CN101196396A - Linear array push-broom type image optimum scanning line search method based on object space projection geometrical constraint - Google Patents
Linear array push-broom type image optimum scanning line search method based on object space projection geometrical constraint Download PDFInfo
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Abstract
An optimum scanning beam searching method of linear array push-broom image based on object space projection geometric constraint is provided, which divides CCD linear array sensor into sections and indicates each section by a straight line; when the CCD detector scan imaging, a scan imaging center projection plane is formed between the CCD detector and the scan imaging center; the six affine transformation indexed from the average height projection plane coordinates of the linear array push-broom image object space to the image scanning coordinates are evaluated; the evaluated value of neighboring scanning line central projection plane space distance of image is gotten; evaluate the imaging position of object on image; iterative computation of scanning line object space searching is conducted; two scan line central projection planes nearest to the object point are positioned, the exact solution of the optimum scanning line object space is counted through object space interpolation. The invention is simple and easy to realize, which greatly reduces the counting amount of optimum scanning beam searching, thus being able to improve the efficiency of coordinate back projection counting of linear array push-broom image. The invention is particularly applicable processing the linear array push-broom mass images of high resolution.
Description
Technical field
The invention belongs to the Surveying Science and Technology field, relate to a kind of linear array push-broom type image optimum scanning line method for fast searching based on the constraint of object space perspective geometry.This method is taked a kind of new object space search strategy based on each scan line central projection space of planes constraint in conjunction with the distinctive photography geometric relationship of linear array push-broom type image, realizes the effective search of object space point optimal imaging sweep trace.
Background technology
The linear array push-broom sensor has been widely used in the aerospace photogrammetry fields of measurement at present, uses for Photogrammetry and Remote Sensing and has opened up brand-new approach.At space industry, the ccd sensor of load is all the linear array push-broom sensor on the satellites such as IKONOS, SPOT5, CBERS-2, QuickBird; In the airborne remote sensing field, some commercial efficiently digital sensor systems had also appearred in the last few years in succession, for example ADS40, STARIMAGER , they all based on multi-thread array CCD push-scanning imaging, have broad application prospects.Linear array push-broom type image is followed multicenter projection imaging principle, has strict central projection geometric relationship between each bar sweep trace and the subject, and has 6 elements of exterior orientation separately.Therefore, calculate topocentric image coordinate, at first will determine its imaging time of exposure and corresponding elements of exterior orientation thereof, this just relates to the search orientation problem of optimum scanning line.In the various photogrammetric application of linear array push-broom type image, as geometric correction that image is carried out handle, based on the target localization of stereopsis and stereoplotting etc., the fast accurate location that optimum scanning is capable all is very basic and important link, and affects the processing and the application efficiency of linear array push-broom type image to a great extent.
As far back as last century, at the practical application request of various linear array push-broom type satellite sensors, classical picture side's optimum scanning line search strategy is suggested and uses till today.In recent years, the development and application of novel Aero-Space sensor was had higher requirement to the efficient of sweep trace search, some improved picture side searching methods occurred, and the more aftertreatment that is used for aviation image.Along with improving constantly of current image resolution, some CCD push-broom sensor such as ADS40, a scape band image that obtains comprises tens thousand of sweep traces at least, and also the phase strain is big for the calculated amount of data processing.Particularly in stereoplotting is used, need finish the quick precise search of optimum scanning line of large quantities of measurement points at short notice and calculate, this just has higher requirement to the efficient of searching method.Picture side's search strategy that it is the central projection collinearity equation that existing optimum scanning line search method is all taked based on tight sensor mathematical model, however the efficiency bottle neck of current linear array push-broom type image aftertreatment and application become in the search procedure based on the repeatedly loaded down with trivial details matrix operation of collinearity equation.
Scan line central projection face be every sweep trace of linear array push-broom type image in imaging moment, the space plane that CCD line array sensor and its projection centre are constituted.For any scape linear array push-broom type image, each scan line central projection face promptly mutually disjoints in that effectively the regional planted agent of photography is approximate parallel, and the gap of adjacent scan lines central projection face significant change can not occur, to guarantee the quality and the use value of image.Based on this space constraint relation of scan line central projection face, find object space point about after the capable central projection face of neighbor scanning, based on the constraint condition of object point, projection centre, picture point coplane, can interpolation accurately locate optimum scanning line.This object space search strategy can become the breach that solves traditional search efficiency bottleneck problem, it has not only effectively been avoided in the classic method based on tight sensor model is the repeatedly searching and computing of collinearity equation, and only need a spot of cartesian geometry computing, can improve search efficiency significantly.
Summary of the invention
Problem to be solved by this invention is: a kind of linear array push-broom type image optimum scanning line method for fast searching based on the constraint of object space perspective geometry is provided.This method is based on the distinctive photography geometrical constraint of linear array push-broom type image, traditional visited picture side's search procedure that first focal plane coordinate retrains based on CCD, the ingenious object space search procedure that is converted into based on each scan line central projection face restriction relation, thereby avoided in traditional picture side search strategy troublesome calculation effectively based on tight sensor mathematical model, method is simple, be easy to realize having certain versatility.
Technical scheme provided by the invention is: a kind of linear array push-broom type image optimum scanning line method for fast searching based on the constraint of object space perspective geometry may further comprise the steps:
1. the CCD line array sensor is divided into the n section, n gets and is not more than 30 positive integer; Then the CCD within every section is visited unit's straight line approximate representation, every section CCD visits firstly when scanning imagery like this, forms a scan line central projection face respectively with the sweep trace projection centre;
2. adopt the pixel coordinate of two-dimentional affined transformation formula (1) approximate description linear array push-broom type image and the corresponding relation between the object space dispersed elevation face two-dimensional projection coordinate; Choose 4 picture points at linear array push-broom type image four jiaos, calculate their two-dimensional projection's coordinates on object space dispersed elevation face based on the central projection collinearity condition equation; With the pixel coordinate of these 4 picture points and object space subpoint coordinate difference substitution formula (1) Simultaneous Equations that calculates, resolve 6 affine transformation parameters based on least square adjustment;
x＝a
0+a
1X+a
2Y
(1)
y＝b
0+b
1X+b
2Y
In the top formula:
(x y) is the pixel coordinate of picture point, and wherein the x correspondence is the capable row of image scan number;
(X Y) is the two-dimensional projection coordinate of picture point on object space dispersed elevation face;
α
0, a
1, a
2, b
0, b
1, b
2Be 6 affine transformation parameters;
3. obtain the valuation of image adjacent scan lines central projection space of planes distance, adopt formula (2) or (3) or (4);
d＝GSD (3)
d＝GSD×cosα (4)
In the top formula:
D is the valuation of adjacent scan lines central projection space of planes distance;
D is the distance of the projection centre of image the last item sweep trace to initial scan line central projection face;
N is an image scan line sum;
GSD (Ground Sample Distance) is the ground sampling interval of image;
α is the scan angle of line array sensor;
4. based on two-dimentional affined transformation formula (1) object point is calculated, obtain its picture point the pixel coordinate approximate value (x, y), the result after the x coordinate figure rounded is m; If n equals 1, directly enter step 5, greater than 1, then the CCD segmentation at first place is visited in the image point position judgement imaging that obtains based on estimation, and then selects the benchmark of the pairing scan line of this CCD segmentation central projection face as the object space search as if n;
5. carrying out sweep trace object space search iteration calculates:
(1) with the initial value of m as sweep trace object space search iteration value;
(2) based on formula (5), number of scanning lines purpose valuation μ between the scan line central projection face of calculating object point and m bar sweep trace;
In the formula:
D is the distance of object point to the scan line central projection face of m bar sweep trace;
D is the valuation of adjacent scan lines central projection space of planes distance;
(3) calculate the intermediate variable l of sweep trace object space search iteration value based on formula (6):
In the top formula:
A, B, C, D are the scan line central projection facial plane equation coefficient of m bar sweep trace on the image;
(X, Y Z) are the object point coordinate;
When μ＞2, return step (2) and replace the value of m, until μ≤2 with the value of l; Otherwise, stop iteration; Obtain sweep trace object space search iteration value;
6. based on the sweep trace object space search iteration value of gained, two the most contiguous scan line central projection faces about location and object point, by the exact solution L of object space interpolation calculation optimum scanning line object space search, computing formula is as follows:
In the formula:
L is the object space search value of the optimum scanning line of object point;
I is capable number of the image scan line of the capable central projection face correspondence of neighbor scanning in the object point left side;
D
1Distance for object point capable central projection face of neighbor scanning to the left side;
D
2Distance for object point capable central projection face of neighbor scanning to the right;
In said method, in order to guarantee optimum search precision, the tight sensor mathematical model that is preferably based on linear array push-broom type image compensates the exact solution of the optimum scanning line object space search that step 6 is obtained.
The present invention is based on the space constraint relation of each scan line central projection face,, proposed the object space search criteria of linear array push-broom type image optimum scanning line breakthroughly the linear array push-broom type sensor model perfect adaptation of central projection and approximate parallel projection.Because the relevant troublesome calculation of nearly all and tight sensor mathematical model is all finished in the parameter calculation phase of scan line central projection face, and the object space search phase only relates to simple cartesian geometry computing, thereby compare based on the method as square search criteria with tradition, efficient has had and has significantly improved.Itself be used as in the CCD linear array under the situation of straight line processing, the optimum scanning line searching and computing only relates to simple space analysis computing; Even be not used as in the CCD linear array under the situation of straight line processing, the CCD partition strategy also can farthest reduce the influence of sweep trace fine compensation to method efficient.This method successfully has been used for the data processing module of ADS40 and the pretreatment system of china natural resources satellite at present, facts have proved feasibility, robustness and the high efficiency of this method.
Description of drawings
Fig. 1 the present invention is based on the process flow diagram that the search of linear array push-broom type image optimum scanning line is carried out in the constraint of object space perspective geometry;
Fig. 2 is a scan line central projection face synoptic diagram;
Fig. 3 is the optimum scanning line object space search principle synoptic diagram based on the constraint of scan line central projection space of planes.
Embodiment
Below in conjunction with accompanying drawing the present invention is done and to describe in further detail.As shown in Figure 1, summary is got up, and the enforcement of this method can be divided into three phases:
Phase one: the correlation parameter that calculates the capable central projection face of image scan.
1. as shown in Figure 2, scan line central projection face 1 be every sweep trace of linear array push-broom type image in imaging moment, the space plane that CCD line array sensor 2 and its projection centre 3 are constituted.Based on Douglas-Pu Ke vector compression algorithm the CCD line array sensor is divided into the n section, n is that positive integer and common value are not more than 30; CCD within every section is visited unit's straight line approximate representation, and every section CCD visits unit when scanning imagery like this, forms a scan line central projection face respectively with the sweep trace projection centre; When the CCD line array sensor directly was counted as straight line on how much, segmentation result was original CCD linear array itself.Calculate the plane equation of each scan line central projection face of image.
2. adopt the pixel coordinate of two-dimentional affined transformation formula (1) approximate description linear array push-broom type image and the corresponding relation between the object space dispersed elevation face two-dimensional projection coordinate; Choose 4 picture points at linear array push-broom type image four jiaos, calculate their two-dimensional projection's coordinates on object space dispersed elevation face based on the central projection collinearity condition equation; With the pixel coordinate of these 4 picture points and object space subpoint coordinate difference substitution formula (1) Simultaneous Equations that calculates, resolve 6 affine transformation parameters based on least square adjustment;
x＝a
0+a
1X+a
2Y
(1)
y＝b
0+b
1X+b
2Y
In the top formula:
(x y) is the pixel coordinate of picture point, and wherein the x correspondence is the capable row of image scan number;
(X Y) is the two-dimensional projection coordinate of picture point on object space dispersed elevation face;
α
0, a
1, a
2, b
0, b
1, b
2Be 6 affine transformation parameters;
3. obtain the valuation d of adjacent scan lines central projection space of planes distance, adopt formula (2) or (3) or (4);
d＝GSD (3)
d＝GSD×cosα (4)
In the top formula:
D is the vertical range of the projection centre of image the last item sweep trace to initial scan line central projection face;
N is an image scan line sum;
GSD (Ground Sample Distance) is the ground sampling interval of image;
α is the scan angle of line array sensor;
Subordinate phase: object point is carried out searching for based on the optimum scanning line object space of scan line central projection face geometrical constraint.
1. based on two-dimentional affined transformation formula (1) object point is calculated, obtain its picture point the pixel coordinate approximate value (x, y), the result after the x coordinate figure rounded is m; If n equals 1, directly enter step 5, greater than 1, then the CCD segmentation at first place is visited in the image point position judgement imaging that obtains based on estimation, and then selects the benchmark of the pairing scan line of this CCD segmentation central projection face as the object space search as if n;
2. carrying out sweep trace object space search iteration calculates:
(1) with the initial value of m as sweep trace object space search iteration value;
(2) based on formula (5), number of scanning lines purpose valuation μ between the scan line central projection face of calculating object point and m bar sweep trace;
In the formula:
D is the distance of object point to the scan line central projection face of m bar sweep trace;
D is the valuation of adjacent scan lines central projection space of planes distance;
(3) calculate the intermediate variable l of sweep trace object space search iteration value based on formula (6):
In the top formula:
A, B, C, D are the scan line central projection facial plane equation coefficient of m bar sweep trace on the image;
(X, Y Z) are the object point coordinate;
When μ＞2, return step (2) and replace the value of m, until μ≤2 with the value of l; Otherwise, stop iteration; Obtain sweep trace object space search iteration value;
3. as shown in accompanying drawing 3, based on the sweep trace object space search iteration value of gained, two scan line central projection faces 4 that location and object point 7 are the most contiguous and 5 are based on the object space search value L of following formula interpolation optimal scan line 6.
In the formula:
L is the object space search value of the optimum scanning line 6 of object point;
I is capable number of scan line central projection face 4 corresponding image sweep traces;
D
1And D
2Be respectively the distance of object point to scan line central projection face 4 and 5;
Phase III: the object space Search Results to optimum scanning line compensates.
When CCD line array sensor itself can not be regarded as a desirable straight line, in order to guarantee optimum search precision, the tight sensor model that is preferably based on linear array push-broom type image compensated the object space Search Results of optimum scanning line.The CCD linear array partition strategy that this method is taked can be controlled the precision of object space Search Results effectively in a pixel, thereby has avoided the iteration in picture side's compensation computation process.
Claims (2)
1. based on the linear array push-broom type image optimum scanning line search method of object space perspective geometry constraint, may further comprise the steps:
One, the CCD line array sensor is divided into the n section, n gets and is not more than 30 positive integer; Then the CCD within every section is visited unit's straight line approximate representation, every section CCD visits firstly when scanning imagery like this, forms a scan line central projection face respectively with the sweep trace projection centre;
Two, adopt the pixel coordinate of two-dimentional affined transformation formula (1) approximate description linear array push-broom type image and the corresponding relation between the object space dispersed elevation face two-dimensional projection coordinate; Choose 4 picture points at linear array push-broom type image four jiaos, calculate their two-dimensional projection's coordinates on object space dispersed elevation face based on the central projection collinearity condition equation; With the pixel coordinate of these 4 picture points and object space subpoint coordinate difference substitution formula (1) Simultaneous Equations that calculates, resolve 6 affine transformation parameters based on least square adjustment;
x＝a
0+a
1X+a
2Y
(1)
y＝b
0+b
1X+b
2Y
In the top formula:
(x y) is the pixel coordinate of picture point, and wherein the x correspondence is the capable row of image scan number;
(X Y) is the two-dimensional projection coordinate of picture point on object space dispersed elevation face;
α
0, a
1, a
2, b
0, b
1, b
2Be 6 affine transformation parameters;
Three,, obtain the valuation d of image adjacent scan lines central projection space of planes distance by formula (2) or (3) or (4);
d＝GSD (3)
d＝GSD×cosα (4)
In the top formula:
D is the distance of the projection centre of image the last item sweep trace to initial scan line central projection face;
N is the number of scanning lines of image;
GSD is the ground sampling interval of image;
α is the scan angle of line array sensor;
Four, based on two-dimentional affined transformation formula (1) object point is calculated, obtain its picture point the pixel coordinate approximate value (x, y), the result after the x coordinate figure rounded is m; If n equals 1, directly enter step 5, greater than 1, then the CCD segmentation at first place is visited in the image point position judgement imaging that obtains based on estimation, and then selects the benchmark of the pairing scan line of this CCD segmentation central projection face as the object space search as if n;
Five, carrying out sweep trace object space search iteration calculates:
(1) with the initial value of m as sweep trace object space search iteration value;
(2) based on formula (5), number of scanning lines purpose valuation μ between the scan line central projection face of calculating object point and m bar sweep trace;
In the formula:
D is the distance of object point to the scan line central projection face of m bar sweep trace;
D is the valuation of adjacent scan lines central projection space of planes distance;
(3) calculate the intermediate variable l of sweep trace object space search iteration value based on formula (6):
In the top formula:
A, B, C, D are the scan line central projection facial plane equation coefficient of m bar sweep trace on the image;
(X, Y Z) are the object point coordinate;
When μ＞2, return step (2) and replace the value of m, until μ≤2 with the value of l; Otherwise, stop iteration; Obtain sweep trace object space search iteration value;
Six, based on the sweep trace object space search iteration value of gained, two the most contiguous scan line central projection faces about location and object point, by the exact solution L of object space interpolation calculation optimum scanning line object space search, computing formula is as follows:
In the formula:
L is the object space search value of the optimum scanning line of object point;
I is capable number of the image scan line of the capable central projection face correspondence of neighbor scanning in the object point left side;
D
1Distance for object point capable central projection face of neighbor scanning to the left side;
D
2Distance for object point capable central projection face of neighbor scanning to the right.
2. method according to claim 1 is characterized in that: the object space search value of the optimum scanning line that step 6 is obtained based on the tight sensor mathematical model of linear array push-broom type image carries out fine compensation.
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| CN102519484A (en) * | 2011-11-29 | 2012-06-27 | 武汉大学 | Multi-disc overall adjustment calibration method of rotary photogrammetry system |
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| CN102944225A (en) * | 2012-11-23 | 2013-02-27 | 中国科学院长春光学精密机械与物理研究所 | Push-broom confocal imaging aerospace camera optical system |
| CN103630121A (en) * | 2013-07-16 | 2014-03-12 | 中国人民解放军信息工程大学 | Linear array image differential rectification method based on optimal scanning line rapid positioning |
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| CN102519484B (en) * | 2011-11-29 | 2013-09-18 | 武汉大学 | Multi-disc overall adjustment calibration method of rotary photogrammetry system |
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| CN102944225A (en) * | 2012-11-23 | 2013-02-27 | 中国科学院长春光学精密机械与物理研究所 | Push-broom confocal imaging aerospace camera optical system |
| CN103630121B (en) * | 2013-07-16 | 2017-02-08 | 中国人民解放军信息工程大学 | Linear array image differential rectification method based on optimal scanning line rapid positioning |
| CN103630121A (en) * | 2013-07-16 | 2014-03-12 | 中国人民解放军信息工程大学 | Linear array image differential rectification method based on optimal scanning line rapid positioning |
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| CN108628267A (en) * | 2018-04-26 | 2018-10-09 | 北京大学 | A kind of separate type of object space scanning imaging system, distributed control method |
| CN112297011A (en) * | 2020-10-29 | 2021-02-02 | 久瓴(上海)智能科技有限公司 | Obstacle avoidance method and device for agriculture and forestry robot, computer equipment and storage medium |
| CN112297011B (en) * | 2020-10-29 | 2023-07-21 | 久瓴(上海)智能科技有限公司 | Obstacle avoidance method and device for agriculture and forestry robot, computer equipment and storage medium |
| CN114993207A (en) * | 2022-08-03 | 2022-09-02 | 广东省智能机器人研究院 | Three-dimensional reconstruction method based on binocular measurement system |
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