CN101226057B - Digital close range photogrammetry method - Google Patents
Digital close range photogrammetry method Download PDFInfo
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Abstract
The invention belongs to the photography measurement field, in particular to a digital close-range photogrammetry, which comprises the steps: a rotary multiple reference line convergent photography can be implemented by a camera; the close-range shooting data can be processed so as to obtain precision data, which comprises the steps: the inner orientation element initial value is obtained; the matching and turning point is in full automatic; the matching method is that the inner image strip matching is implemented with the adjacent image strip matching crossways; a measuring area free net is built; the point measurement is controlled; the beam method balancing or self-checking beam method balancing is implemented; a dense matching can be implemented according to the precision close shot data so as to generate the three-dimensional point cloud; the three-dimensional visualization measurement analysis can be implemented based on the three-dimensional point cloud. The digital close-range photogrammetry has the advantages that: the field reference point quantity can be reduced and the field workload can be lowered by taking the obtained image from the rotary multiple reference line convergent photography as a whole to implement balancing; the matching precision and speed can be improved through the rotary multiple reference line convergent photography and corresponding matching craft, furthermore, the digital close-range photogrammetry can support full automatic process to the close-range image.
Description
Technical field
The invention belongs to photogrammetric field, particularly a kind of digital close range photogrammetry method.
Background technology
Photogrammetric is the surveying work of size, shape, character, locus and the mutual relationship of utilizing photographic image information measurement object.Wherein close-range photogrammetry generally belongs to the category of terrestrial photogrammetry, and photo distance generally in 100 meters, can use metric camera and non metric camera, but non metric camera needs usually through special testing laboratory's calibrating.Digital photogrammetric work station (DPW) is though be widely used in close-range photogrammetry, and its theory is without any breakthrough.The theoretical foundation of present most close range photogrammetry methods also is based on the single model operating type of direct linear transformation (DLT-Direct Linear Transformation), promptly photograph by traditional parallel camera style, adjacent image constitutes stereoscopic model, and every width of cloth image utilizes the field operation reference mark more than 6 directly to set up relation between picpointed coordinate and the object space point coordinate.But, often cause the instability of finding the solution owing to have correlativity between direct linear transformation's unknown number (11 unknown numbers).And DLT requires height to the distribution at reference mark, when the distribution at reference mark is undesirable, is prone to morbid state and separates, and influences the object space solving precision of point to be located.Simultaneously this operating type needs a large amount of field operation reference mark, and precision is low in practical engineering application, inefficiency, and labour intensity is big.
Summary of the invention
The object of the invention is to solve the prior art deficiency, and a kind of digital close range photogrammetry method of simple high-accuracy high-efficiency is provided.
For achieving the above object, the invention provides a kind of digital close range photogrammetry method, its bag expands a kind of new data and obtains base system-many baselines method for imaging and add that a cover handles the close-range photogrammetry software that adopts the image data that this method obtained. and wherein many baselines method for imaging comprises the many baselines photographies of rotation again and parallel multiple-baseline is photographed two kinds. and the software processes process of two kinds of images that method obtains is identical.
Step 2.1 is carried out the camera calibration and is obtained the elements of interior orientation initial value, and the nominal value when perhaps directly camera being dispatched from the factory is as the elements of interior orientation initial value;
Step 2.2, full-automatic coupling and turning point, matching way is that interior image coupling of band and adjacent ribbons image coupling intersection are carried out, the image coupling is meant between difference is taken the photograph the photo of identical shooting order sequence number on the station and carries out the image coupling in the described band, and described adjacent ribbons image coupling is meant same taking the photograph carries out the image coupling between the photo of taking at the station;
Step 2.3 makes up and surveys district's free net;
Step 2.4, the reference mark measures;
Step 2.5 is carried out bundle adjustment;
Step 3 is carried out dense Stereo Matching according to the accurate close shot data that step 2 obtains, and generates three-dimensional point cloud, carries out the three-dimensional visualization Measurement and analysis on the three-dimensional point cloud basis, and described dense Stereo Matching is consistent with the full-automatic matching way in the step 2.2.
And described employing camera is rotated many baselines convergent photography and may further comprise the steps,
According to the width of zone being shot or subject and the ground coverage of camera, divide several strips by horizontal direction;
Determine the length of photographic base and take the photograph the station number according to photo distance;
Take the photograph handheld camera on the station at each,, aim at each band center and carry out sequence photography by the mode of rotation photography.
And when dividing band, the degree of overlapping that guarantees the bar interband is greater than 60%, adjacently takes the photograph base length between the station less than 20% of photo distance, and head and the tail are taken the photograph base length between the station greater than 50% of photo distance.
And when only dividing 1 band, each takes the photograph photo of center bat that zone being shot or subject are aimed in the station, and maintenance 80% is overlapping between every adjacent two photos.
And, after carrying out dense Stereo Matching generation three-dimensional point cloud, the difference in the same coordinate system is surveyed district's data splice, generate comprehensive object space three-dimensional point cloud.
And, when having public reference mark in the difference survey district, spliced data are carried out the secondary adjustment.
And the Measurement and analysis of three-dimensional visualization described in the step 3 comprises objective measurement, cross-section analysis, generation digital surface model and digital elevation model.
And, adopt the least square matching algorithm when mating in step 2.2 and the step 3, take the strategy of feature point extraction and multistage pyramid coupling.
And, keep coupling pixel observed reading independence in the matching process.
And coupling is carried out turning point simultaneously.
The present invention can be used as integral body by the image that rotates many baselines convergent photography mode and obtain and carries out adjustment, and resolves the elements of exterior orientation of image without DLT and single model, has reduced the number at field operation reference mark, has reduced the field process amount; By many baselines convergent photography and corresponding matching technique, solve in the close-range photogrammetry big intersection angle image and be difficult to realize mating robotization and the low contradiction of little-fair angle radiographic measurement precision, can improve image matching precision and speed, support full automatic treatment the close shot image.And the employed digital camera of current digital close range photogrammetry has the little characteristics of field angle, the invention provides many baselines of rotation convergent photography and can improve the photography intersection angle, thereby improved the intersection precision, increase each by the rotation photography and taken the photograph the field angle at station, under the situation that does not have the equipment cost burden, reduced and taken the photograph the station number, improved operating efficiency.Experimental results show that, matching process of the present invention is reached the international leading level, per second can mate 300-500 picture point, the coupling accuracy is higher than 98%, utilize non-metric camera to carry out photogrammetric effective photo distance and can reach 200-1000m, relative accuracy can reach 1/5000-1/14798, and its precision is tradition 4-5 times based on the close-range photogrammetry scheme of DLT algorithm.As seen the present invention has important market using value.
Description of drawings
Fig. 1 is an embodiment of the invention process flow diagram;
Fig. 2 is that the present invention takes principle schematic;
Fig. 3 is an embodiment of the invention three dimensional analysis processing flow chart.
Embodiment
The present invention considers to use for reference ripe take photo by plane photogrammetric realize close-range photogrammetry digitizing and robotization.The photogrammetric basis of taking photo by plane is aloft to take continuously, and the photo of shooting constitutes air strips, carries out the image coupling then on the basis, air strips.But taking photo by plane is parallel shooting, and there is the ground elevation influence in close-range photogrammetry, directly use for reference the photogrammetric technology of taking photo by plane and to solve intersection angle in the digital close range photogrammetry, triangle contradiction between precision and the coupling. also be the basic reason that close-range photogrammetry in the world can't develop. the present invention sets about from the basis of close range photogrammetry method, proposes to adopt many baselines of rotation convergent photography to replace common convergent photography.Common convergent photography simulating human visual angle is taken same zone being shot or subject from 2 different directions, then coupling; And many baselines of rotation convergent photography of the present invention has been realized " computing machine visual angle ", take the photograph more the station multi-angle take, thereby customer service the intersection angle in the digital close range photogrammetry, precision and the coupling between triangle contradiction, thereby can use for reference the photogrammetric technology of taking photo by plane, realize the digitizing robotization.Technical scheme provided by the invention is:
Shooting process can be summarized as and may further comprise the steps,
According to the width of zone being shot or subject and the ground coverage of camera, divide several strips by horizontal direction;
Determine the length of photographic base and take the photograph the station number according to photo distance;
Take the photograph handheld camera on the station at each,, aim at each band center and carry out sequence photography by the mode of rotation photography.
In order to guarantee photogrammetric effect, the invention provides further technical scheme: when dividing band, the degree of overlapping that guarantees the bar interband has abundant tie point greater than 60% to guarantee the bar interband.And each is taken the photograph the station and goes up the same part that the image of same sequence number is aimed at zone being shot or subject, thereby the degree of overlapping between them should be near 100%.As seen in order to reach this effect, the anglec of rotation is not a definite value.Determine the length of photographic base and take the photograph the station during number that the adjacent base length of taking the photograph between the station should be less than 20% of photo distance according to photo distance,, be easy to carry out the robotization coupling to guarantee adjacently to take the photograph intersection angle between the image of station less than 10 °; Simultaneously, the base length that head and the tail are taken the photograph between the station should be greater than 50% of photo distance, guaranteeing to survey in the district the maximum intersection angle between image greater than 25 °, thereby guarantees the intersection precision.The station of taking the photograph when it should be noted that the invention process answers strictness to adhere to being provided with more than 2, if having only 2 to take the photograph the station and can't realize the computing machine visual angle.Special circumstances, when only dividing 1 band, each takes the photograph photo of center bat that zone being shot or subject are aimed in the station, and maintenance 80% is overlapping between every adjacent two photos, thereby obtains one group of photo.This mode can be called parallel multiple-baseline photography, and the photo subsequent treatment that shooting obtained when the photo that such shooting is obtained was divided with multi-ribbon is as broad as long in fact, also can reach the object of the invention, belongs in the protection domain of the present invention.
Referring to Fig. 2, divide 3 bands (band 1, band 2, band 3) according to target subject, to establish 4 altogether and take the photograph the station, each is taken the photograph the station rotation and takes 3 images.The station is taken the photograph in the representative of black round dot, and black line is photography light beam, arabic numeral 1,2,3 ... 12 is the sequence number mark of filming image, and the dashed rectangle district is the ground coverage with image in the band.Constitute 1 band such as the 1st, 4,7, No. 11 image; 1st, 2, No. 3 images constitute 1 air strips.
Step 2.1 is carried out the camera calibration and is obtained the elements of interior orientation initial value, and the nominal value when perhaps directly camera being dispatched from the factory is as the elements of interior orientation initial value;
Step 2.2, full-automatic coupling and turning point, matching way is that interior image coupling of band and adjacent ribbons image coupling intersection are carried out, the image coupling is meant between difference is taken the photograph the photo of same sequence number on the station and carries out the image coupling in the described band, and described adjacent ribbons image coupling is meant same taking the photograph carries out the image coupling between the photo of taking at the station;
Step 2.3 makes up and surveys district's free net;
Step 2.4, the reference mark measures;
Step 2.5 is carried out bundle adjustment or self calibration bundle adjustment;
In the step 2, except that the matching way in the step 2.2 and many baselines of rotation convergent photography mode, other step can be used for reference the existing photogrammetric technology of taking photo by plane.The present invention simply introduces concrete ins and outs so that implement:
In the step 2.1, if when selecting to carry out the camera calibration, employing is at first taken verification grid chart picture or indoor three-dimensional controlling filed that LCD presents based on the quick calibration of LCD or based on the high precision calibration of indoor three-dimensional controlling filed, and semi-automatic measurement is taken the photo control point that obtains in the image then; Last adjustment calculates the elements of interior orientation initial value of camera.This is a kind of inverse process.Utilize the self calibration bundle adjustment that non-metric camera is carried out online calibration, need not high-precision indoor three-dimensional controlling filed, be convenient to utilize non-metric camera to carry out digital close range photogrammetry.
In the step 2.2, automatically mate and turning point.The common photogrammetric full coupling step of taking photo by plane strengthens for carrying out image; Carry out feature point extraction; Single air strips coupling and turning point; Coupling and turning point between air strips.And matching way of the present invention is corresponding with many baselines of rotation convergent photography mode, matching process is mainly handled based on band, certainly adjacent ribbons image coupling comes down to image coupling air strips in, and image coupling and adjacent ribbons image mate intersection and carry out in the band.During concrete enforcement, can adopt the least square matching algorithm when mating in step 2.2 and the step 3, matching precision can reach sub-pixel-level; Take the strategy of feature point extraction and multistage pyramid coupling, under the condition of large search scope, still can guarantee the speed and the success ratio of mating.Existing matching algorithm and adapting software be the object of intractable " space is discontinuous " and " fracture " all.Thereby because the change in depth of object in the space causes the parallax sudden change of object on the image of the left and right sides, thereby the essential hunting zone that increases coupling.But the hunting zone is big more, and the speed of coupling is slow more, and the mistake matching rate also can increase.In order to adapt to the coupling of big parallax image, the present invention proposes to take to guarantee the strategy of coupling pixel " observed reading " independence in the increase search, the difficult problem that can well solve " discontinuous " object image mistake matching rate height and be difficult to mate.Coupling is carried out turning point simultaneously, can further strengthen matching efficiency.
In the step 2.3, make up and survey district's free net, by topocentric relativeness, the surface elevation that can reflect subject changes.
In the step 2.4, the reference mark measures and can be realized by following steps, surveys reference mark, Qu Si angle by measuring, and surveys district's free net adjustment+absolute orientation; The photo control point prediction; The photo control point multi-disc measures or stereo measurement.
In the step 2.5, when step 2.1 adopts the camera calibration to obtain the elements of interior orientation initial value, can select for use and carry out bundle adjustment or self calibration bundle adjustment, if the nominal value when adopting camera to dispatch from the factory adopts the self calibration bundle adjustment just can guarantee precision so.The self calibration bundle adjustment utilizes adjustment right; Read in the reference mark and carry out absolute orientation; The self calibration bundle adjustment.
Step 3 is carried out dense Stereo Matching according to the accurate close shot data that step 2 obtains, and generates three-dimensional point cloud, carries out the three-dimensional visualization Measurement and analysis on the three-dimensional point cloud basis, and described dense Stereo Matching is consistent with the full-automatic matching way in the step 2.2.
Existing close-shot photography measure technique precision is not high, need ask for the apparent position that interpolation obtains intermediate point in 2 known object space points.And technical scheme provided by the invention can be carried out precision-matched, and precision and density all reach the high order of magnitude, therefore can generate three-dimensional point cloud.On the three-dimensional point cloud basis, carry out the three-dimensional visualization Measurement and analysis, can obtain the high precision result.The three-dimensional visualization Measurement and analysis belongs to existing mature technology, and is technical at three-dimensional point cloud, can carry out objective measurement, cross-section analysis, production figures surface model (DSM) and digital elevation model (DEM).Adoptable fundamental analysis treatment step is referring to Fig. 3 when the invention provides concrete enforcement: at first read in the image elements of exterior orientation, read in three-dimensional point cloud; Select to generate DEM, DEM then and edit, generate orthography, perhaps make up TIN (TIN), generate three-dimensional sight figure; Carry out the three-dimensional visible fractional analysis then.
In the actual measurement engineering, survey the district and need measure for often more than one, in order to obtain partial data, the difference the same coordinate system under can be surveyed and distinguish data and splice, the comprehensive object space three-dimensional point cloud that generation can complete reflected measurement result.When having public reference mark in the difference survey district, can carry out the secondary adjustment to spliced data, further improve precision.Referring to Fig. 1, the embodiment flow process of full automatic treatment is: adopt camera to be rotated many baselines convergent photography; Create project file then; Select one of dual mode again, a kind of be carry out camera calibration, full-automatic coupling and turning point, build survey district's free net, the reference mark measures, carries out bundle adjustment, another kind be nominal value when directly camera being dispatched from the factory as elements of interior orientation initial value, full-automatic coupling and turning point, build to survey and distinguish free net, reference mark measurement, self calibration bundle adjustment; Dense Stereo Matching generates the some cloud; Survey district's splicing; Three-dimensional visible fractional analysis and the output of all kinds of digital product.
Claims (7)
1. digital close range photogrammetry method is characterized in that: may further comprise the steps,
Step 1, adopt camera to be rotated many baselines convergent photography, promptly the station is taken the photograph more than two in same zone being shot or subject employing, taking the photograph the station at each rotates camera around the axle that hangs down, photo of angle shot of every rotation, the angle of rotation guarantees the plyability of adjacent photo, and each takes the photograph the corresponding photo image same part of aiming at zone being shot or subject of station photographs, take the photograph the photo of taking at the station at each and constitute the air strips that this takes the photograph the station, the photo that difference is taken the photograph station upward identical shooting order sequence number constitutes band respectively;
Step 2 is handled using camera to take the gained image data by above-mentioned camera style, obtains accurate close shot data, comprises following concrete steps,
Step 2.1 is carried out the camera calibration and is obtained the elements of interior orientation initial value, and the nominal value when perhaps directly camera being dispatched from the factory is as the elements of interior orientation initial value;
Step 2.2, full-automatic coupling and turning point, matching way is that interior image coupling of band and adjacent ribbons image coupling intersection are carried out, the image coupling is meant between difference is taken the photograph the photo of identical shooting order sequence number on the station and carries out the image coupling in the described band, and described adjacent ribbons image coupling is meant same taking the photograph carries out the image coupling between the photo of taking at the station;
Step 2.3 makes up and surveys district's free net;
Step 2.4, the reference mark measures;
Step 2.5 is carried out bundle adjustment;
Step 3 is carried out dense Stereo Matching according to the accurate close shot data that step 2 obtains, and generates three-dimensional point cloud, carries out the three-dimensional visualization Measurement and analysis on the three-dimensional point cloud basis, and described dense Stereo Matching is consistent with the full-automatic matching way in the step 2.2;
Adopt the least square matching algorithm when mating in described step 2.2 and the step 3, take the strategy of feature point extraction and multistage pyramid coupling; Keep coupling pixel observed reading independence in the matching process, coupling is carried out turning point simultaneously.
2. digital close range photogrammetry method according to claim 1 is characterized in that: described employing camera is rotated many baselines convergent photography and may further comprise the steps,
According to the width of zone being shot or subject and the ground coverage of camera, divide several strips by horizontal direction;
Determine the length of photographic base and take the photograph the station number according to photo distance;
Take the photograph handheld camera on the station at each,, aim at each band center and carry out sequence photography by the mode of rotation photography.
3. digital close range photogrammetry method according to claim 2, it is characterized in that: when dividing band, the degree of overlapping that guarantees the bar interband is greater than 60%, adjacently takes the photograph base length between the station less than 20% of photo distance, and head and the tail are taken the photograph base length between the station greater than 50% of photo distance.
4. digital close range photogrammetry method according to claim 2 is characterized in that: when only dividing 1 band, each takes the photograph photo of center bat that zone being shot or subject are aimed in the station, and maintenance 80% is overlapping between every adjacent two photos.
5. digital close range photogrammetry method according to claim 1 is characterized in that: after carrying out dense Stereo Matching generation three-dimensional point cloud, the difference in the same coordinate system is surveyed district's data splice, generate comprehensive object space three-dimensional point cloud.
6. digital close range photogrammetry method according to claim 5 is characterized in that: when having public reference mark in the difference survey district, spliced data are carried out the secondary adjustment.
7. according to claim 1 or 2 or 3 or 4 or 5 or 6 described digital close range photogrammetry methods, it is characterized in that: the Measurement and analysis of three-dimensional visualization described in the step 3 comprises objective measurement, cross-section analysis, generation digital surface model and digital elevation model.
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