CN106092061B - River water surface flow field calibrating method based on lens imaging model under oblique viewing angle - Google Patents
River water surface flow field calibrating method based on lens imaging model under oblique viewing angle Download PDFInfo
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- CN106092061B CN106092061B CN201610380625.4A CN201610380625A CN106092061B CN 106092061 B CN106092061 B CN 106092061B CN 201610380625 A CN201610380625 A CN 201610380625A CN 106092061 B CN106092061 B CN 106092061B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
- G01C13/002—Measuring the movement of open water
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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Abstract
The invention discloses a kind of river water surface flow field calibrating methods based on lens imaging model under oblique viewing angle.Two marker posts of setting are for orienting first on fiver survey section；Then a laser range finder and industrial camera be connected and are used as image measuring device, and be erected on the Measure section of riverbank side；Next with laser range finder measuring device to intersection point between marker post and the water surface distance, and by the pitch angle that built-in sensors measure calculate device to the water surface elevation；The every line that tests the speed finally is solved in image in the image scale factor of section and downbeam according to the lens imaging model under oblique viewing angle respectively, and then corresponding start point distance and flow speed value is demarcated, completes flow field calibration.Workload and the demand to equipment are greatly reduced, the emergency monitoring of river flow, flow periodically patrolled under survey and extreme condition is particularly suitable for without laying control point in river two sides and surveying its coordinate with complex devices such as total powerstations compared to existing method.
Description
Technical field
It a kind of tests the speed the present invention relates to a kind of river water surface flow field calibrating method more particularly to for the imaging of the river water surface
Water surface flow field calibrating method, belongs to vision measurement field.
Background technology
In the river water surface imaging velocity measuring technique for measuring river water surface velocity field using video image, flow field calibration be by
Motion vector in image optical flow field is converted to world coordinate system from image coordinate system, and divided by frame period obtain velocity vector field
Process.Compared to the machine vision in industrial detection, there are following difficult points for the vision measurement of the river water surface：1. measurand is height
The water surface of journey dynamic change, the water level of high flood phase flashy stream, which rises suddenly and sharply, to break, and interior luffing is up to several meters in short-term；2. the tested water surface
On be difficult to same field and lay control point, can only disperse to be laid in two sides, and need using the exploration of the professional equipments such as total powerstation or DGPS
Its world coordinates；3. for covering complete measurement section, camera is usually set up in bank and is waited for a smaller oblique viewing angle shooting
The water surface is surveyed, perspective distortion not only causes the reduction of far field space resolution ratio, but also it is caused to be unevenly distributed in region to be measured；④
The optical system of non-metric camera is there are nonlinear distortion, the distortion aberration far from picture centre when especially with wide-angle lens
Often it can not ignore.
At present in the river water surface imaging velocity-measuring system of application, it is fixed mainly water surface flow field to be carried out using following two modes
Mark：
(1) measurement mode, feature are to be considered as measurement camera on the basis of Accurate Calibration camera inside and outside parameter to make
With.For example, homography matrix is decomposed into inside and outside parameter matrix by Bechle et al., intrinsic parameter is demarcated first with indoor standardization plate,
Then the dial on site control point and holder is utilized to demarcate outer parameter.However, being generally required according to water in applying at the scene
The variation of position elevation and illumination condition adjusts the shooting angle of the focal length of camera lens, aperture and camera, so as to cause imaging optical path
With the change of inside and outside parameter, therefore measurement mode is generally difficult to be applicable in emergency monitoring.
(2) non-measurement mode, feature are directly to use ordinary digital camera as non-metric camera, and general use is based on
The integral calibrating method of direct linear transformation (Direct Linear Transformation, DLT) solves one group and does not define
The intermediate parameters of physical significance establish the mapping relations between image space coordinate and object coordinates.For example, Fujita etc. is approximate by the water surface
Regard the plane of a constant elevation as, and the plane of delineation and physical are solved using the method for 2 d dlt (DLT)
Model is singly answered between face.This method only need to lay 4 ground control points in river two sides, but need to ensure that control point is total with the water surface
Face, otherwise their projections on the image can not reflect true water level elevation.As an improvement, have also been proposed it is a kind of three-dimensional
DLT methods, it is contemplated that the distance at control point to the water surface simultaneously drops the water surface in parameters revision Perspective transformation model using water level and ratio
Elevation, can significantly improve under smaller shooting inclination angle (<10 °) photogrammetric accuracy.Non- measurement mode has calculating simple fast
Speed, the characteristics of being not necessarily to inside and outside element of orientation initial value, therefore camera can be positioned over any position without measuring its coordinate,
It is particularly suitable for field emergency to measure.Laying mode and exploration precision to control point is also more sensitive so that the measurement of big visual field
Precision is limited.
In conclusion in view of difficult point existing for river water surface vision measurement, or existing method precision is not high, is difficult to reality
With or it is time-consuming and laborious, be difficult to rapid deployment.Therefore, it studies and proposes a kind of quick water surface flow field calibration side exempting from control point
Method is of great significance for the emergency monitoring for periodically patrolling flood under survey and extreme condition in field river.
Invention content
Goal of the invention：It is insufficient existing for difficult point and existing method of the present invention for river water surface vision measurement, it provides
A kind of river water surface flow field calibrating method based on lens imaging model under oblique viewing angle.
Technical solution：A kind of river water surface flow field calibrating method based on lens imaging model under oblique viewing angle, including with
Lower five key steps：
(1) section marker post is set, the marker post of two and water surface intersection are set on Measure section, are used to indicate section
Direction, and using the intersection point of one of marker post and the water surface as water level reference point；
(2) image measuring device is set up, an industrial camera and a laser range finder are connected constitutes imaging survey first
Device is measured, and is erected at riverbank side；Secondly the position of tripod and the level of holder are adjusted so that after individually changing pitch angle
The target spot of laser range finder can sight two marker posts successively, to ensure that camera optical axis is located on Measure section；Then with sharp
Optar measures it and arrives the oblique distance D and pitch angle δ of water level reference point, and by built-in triangulation program calculate rangefinder to
The vertical range of the water surface：
HL=Dsin δ
Next it selects the suitable optical lens of focal length f and adjusts shooting pitch angle so that viewing field of camera covering is complete
Measure section simultaneously has spatial resolution as high as possible, and then finds out industrial phase according to the current pitch angle α ' of laser range finder
The pitch angle of machine optical axis：
α=α '+Δ α
Wherein, Δ α indicates the angle difference between the two demarcated in advance；Finally calculate industrial camera to the water surface it is vertical away from
From：
H=HL-d·cosα
Wherein, distance of the d expression laser range finder measuring centers to industrial camera imaging center；
(3) it acquires image sequence and is continuously shot total duration by time interval of Δ t after image measuring device is stablized as T's
N width images are measured for flow velocity；
(4) the line start point distance that tests the speed is demarcated, reads the piece image in image sequence first, and scheming according to the demand of testing the speed
Along section direction setting I items, parallel and size is the line L that tests the speed of M × 1 with downbeam as ini(1≤i≤I), with (xi,yi) table
Show the image coordinate at line midpoint of testing the speed；Then image coordinate (the x of water level reference point is extracted in the picture0,y0) test the speed as calculating
The reference zero of line start point distance；Finally according to the lens imaging model under oblique viewing angle, using ordinate j in image from y0To yi
Each pixel test the speed the start point distance of line in image scale factor Δ Y (j) calibration of section Y-direction：
Wherein, m × n indicates that the image resolution ratio of camera, s indicate the pixel dimension of imaging sensor；
(5) the line flow speed value that tests the speed is demarcated, for the every line L that tests the speedi, first with the space of pixel on the line that tests the speed for horizontal seat
Mark, the time per frame image are ordinate, establish the time-space image that size is M × N；Then time-space image velocimetry is used to estimate
Test the speed the size of motion vector on line：
Wherein, siIndicate that the pixel distance that target is moved along downbeam in time T, θ indicate the texture master of time-space image
Direction；Finally according to the lens imaging model under oblique viewing angle, using pixel on the line that tests the speed fair current X-direction image scale
Factor Δ X (yi) calibration tests the speed the size of physics flow velocity on line：
Wherein, ViThe positive and negative direction for reflecting flow velocity on the line that tests the speed.
There are one 1/4 for the image measuring device, the case top of industrial camera and bottom " mounting base of screw hole,
The mounting base of bottom is connected with tripod, and the mounting base at top is connected by a double-headed connector and laser range finder, is passed through
Adjustment so that camera optical axis is parallel with the optical axis of laser range finder；Industrial camera uses the cmos image with global shutter to sense
Device, to eliminate the image deformation of moving target；The optical lens of camera uses the industrial tight shot of 8mm~16mm, to reduce
The influence of non-linear aberration；Used 3.0 interfaces of USB of camera are connected with field data acquiring terminals such as tablet computers；Laser ranging
For instrument using outdoor measurement type laser range finder, measurement distance is more than 200m, and range accuracy is better than 3mm；Built-in inclination angle measurement module,
Ranging from -45 °~+45 ° of pitch angle are can measure, angle measurement accuracy is better than 0.1 °.
The present invention uses above-mentioned technical proposal, has the advantages that：
1, rapid deployment：Compared to existing method, without laying control point in river two sides and being surveyed using equipment such as total powerstations
Observing and controlling point coordinates, greatly reduces workload, measuring points can be completed in several minutes and laid, and river flow, flow is suitble to determine
Phase patrols the emergency monitoring under survey and extreme condition.
2, equipment is simple：A camera and a laser range finder that function is measured with inclination angle are only needed, without whole station
The complexity such as instrument or DGPS and valuable instrument of surveying and mapping not only reduce measurement cost and are convenient for one-man service.
Description of the drawings
Fig. 1 is the river water surface flow field calibrating method schematic diagram of the present invention, figure label title：1 is Measure section；2、3
For section marker post；4 be water level reference point；5 be image measuring device；6 be camera optical axis.
Fig. 2 is the image measuring device hardware architecture diagram of the present invention, figure label title：51 be industrial camera；52
For laser range finder；53 be double-headed connector.
Fig. 3 be the present invention oblique viewing angle under lens imaging model schematic, (a) be pixel pi,jPositioned at image far field
Cross section view (b) is pixel pi,jPositioned at image near field cross section view, (c) it is pixel pi,jThree-dimensional view on the left of image,
(d) it is pixel pi,jThree-dimensional view on the right side of image.
Specific implementation mode
With reference to specific embodiment, the present invention is furture elucidated, it should be understood that these embodiments are merely to illustrate the present invention
Rather than limit the scope of the invention, after having read the present invention, various equivalences of the those skilled in the art to the present invention
The modification of form falls within the application range as defined in the appended claims.
The river water surface flow field calibrating method schematic diagram of the present invention is as shown in Figure 1.Method includes following five key steps：
(1) section marker post is set, the marker post 2,3 of two and water surface intersection are set on Measure section 1, are used to indicate
Section direction, and using the intersection point of marker post 2 and the water surface as water level reference point 4；When it is implemented, for by side slope transformation
The artificial section of concrete, can be drawn directly in the two sides side slope of Measure section perpendicular to river and and the water surface intersect it is notable
Markings are used for replacing above-mentioned marker post；
(2) image measuring device is set up, an industrial camera and a laser range finder are connected constitutes imaging survey first
Device 5 is measured, and is erected at riverbank side；Secondly the position of tripod and the level of holder are adjusted so that individually change pitch angle
Afterwards the target spot of laser range finder can sighting target bar 2,3 successively, to ensure that camera optical axis 6 is located on Measure section 1；Then it uses
Laser range finder measures it and arrives the oblique distance D and pitch angle δ of water level reference point 4, and calculates ranging by built-in triangulation program
Vertical range of the instrument to the water surface：
HL=Dsin δ
Next it selects the suitable optical lens of focal length f and adjusts shooting pitch angle so that viewing field of camera covering is complete
Measure section simultaneously has spatial resolution as high as possible, and then finds out industrial phase according to the current pitch angle α ' of laser range finder
The pitch angle of machine optical axis：
α=α '+Δ α
Wherein, Δ α indicates the angle difference between the two demarcated in advance；Finally calculate industrial camera to the water surface it is vertical away from
From：
H=HL-d·cosα
Wherein, distance of the d expression laser range finder measuring centers to industrial camera imaging center；
(3) it acquires image sequence and is continuously shot total duration by time interval of Δ t after image measuring device is stablized as T's
N width images are measured for flow velocity；
(4) the line start point distance that tests the speed is demarcated, reads the piece image in image sequence first, and scheming according to the demand of testing the speed
Along section direction setting I items, parallel and size is the line L that tests the speed of M × 1 with downbeam as ini(1≤i≤I), with (xi,yi) table
Show the image coordinate at line midpoint of testing the speed；Then image coordinate (the x of water level reference point 4 is extracted in the picture0,y0) surveyed as calculating
The reference zero of fast line start point distance；Finally according to the lens imaging model under oblique viewing angle, using ordinate j in image from y0It arrives
yiImage scale factor Δ Y (j) (m/pixel) calibration in the Y direction of each pixel test the speed the start point distance of line：
Wherein, m × n indicates that the image resolution ratio of camera, s indicate the pixel dimension of imaging sensor；
(5) the line flow speed value that tests the speed is demarcated, for the every line L that tests the speedi, first with the space of pixel on the line that tests the speed for horizontal seat
Mark, the time per frame image are ordinate, establish the time-space image that size is M × N pixels；Then time-space image velocimetry is used
Estimation is tested the speed the size of motion vector on line：
Wherein, siIndicate that the pixel distance that target is moved along downbeam in time T, θ indicate the texture master of time-space image
Direction；Finally according to the lens imaging model under oblique viewing angle, using pixel on the line that tests the speed X-direction image scale factor
ΔX(yi) calibration tests the speed the size of physics flow velocity on line：
Wherein, ViThe positive and negative direction for reflecting flow velocity on the line that tests the speed.
The image measuring device hardware architecture diagram of the present invention is as shown in Figure 2.The case top of industrial camera 51 and bottom
There are one 1/4, " mounting base of the mounting base of screw hole, bottom is connected with tripod, and the mounting base at top passes through a double end in portion
Connector 53 and laser range finder 52 are connected, by adjustment so that camera optical axis is parallel with the optical axis of laser range finder 52.Industry
Camera 1 is using the cmos image sensor with global shutter, to eliminate the image deformation of moving target；It can be adopted when specific implementation
The black and white industrial camera MV-CA013-20UM regarded with Haikang prestige, camera use the cmos image sensor of 1,300,000 pixels, figure
Picture resolution ratio is 1280 × 1024 pixels, and pixel dimension is 4.8 μm；The optical lens of camera is fixed using the industry of 8mm~16mm
Zoom lens, to reduce the influence of non-linear aberration；The field data acquiring terminals such as used 3.0 interfaces of USB of camera and tablet computer
It is connected.For laser range finder 52 using outdoor measurement type laser range finder, measurement distance is more than 200m, and range accuracy is better than 3mm；It is interior
Inclination angle measurement module is set, ranging from -45 °~+45 ° of pitch angle are can measure, angle measurement accuracy is better than 0.1 °；It can be adopted when specific implementation
With the DISTO D5 type laser range finders of Leica companies.
Lens imaging model schematic is as shown in Figure 3 under the oblique viewing angle of the present invention.Model describes camera primary optical axis
OOO ' is perpendicular to X-direction and the case where there is only pitch angles.Wherein, photo coordinate system is indicated with (x, y), object plane coordinate
System is indicated with (X, Y)；O is the optical center of lens plane, and o, O ' are respectively its subpoint in image plane and object plane；C is picture
Plane extended line and horizontal intersection point by optical center；H is vertical range of the optical center to object plane, and C is corresponding intersection point point；
The pitch angle α of camera is defined as the angle between camera primary optical axis and object plane.When object distance is much larger than image distance, focal length f and image distance
Approximately equal, coordinate is the pixel p of (i, j) in imagei,jImage scale factor can use its object point Pi,jWith phase in X, Y-direction
To indicate, i.e., adjacent pixel corresponds to the distance of object point：
Assuming that pixel pi,jPositioned at the far field (Fig. 3 a) of image, in the directions y adjacent pixel pi.j+1Corresponding object point is used
Pi,j+1It indicates, 2 points of subpoints on the main ordinate of object plane are respectively PjAnd Pj+1, the angle with object plane is respectively β and γ,
Subpoint on the main ordinate of image plane is respectively pjAnd pj+1.According to formula (1), pi,jImage scale factor in the directions y can table
It is shown as：
Δ Y (i, j)=Pj+1C-PjC=H (1/tan γ -1/tan β) (2)
For subpoint pj, meet following triangle relation：
Wherein, s indicates the pixel dimension of imaging sensor.Due to α=∠ cOo, β=∠ cOpj, substitute into above formula and obtain：
Similarly, for subpoint pj+1, have：
Formula (4), formula (5) are substituted into formula (2), obtained：
Since arctan () is odd function, work as pixel pi,jEqually meet above formula when positioned at image near field (Fig. 3 b).
Assuming that pixel pi,jPositioned at the left side (Fig. 3 c) of image, in the directions x adjacent pixel pi+1.jCorresponding object point is used
Pi+1,jIt indicates, ray Pi,jO and Pi+1,jO and projection line PjThe angle of O is used respectivelyIt is indicated with φ.According to formula (1), pi,jIn the side x
To image scale factor be represented by：
For pixel pi,j, meet following triangle relation：：
Due to φ=∠ pi,jOpj, and：
Substitution formula (8), has：
Similarly, for pixel pj+1, have：
According to formula (4), have：
Formula (10), formula (11) and formula (12) are substituted into formula (7), obtained：
As it can be seen that Δ X (i, j) and image coordinate i are unrelated.Work as pixel pi,jOn equally meeting when (Fig. 3 d) on the right side of image
Formula.
Claims (3)
1. a kind of river water surface flow field calibrating method based on lens imaging model under oblique viewing angle, which is characterized in that including with
Lower five key steps：
(1) section marker post is set, the marker post (2,3) of two and water surface intersection are set on Measure section (1), are used to indicate
Section direction, and using the intersection point of marker post (2) and the water surface as water level reference point (4)；
(2) image measuring device is set up, an industrial camera and a laser range finder are connected constitutes imaging measurement dress first
(5) are set, and are erected at riverbank side；Secondly the position of tripod and the level of holder are adjusted so that after individually changing pitch angle
The target spot of laser range finder can sighting target bar (2,3) successively, to ensure that camera optical axis (6) is located on Measure section (1)；So
It is measured with laser range finder afterwards and arrive the oblique distance D and pitch angle δ of water level reference point (4), and by built-in triangulation program meter
Vertical range of the calculation rangefinder to the water surface：
HL=Dsin δ
Next it selects the suitable optical lens of focal length f and adjusts shooting pitch angle so that viewing field of camera covering is complete to be measured
Section simultaneously has spatial resolution as high as possible, and then finds out industrial camera light according to the current pitch angle α ' of laser range finder
The pitch angle of axis：
α=α '+Δ α
Wherein, Δ α indicates the angle difference between the two demarcated in advance；Finally vertical range of the calculating industrial camera to the water surface：
H=HL-d·cosα
Wherein, distance of the d expression laser range finder measuring centers to industrial camera imaging center；
(3) it acquires image sequence and is continuously shot total duration by time interval of Δ t after image measuring device is stablized as the N width of T
Image is measured for flow velocity；
(4) the line start point distance that tests the speed is demarcated, reads the piece image in image sequence first, and in the picture according to the demand of testing the speed
Along section direction be arranged I items with downbeam parallel and size for M × 1 the line L that tests the speedi(1≤i≤I), with (xi,yi) indicate to survey
The image coordinate at fast line midpoint；Then image coordinate (the x of water level reference point (4) is extracted in the picture0,y0) test the speed as calculating
The reference zero of line start point distance；Finally according to the lens imaging model under oblique viewing angle, using ordinate j in image from y0To yi
Each pixel test the speed the start point distance of line in image scale factor Δ Y (j) calibration of section Y-direction：
Wherein, m × n indicates that the image resolution ratio of camera, s indicate the pixel dimension of imaging sensor；
(5) the line flow speed value that tests the speed is demarcated, for the every line L that tests the speedi, first using the space of pixel on the line that tests the speed as abscissa, per frame
The time of image is ordinate, establishes the time-space image that size is M × N；Then time-space image velocimetry is used to estimate the line that tests the speed
The size of upper motion vector：
Wherein, siIndicate that the pixel distance that target is moved along downbeam in time T, θ indicate the texture principal direction of time-space image,
Δ t is time interval；Finally according to the lens imaging model under oblique viewing angle, using pixel on the line that tests the speed in fair current X-direction
Image scale factor Δ X (yi) calibration tests the speed the size of physics flow velocity on line：
Wherein, ViThe positive and negative direction for reflecting flow velocity on the line that tests the speed.
2. the river water surface flow field calibrating method according to claim 1 based on lens imaging model under oblique viewing angle,
It is characterized in that, for the artificial section of concrete by side slope transformation, can directly be drawn in the two sides side slope of Measure section
Perpendicular to river and and water surface intersection distinctive marks line for replacing above-mentioned marker post.
3. the river water surface flow field calibrating method according to claim 1 based on lens imaging model under oblique viewing angle,
It is characterized in that, there are one 1/4 " mounting base of screw hole, the mounting bases of bottom and three for the case top of industrial camera (5) and bottom
Tripod is connected, and the mounting base at top is connected by a double-headed connector (53) and laser range finder (52), by adjustment so that
Camera optical axis is parallel with the optical axis of laser range finder；Industrial camera (51) uses the cmos image sensor with global shutter,
To eliminate the image deformation of moving target；The optical lens of camera uses the industrial tight shot of 8mm~16mm, non-thread to reduce
The influence of property aberration；Camera is connected with 3.0 interfaces of USB with tablet computer field data acquiring terminal；Laser range finder (52) is adopted
With outdoor measurement type laser range finder, measurement distance is more than 200m, and range accuracy is better than 3mm；Built-in inclination angle measurement module, can survey
Measure pitch angle ranging from -45 °~+45 °, angle measurement accuracy are better than 0.1 °.
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