
Step 1, two large-field shooting machines obtain a width low-resolution image respectively；
Step 2, target detection is carried out on the low-resolution image containing measurand, target matching is then carried out, according to target
The result of matching is marked, stereoscopic vision calculating is carried out, the three-dimensional coordinate of the low resolution of target is obtained；
Step 3, the three-dimensional coordinate according to the low resolution of target, calculate target on the high-definition picture of small field of view video camera
Projection coordinate；
Step 4, the image projection coordinate according to target on small field of view video camera, carry out target on corresponding high-definition picture
Detection；
Step 5, according to the target detection result on high-definition picture, carry out target matching；
Step 6, according to target matching result, carry out stereoscopic vision calculating, calculate the high-precision three-dimensional coordinate of target.
9. a kind of big angle of visual field of multiresolution using described in multiple one in claim 2 to 6 in high precision survey by photography
The measuring method of device is measured, including：
Two large-field shooting machines of the high-precision photogrammetric apparatus of the big angle of visual field of step 1, some multiresolution obtain one respectively
Width low-resolution image；
Step 2, target detection is carried out on the low-resolution image containing measurand, target matching is then carried out, according to target
The result of matching is marked, stereoscopic vision calculating is carried out, the three-dimensional coordinate of the low resolution of target is obtained；
Step 3, the three-dimensional coordinate according to the low resolution of target, calculate target in the different big angle of visual field high accuracy of multiresolution
Projection coordinate on the high-definition picture of multiple small field of view video cameras of photogrammetric apparatus；
Step 4, the image projection coordinate according to target on small field of view video camera, carry out target on corresponding high-definition picture
Detection；
Step 5, according to the target detection result on high-definition picture, carry out target matching；
Step 6, according to target matching result, carry out stereoscopic vision calculating, calculate the high-precision three-dimensional coordinate of target.
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| CN105547189B (en) * | 2015-12-14 | 2018-01-23 | 南京航空航天大学 | High-precision optical method for three-dimensional measurement based on mutative scale |
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| US5309522A (en) * | 1992-06-30 | 1994-05-03 | Environmental Research Institute Of Michigan | Stereoscopic determination of terrain elevation |
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