CN106840103A - A kind of digital photogrammetry method based on length mixed baseline - Google Patents
A kind of digital photogrammetry method based on length mixed baseline Download PDFInfo
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- CN106840103A CN106840103A CN201611157654.0A CN201611157654A CN106840103A CN 106840103 A CN106840103 A CN 106840103A CN 201611157654 A CN201611157654 A CN 201611157654A CN 106840103 A CN106840103 A CN 106840103A
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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
Abstract
The invention discloses a kind of digital photogrammetry method based on length mixed baseline, the measuring method includes：Step 10）Length mixed baseline photography is carried out, short base line image data and Long baselines view data is obtained；Step 20）Place is in the wrong base line image data；Step 30）According to short base line image data result, Long baselines view data is processed, obtain Long baselines accurate three-dimensional model.The digital photogrammetry method for being based on length mixed baseline can improve the images match degree of accuracy.
Description
Technical field
The invention belongs to digital photogrammetry field, it particularly relates to a kind of numeral based on length mixed baseline is taken the photograph
Image measuring method.
Background technology
Images match is the core technology of digital photogrammetry automation, in the case that photographic base is more long, two images
Visual angle change amplitude it is also larger, between image exist photography light difference and target occlusion phenomenon, cause such image
(Yao Guobiao incline Image Matching key algorithm and application study [D] China Mining University thesis for the doctorate .2014 5 with difficult
Month).Although the algorithm of automatic image matching at present reaches its maturity, matching precision has reached Pixel-level, error hiding and big rough error according to
So exist, be also that inevitably (research [D] the Wuhan Universitys of some key technologies win in Cao Hui intelligence aerial triangulations
Bachelorship paper, in October, 2013).It is the degree of accuracy for improving images match, many baselines are photogrammetric by 2 images above
Redundant observation problem in matching that core line is constrained and ground point height constrained solution has been determined.Wang Jingxue etc. by multi-view images extract
Projecting characteristic points constrain candidate's characteristic point of the same name using grid unit in plane to the object space grid plane of different elevations, right
Multi-view images carry out selective matching, it is to avoid partial image block to match influence (Wang Jing snow movement elevation plane constraint
Multi-view images Feature Points Matching [J] remote sensing journal .2012 April).Many baseline image matchings are improving the images match degree of accuracy
While reduce image characteristic point matching quantity, it is impossible to solve the problems, such as intensive Point matching.The present invention combines short baseline
Photogrammetric matching rate high and the photogrammetric high accuracy of Long baselines, the method being complementary to one another by long-short baselines solve current
The low realistic problem of matching rate in digital photogrammetry.
The content of the invention
Technical problem：The technical problem to be solved in the present invention is：A kind of digital photography based on length mixed baseline is provided
Measuring method, to improve the images match degree of accuracy.
Technical scheme：In order to solve the above technical problems, the technical scheme that the embodiment of the present invention is used is：
A kind of digital photogrammetry method based on length mixed baseline, the measuring method includes：
Step 10) length mixed baseline photography is carried out, obtain short base line image data and Long baselines view data；
Step 20) place is in the wrong base line image data；
Step 30) according to short base line image data result, Long baselines view data is processed, obtain Long baselines accurate three
Dimension module.
As preference, described step 10) specifically include：
Step 101) to measured target stereoscopic camera in position T1Photography is synchronized, the first stereogram is obtained, the
One stereogram includes image p1With image p2, image p1Photo centre be S1, image p2Photo centre be S2If, baseline B1
It is with S1And S2It is the straight line of end points connection, baseline B1It is short baseline；
Step 102) to measured target stereoscopic camera in position T2Photography is synchronized, the second stereogram is obtained, the
Two stereograms include image p3With image p4, image p3Photo centre be S3, image p4Photo centre be S4If, baseline B3
It is with S3And S4It is the straight line of end points connection, baseline B3It is short baseline；
Step 103) choose the first stereogram in an image and the second stereogram in an image, constitute Long baselines
Stereogram, with two photo centres of image in the Long baselines stereogram as end points, line is baseline B2, baseline B2For
The Long baselines of Long baselines stereogram.
As preference, described step 20) specifically include：
Step 201) FAST feature point detection algorithms are utilized to image p1Image characteristic point is extracted, image p is obtained1On figure
As feature point coordinates；
Step 202) images match：To image p1On each characteristic point a1, image matching method is constrained using core line,
Determined S1、S2And a1Plane, the plane and p1Intersecting straight line is l1, the plane and p2Intersecting straight line is l2；In l2
Upper search characteristics point a1Corresponding image points a2；
Step 203) calculate characteristic point a using digital photogrammetry principle1With corresponding image points a2The three of corresponding spatial point A
Dimension coordinate (XA、YA、ZA) and wherein error (MX、MY、MZ)；
Step 204) by step 203) three-dimensional coordinate that is calculated, constitute short baseline roughcast type；
Step 205) calculation procedure 204) depth bounds of each point in the short baseline roughcast type that obtains：According to the three of spatial point
Dimension coordinate and wherein error, as limit error, depth error is ε to error with twiceZ=2MZ, wherein, MZRepresent step 203)
The middle error of each model points depth direction for calculating；The depth bounds of spatial point is (ZA-εZ,ZA+εZ)；ZARepresent step 203)
The depth value for calculating；If M1=ZA-εZ, M2=ZA+εZ。
As preference, the step 30) specifically include：
Step 301) the constraint calculating of Long baselines model core line：For image p2On characteristic point a2, using core line constraints graph picture
Matching process, it is determined that S2、S3And a2Plane, determine plane and image p3Intersecting straight line is core line l3；Described characteristic point
a2For step 202) in l2Upper search characteristics point a1Corresponding image points a2；
Step 302) depth bounds constraint calculating：According to step 205) determine spatial point depth bounds constraint, calculate
Step 203) in A points in core line l3On span m1And m2；
Step 303) Long baselines model essence matching：In m1And m2In the range of, match a2Corresponding image points a3；
Step 304) Long baselines model spatial coordinates calculation：Using step 203) identical method, recalculates base long
Characteristic point a in line model2With corresponding image points a3Accurate three-dimensional coordinate (the X ' of corresponding spatial point AA Y′A Z′A)；
Step 305) by image p2On each characteristic point carry out it is described 301)-step 304) calculate, will obtain
Three-dimensional coordinate constitute Long baselines essence model.
Beneficial effect：Compared with prior art, the invention has the advantages that：Using the short small light of baseline model parallax
According to intensity it is close the characteristics of, to short Baseline Stereo picture to carrying out images match, improve it is photogrammetric at present in images match
Precision；The images match of Long baselines model is instructed using the matching achievement and model accuracy of short baseline, current digital photography is solved
The low realistic problem of matching rate in measurement.The present invention is a kind of digital photogrammetry method based on length mixed baseline, to same
The stereogram that one position shoots is short Baseline Stereo picture pair, to short Baseline Stereo picture to carrying out images match, calculates three-dimensional
Error in the measurement of each model points of model；Again from diverse location (T1、T2) shoot photo in select p2、p3Composition Long baselines stand
Body image pair, with short baseline image matching result and three-dimensional coordinate and mean square error of a point as primary condition, aids in Long baselines space image
Images match and three-dimensional coordinate are calculated, so as to improve the photogrammetric precision of Long baselines.
Brief description of the drawings
Fig. 1 is the flow chart of the embodiment of the present invention；
Fig. 2 is the fundamental diagram of the embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings, technical scheme is described in detail.
As shown in figure 1, the embodiment of the present invention provides a kind of digital photogrammetry method based on length mixed baseline, the survey
Amount method includes：
Step 10) length mixed baseline photography is carried out, obtain short base line image data and Long baselines view data；
Step 20) place is in the wrong base line image data；
Step 30) according to short base line image data result, Long baselines view data is processed, obtain Long baselines accurate three
Dimension module.
As shown in Fig. 2 in above-described embodiment, described step 10) specifically include：
Step 101) to measured target stereoscopic camera in position T1Photography is synchronized, the first stereogram is obtained, the
One stereogram includes image p1With image p2, image p1Photo centre be S1, image p2Photo centre be S2If, baseline B1
It is with S1And S2It is the straight line of end points connection, baseline B1It is short baseline；
Step 102) to measured target stereoscopic camera in position T2Photography is synchronized, the second stereogram is obtained, the
Two stereograms include image p3With image p4, image p3Photo centre be S3, image p4Photo centre be S4If, baseline B3
It is with S3And S4It is the straight line of end points connection, baseline B3It is short baseline；
Step 103) choose the first stereogram in an image and the second stereogram in an image, constitute Long baselines
Stereogram, with two photo centres of image in the Long baselines stereogram as end points, line is baseline B2, baseline B2For
The Long baselines of Long baselines stereogram.
Described step 20) specifically include：
Step 201) FAST feature point detection algorithms are utilized to image p1Image characteristic point is extracted, image p is obtained1On figure
As feature point coordinates；
Step 202) images match：To image p1On each characteristic point a1, image matching method is constrained using core line,
Determined S1、S2And a1Plane, the plane and p1Intersecting straight line is l1, the plane and p2Intersecting straight line is l2；In l2
Upper search characteristics point a1Corresponding image points a2；
Step 203) calculate characteristic point a using digital photogrammetry principle1With corresponding image points a2The three of corresponding spatial point A
Dimension coordinate (XA、YA、ZA) and wherein error (MX、MY、MZ)；
Digital photogrammetry principle is prior art, reference can be made to Feng Wenhao writes, close-range photogrammetry, Wuhan：Wuhan University
Publishing house, 2002.
Step 204) by step 203) three-dimensional coordinate that is calculated, constitute short baseline roughcast type；
Step 205) calculation procedure 204) depth bounds of each point in the short baseline roughcast type that obtains：According to the three of spatial point
Dimension coordinate and wherein error, as limit error, depth error is ε to error with twiceZ=2MZ, wherein, MZRepresent step 203)
The middle error of each model points depth direction for calculating；The depth bounds of spatial point is (ZA-εZ,ZA+εZ)；ZARepresent step 203)
The depth value for calculating；If M1=ZA-εZ, M2=ZA+εZ。
The step 30) specifically include：
Step 301) the constraint calculating of Long baselines model core line：For image p2On characteristic point a2, using core line constraints graph picture
Matching process, it is determined that S2、S3And a2Plane, determine plane and image p3Intersecting straight line is core line l3.Described characteristic point
a2For step 202) in l2Upper search characteristics point a1Corresponding image points a2。
Core line constraint image matching method is prior art, reference can be made to Zhang Zuxun, Zhang Jianqing write, digital photogrammetry
(second edition), June 30 in 2012, publishing house:Publishing house of Wuhan University.
Step 302) depth bounds constraint calculating：According to step 205) determine spatial point depth bounds constraint, i.e. M1
=ZA-εZ,M2=ZA+εZ, calculation procedure 203) in A points in core line l3On span m1And m2.Calculating process is existing skill
Art, reference can be made to Zhang Jianqing, Pan Li, Wang Shugen write, photogrammetry, publishing house of Wuhan University, 2003 years.
Step 303) Long baselines model essence matching：In m1And m2In the range of, match a2Corresponding image points a3。
Step 304) Long baselines model spatial coordinates calculation：Using step 203) identical method, recalculates base long
Characteristic point a in line model2With corresponding image points a3Accurate three-dimensional coordinate (the X ' of corresponding spatial point AA Y′A Z′A)。
Step 305) by image p2On each characteristic point carry out it is described 301)-step 304) calculate, will obtain
Three-dimensional coordinate constitute Long baselines essence model.
In above-described embodiment, length mixed baseline：Stereoscopic camera constitutes short base in two photos that same position shoots
DNA mitochondrial DNA picture pair, stereoscopic camera constitutes Long baselines stereogram in two photos that diverse location shoots.
Traditional digital photogrammetry is more long due to photographic base length, although three-dimensional measurement precision is higher, due to
Stereogram parallax is big, intensity of illumination is inconsistent, cause that space image images match efficiency is low, error hiding is high, it is intensive to be difficult to
Point matching.The photogrammetric advantage of short baseline digital is：Stereogram parallax is small, intensity of illumination consistent, space image image
With efficiency high, intensive Point matching is realized, it has the disadvantage that three-dimensional measurement precision is low.The present invention utilizes the matching achievement and mould of short baseline
Type precision instructs the images match of Long baselines model, is easy to correct error hiding and leakage matching in current digital photogrammetry technology,
The matching technique of many images is realized, photogrammetric overall measurement accuracy is improved.
The method of above-described embodiment, the mixed baseline photography means combined using long-short baselines obtain image, in image
In the case of elements of exterior orientation is known, by setting up the low precision threedimensional model of short Baseline Stereo image, auxiliary Long baselines are three-dimensional
The images match of image, so as to set up High Precision Stereo model.
The basic principles, principal features and advantages of the present invention have been shown and described above.Those skilled in the art should
Understand, the present invention do not limited by above-mentioned specific embodiment, the description in above-mentioned specific embodiment and specification be intended merely into
One step illustrates principle of the invention, without departing from the spirit and scope of the present invention, the present invention also have various change and
Improve, these changes and improvements all fall within the protetion scope of the claimed invention.The scope of protection of present invention will by right
Ask book and its equivalent thereof.
Claims (4)
1. a kind of digital photogrammetry method based on length mixed baseline, it is characterised in that the measuring method includes：
Step 10) length mixed baseline photography is carried out, obtain short base line image data and Long baselines view data；
Step 20) place is in the wrong base line image data；
Step 30) according to short base line image data result, Long baselines view data is processed, obtain Long baselines accurate three-dimensional mould
Type.
2. according to the digital photogrammetry method based on length mixed baseline described in claim 1, it is characterised in that described
Step 10) specifically include：
Step 101) to measured target stereoscopic camera in position T1Photography is synchronized, the first stereogram is obtained, first is three-dimensional
As to including image p1With image p2, image p1Photo centre be S1, image p2Photo centre be S2If, baseline B1It is with S1
And S2It is the straight line of end points connection, baseline B1It is short baseline；
Step 102) to measured target stereoscopic camera in position T2Photography is synchronized, the second stereogram is obtained, second is three-dimensional
As to including image p3With image p4, image p3Photo centre be S3, image p4Photo centre be S4If, baseline B3It is with S3
And S4It is the straight line of end points connection, baseline B3It is short baseline；
Step 103) choose in the first stereogram an image and the second stereogram in an image, composition Long baselines are three-dimensional
As right, with two photo centres of image in the Long baselines stereogram as end points, line is baseline B2, baseline B2It is base long
The Long baselines of DNA mitochondrial DNA picture pair.
3. according to the digital photogrammetry method based on length mixed baseline described in claim 2, it is characterised in that described
Step 20) specifically include：
Step 201) FAST feature point detection algorithms are utilized to image p1Image characteristic point is extracted, image p is obtained1On image it is special
Levy point coordinates；
Step 202) images match：To image p1On each characteristic point a1, image matching method is constrained using core line, it is determined that
Cross S1、S2And a1Plane, the plane and p1Intersecting straight line is l1, the plane and p2Intersecting straight line is l2；In l2On search
Rope characteristic point a1Corresponding image points a2；
Step 203) calculate characteristic point a using digital photogrammetry principle1With corresponding image points a2The three-dimensional seat of corresponding spatial point A
Mark (XA、YA、ZA) and wherein error (MX、MY、MZ)；
Step 204) by step 203) three-dimensional coordinate that is calculated, constitute short baseline roughcast type；
Step 205) calculation procedure 204) depth bounds of each point in the short baseline roughcast type that obtains：Three-dimensional according to spatial point is sat
Mark and wherein error, as limit error, depth error is ε to error with twiceZ=2MZ, wherein, MZRepresent step 203) calculate
The middle error of each model points depth direction for going out；The depth bounds of spatial point is (ZA-εZ,ZA+εZ)；ZARepresent step 203) calculate
The depth value for going out；If M1=ZA-εZ, M2=ZA+εZ。
4. according to the digital photogrammetry method based on length mixed baseline described in claim 3, it is characterised in that the step
It is rapid 30) to specifically include：
Step 301) the constraint calculating of Long baselines model core line：For image p2On characteristic point a2, images match is constrained using core line
Method, it is determined that S2、S3And a2Plane, determine plane and image p3Intersecting straight line is core line l3；
Step 302) depth bounds constraint calculating：According to step 205) determine spatial point depth bounds constraint, calculation procedure
203) the A points in are in core line l3On span m1And m2；
Step 303) Long baselines model essence matching：In m1And m2In the range of, match a2Corresponding image points a3；Step 304) Long baselines
The spatial coordinates calculation of model：Using step 203) identical method, recalculates characteristic point a in Long baselines model2With it is of the same name
Picture point a3Accurate three-dimensional coordinate (the X ' of corresponding spatial point AA Y′A Z′A)；
Step 305) by image p2On each characteristic point carry out it is described 301)-step 304) calculate, three for obtaining
Dimension coordinate constitutes Long baselines essence model.
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