CN103727929B - The indoor sequential images adjustment of movable sensor and stereoscopic measurement method - Google Patents
The indoor sequential images adjustment of movable sensor and stereoscopic measurement method Download PDFInfo
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- CN103727929B CN103727929B CN201410038235.XA CN201410038235A CN103727929B CN 103727929 B CN103727929 B CN 103727929B CN 201410038235 A CN201410038235 A CN 201410038235A CN 103727929 B CN103727929 B CN 103727929B
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- indoor
- sequential images
- image
- movable sensor
- locator data
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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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
Abstract
The invention discloses the indoor sequential images adjustment of a kind of movable sensor and stereoscopic measurement method, the method comprises: Web server receives the indoor sequential images that movable sensor is sent by mobile Internet, and described indoor sequential images is transferred to data server; Described data server carries out empty three adjustment processing to described indoor sequential images, and what obtain each image determines appearance locator data, and the appearance locator data of determining of each image described is sent to described movable sensor via described Web server; Described movable sensor carries out measurement in space according to the appearance locator data of determining of each image described at the image sequence of correspondence.By adopting method disclosed by the invention to achieve movable sensor Customer Premise three-dimensional measuring function, decrease by the indoor image of user's hand getting collection and the plenty of time of carrying out spent by post-processed and workload.
Description
Technical field
The present invention relates to technical field of mapping, particularly relate to the indoor sequential images adjustment of a kind of movable sensor and stereoscopic measurement method.
Background technology
Digital city construction is photogrammetric based on high-resolution satellite image or aviation stereopsis, utilizes 3 d modeling software to build three-dimensional building model.Utilize virtual reality technology to generate 3-dimensional digital environment, sense organ strong, true to nature can be brought to impact, and obtain experience on the spot in person, user can roam arbitrarily in true three-dimensional scenic, and carries out man-machine interaction.
Indoor three-dimensional measuring and reconstruction are that bottleneck is built in realistic digital city.Aerospace photogrammetry measuring technique is blocked due to buildings, cannot be used for indoor measurement and reconstruction.The fundamental geomatics product that live-action image technology is formed based on close-range photogrammetry stereopsis file can be measured, the kit provided by measuring image is directly measured stereopsis, information extraction, and China's Fundamental Geographic Information Database is adapt to a kind of new product that measurement on demand collection upgrades spatial information.
In prior art, measurement in space mainly comprises the following two kinds scheme:
1) live-action image can be measured primarily of stereopsis to, elements of exterior orientation description document and kit composition.Live-action image can be measured collect by mobile mapping system, and can by kit and 4D product Seamless integration-.With the 4D product of plane projection unlike, can measure live-action image is that a kind of ground close shot can measure image, mainly provide detailed city facade information according to the visual angle of people, comprise environmental information, terrain information etc. that Municipal Component information, outside vertical surface of building information, road and affiliated facility information, city are detailed.Can measure live-action image is the original appearance directly reflecting mapping object and physical environment in the mode of high definition, high resolution image, and it had both contained the Target scalar information that will measure, and comprised again associated various nature and social information.Live-action image technology can be measured and be mainly used in the aspects such as mobile close-range photogrammetry and application.But, the measurement technology that live-action image provides Municipal Component, skin surface, road and affiliated facility etc. can be measured, but do not relate to the process of indoor environment sequential images, calculating and measure.
2) computer vision technique may be used for indoor three-dimensional measuring, but computer vision technique focus is the automatic Processing Algorithm of computing machine such as digital camera demarcation, feature extraction, Stereo matching, depth recovery and stereo measurement, mainly be applied as industry automatically to detect, its three-dimensional measuring belongs to processed offline or post-processing technology, and computer vision technique can not be used for the measurement in space of parallel indoor object.
Summary of the invention
The object of this invention is to provide the indoor sequential images adjustment of a kind of movable sensor and stereoscopic measurement method, achieve indoor measurement in space function.
The object of the invention is to be achieved through the following technical solutions:
The indoor sequential images adjustment of a kind of movable sensor and stereoscopic measurement method, the method comprises:
Web server receives the indoor sequential images that movable sensor is sent by mobile Internet, and described indoor sequential images is transferred to data server;
Described data server carries out empty three adjustment processing to described indoor sequential images, and what obtain each image determines appearance locator data, and the appearance locator data of determining of each image described is sent to described movable sensor via described Web server;
Described movable sensor carries out measurement in space according to the appearance locator data of determining of each image described at the image sequence of correspondence.
As seen from the above technical solution provided by the invention, indoor environment stereopsis is obtained by movable sensor, based on mobile Internet by image transmission to Web server, data server carries out empty three process of sequential images, appearance locator data transmission travelling backwards dynamic sensor will be determined again by Web server and mobile Internet, realize movable sensor Customer Premise three-dimensional measuring function, decrease by the indoor image of user's hand getting collection and the plenty of time of carrying out spent by post-processed and workload.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
The process flow diagram of the indoor sequential images adjustment of a kind of movable sensor that Fig. 1 provides for the embodiment of the present invention one and stereoscopic measurement method;
The schematic diagram of the indoor sequential images adjustment of a kind of movable sensor that Fig. 2 provides for the embodiment of the present invention one and stereoscopic measurement method.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on embodiments of the invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to protection scope of the present invention.
Embodiment one
The process flow diagram of the indoor sequential images adjustment of a kind of movable sensor that Fig. 1 provides for the embodiment of the present invention one and stereoscopic measurement method.As shown in Figure 1, the method mainly comprises the steps:
Step 11, Web server receive the indoor sequential images that movable sensor is sent by mobile Internet, and described indoor sequential images is transferred to data server.
Movable sensor described in the present embodiment can comprise multiple, after it carries out indoor image collection respectively, is sent to Web server (webserver) by three-dimensional for the indoor collected so that in is shared through mobile Internet.Wherein, each movable sensor, when gathering indoor 3-dimensional image, using including two indoor 3-dimensional images of public domain as one group, like this after multi collect, obtains indoor sequence 3-dimensional image.
After Web server receives described indoor sequence 3-dimensional image, send it to data server and carry out pre-service, schematic diagram during real work can see Fig. 2.
Step 12, described data server carry out empty three adjustment processing to described indoor sequential images, and what obtain each image determines appearance locator data, and the appearance locator data of determining of each image described is sent to described movable sensor via described Web server.
Described data server carries out processing the image obtaining every width to described indoor sequential images and determines appearance locator data (image elements of exterior orientation); Concrete: first, carry out Feature Points Matching, comprising: extract minutiae, carry out forward and reverse Feature Points Matching, and eliminate error hiding based on the constraint of core line, complete the Feature Points Matching of indoor sequential images; Then, carry out empty three adjustments of sequential images flux of light method, what obtain every width image determines appearance locator data.
Wherein, based on empty three adjustments of sequential images flux of light method, the error equation of sequential images bundle adjustment is set up in pointwise, and its formula is:
v
x＝a
11dX
S+a
12dY
S+a
13dZ
S+a
14dφ+a
15dω+a
16dκ-a
11dX-a
12dY-a
13dZ-l
x（1）
v
y＝a
21dX
S+a
22dY
S+a
23dZ
S+a
24dφ+a
25dω+a
26dκ-a
21dX-a
22dY-a
23dZ-l
y
In formula:
T=[dX
sdY
sdZ
sd φ d ω d κ] be the elements of exterior orientation correction of image;
X=[dXdYdZ] is object space point three-dimensional coordinate correction;
L=[l
xl
y] be the constant term of error equation.
The expression matrix of formula (1) is:
V＝[AB][tX]
T-L（2）
For the multipair match point of sequential images, the normal equation can listing flux of light method is:
(3) in formula:
For the coefficient matrix of normal equation;
For normal equation constant matrix;
For unknowns matrices undetermined.
Exemplary, the movable sensor described in the embodiment of the present invention can be the mobile client of built-in Android system (Android), and mobile client and Web server end bidirectional data transfers adopt TCP communication agreement, and bi-directional communication procedures realizes as follows:
Step 13, described movable sensor according to described in there is the sequential images determining appearance locator data carry out three-dimensional measurement.
First, determine according to described the corresponding image points coordinate that appearance locator data measures object on corresponding sequential images, and calculate the object space three-dimensional coordinate of object; Measurement object length is calculated again according to range formula.
The embodiment of the present invention obtains indoor environment stereopsis by movable sensor, based on mobile Internet by image transmission to Web server, data server carries out empty three process of sequential images, appearance locator data transmission travelling backwards dynamic sensor will be determined again by Web server and mobile Internet, realize movable sensor Customer Premise three-dimensional measuring function, decrease by the indoor image of user's hand getting collection and the plenty of time of carrying out spent by post-processed and workload.
Through the above description of the embodiments, those skilled in the art can be well understood to above-described embodiment can by software simulating, and the mode that also can add necessary general hardware platform by software realizes.Based on such understanding, the technical scheme of above-described embodiment can embody with the form of software product, it (can be CD-ROM that this software product can be stored in a non-volatile memory medium, USB flash disk, portable hard drive etc.) in, comprise some instructions and perform method described in each embodiment of the present invention in order to make a computer equipment (can be personal computer, server, or the network equipment etc.).
The above; be only the present invention's preferably embodiment, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (4)
1. the indoor sequential images adjustment of movable sensor and a stereoscopic measurement method, it is characterized in that, the method comprises:
Web server receives the indoor sequential images that movable sensor is sent by mobile Internet, and described indoor sequential images is transferred to data server;
Described data server carries out empty three adjustment processing to described indoor sequential images, and what obtain each image determines appearance locator data, and the appearance locator data of determining of each image described is sent to described movable sensor via described Web server;
Described movable sensor carries out measurement in space according to the appearance locator data of determining of each image described at the indoor sequential images of correspondence.
2. method according to claim 1, is characterized in that, obtains described indoor sequential images and comprises:
Carried out the collection of indoor sequential images by described movable sensor, to comprise two images of public domain as one group in gatherer process, obtain indoor sequential images.
3. method according to claim 1, is characterized in that, described acquisition image is determined appearance locator data and comprised:
Feature Points Matching is carried out to described indoor sequential images; Concrete: extract minutiae, carries out positive and negative characteristic matching, and eliminates error hiding based on the constraint of core line, complete the Feature Points Matching of indoor sequential images;
Carry out empty three adjustments of flux of light method to carrying out the indoor sequential images after Feature Points Matching, what obtain each image determines appearance locator data.
4. method according to claim 1, is characterized in that, the appearance locator data of determining according to each image described is carried out measurement in space at the indoor sequential images of correspondence and comprised:
Determine according to described the corresponding image points coordinate that appearance locator data sequential images measures object in respective chamber/chambers, and calculate the object space three-dimensional coordinate of object;
Measurement object length is calculated again according to range formula.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1877253A (en) * | 2005-06-09 | 2006-12-13 | 山东科技大学 | Vehicular three-dimensional measuring system and method for close-range target |
| JP2013234971A (en) * | 2012-05-11 | 2013-11-21 | Kokusai Kogyo Co Ltd | Triaxial marker measuring method, program and device |
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2014
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1877253A (en) * | 2005-06-09 | 2006-12-13 | 山东科技大学 | Vehicular three-dimensional measuring system and method for close-range target |
| JP2013234971A (en) * | 2012-05-11 | 2013-11-21 | Kokusai Kogyo Co Ltd | Triaxial marker measuring method, program and device |
Non-Patent Citations (3)
| Title |
|---|
| Stable Signal Recovery from Incomplete and Inaccurate Measurements;Terence Tao等;《Communications on pure and applied mathematics》;20060831;第59卷(第8期);第1207－1223页 * |
| 三维平差在近景摄影测量控制网中的应用;赵斌奇等;《科学技术与工程》;20110131;第11卷(第3期);第563－566页 * |
| 基于均匀特征匹配的无人机影像拼接;马超等;《北京建筑工程学院学报》;20131231;第29卷(第4期);第47－51页 * |
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