CN106840103B - 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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- 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, which includes: that step 10) carries out the photography of length mixed baseline, obtains short base line image data and Long baselines image data；The short base line image data of step 20 processing；Step 30) handles Long baselines image data according to short base line image data processing result, obtains Long baselines accurate three-dimensional model.Images match accuracy can be improved in the digital photogrammetry method based on length mixed baseline.
Description
Technical field
The invention belongs to digital photogrammetry fields, it particularly relates to which a kind of number based on length mixed baseline is taken the photograph
Image measuring method.
Background technique
Images match is the core technology of digital photogrammetry automation, in the longer situation of photographic base, two images
Visual angle change amplitude it is also larger, there is photography light difference and target occlusion phenomenon between image, lead to of such image
With difficult (Yao Guobiao inclination Image Matching key algorithm and application study [D] China Mining University doctoral thesis .2014 5
Month).Although the matched algorithm of automatic image reaches its maturity at present, matching precision has reached Pixel-level, error hiding and big rough error according to
So exist, is also inevitable that (research [D] the Wuhan University of several key technologies is rich in Cao Hui intelligence aerial triangulation
Bachelorship paper, in October, 2013).For the accuracy for improving images match, more baselines are photogrammetric by 2 images above
Redundant observation problem in matching that core line constrains and point height constrained solution in ground has been determined.Wang Jingxue etc. will be extracted on multi-view images
Projecting characteristic points constrain candidate 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, and avoiding partial image from blocking influences (the mobile elevation plane constraint of Wang Jingxue to matched
Multi-view images Feature Points Matching [J] remote sensing journal .2012 April).More baseline image matchings are improving images match accuracy
While reduce the matched quantity of image characteristic point, can not solve the problems, such as that point off density matches.The present invention combines short baseline
Photogrammetric high matching rate and the photogrammetric high-precision of Long baselines are solved current by the method that long-short baselines are complementary to one another
The low realistic problem of matching rate in digital photogrammetry.
Summary of the invention
Technical problem: the technical problem to be solved by the present invention is providing a kind of digital photography based on length mixed baseline
Measurement method, to improve images match accuracy.
Technical solution: in order to solve the above technical problems, technical solution used in the embodiment of the present invention is:
A kind of digital photogrammetry method based on length mixed baseline, the measurement method include:
Step 10) carries out the photography of length mixed baseline, obtains short base line image data and Long baselines image data；
The short base line image data of step 20) processing；
Step 30) handles Long baselines image data according to short base line image data processing result, obtains Long baselines accurate three
Dimension module.
As preference, the step 10) is specifically included:
Step 101) is 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 S2For the straight line of endpoint connection, baseline B1For short baseline；
Step 102) is 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 S4For the straight line of endpoint connection, baseline B3For short baseline；
Step 103) chooses the image in an image and the second stereogram in the first stereogram, forms Long baselines
Stereogram, using the photo centre of two images in the Long baselines stereogram as endpoint, line is baseline B2, baseline B2For
The Long baselines of Long baselines stereogram.
As preference, the step 20) is specifically included:
Step 201) is using FAST feature point detection algorithm to image p1Image characteristic point is extracted, image p is obtained1On figure
As characteristic point coordinate；
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 p1The straight line of intersection is l1, the plane and p2The straight line of intersection is l2；In l2
Upper search characteristics point a1Corresponding image points a2；
Step 203) calculates characteristic point a using digital photogrammetry principle1With corresponding image points a2The three of corresponding spatial point A
Tie up coordinate (XA、YA、ZA) and wherein error (MX、MY、MZ)；
The three-dimensional coordinate that step 203) is calculated step 204) constitutes short baseline roughcast type；
Step 205) calculates the depth bounds of each point in the short baseline roughcast type that step 204) obtains: according to the three of spatial point
Tie up coordinate and wherein error, using error in twice as limit error, depth error εZ=2MZ, wherein MZIndicate step 203)
The middle error of calculated each model points depth direction；The depth bounds of spatial point are (ZA-εZ,ZA+εZ)；ZAIndicate step 203)
Calculated depth value；If M1=ZA-εZ, M2=ZA+εZ。
As preference, the step 30) is specifically included:
The constraint of step 301) Long baselines model core line calculates: for image p2On characteristic point a2, image is constrained using core line
Matching process determined S2、S3And a2Plane, determine plane and image p3The straight line of intersection is core line l3；The characteristic point
a2For in step 202) in l2Upper search characteristics point a1Corresponding image points a2；
The constraint of step 302) depth bounds calculates: the depth bounds of the spatial point determined according to step 205) constrain, and calculate
A point in step 203) is in core line l3On value range m1And m2；
The essence matching of step 303) Long baselines model: in m1And m2In range, a is matched2Corresponding image points a3；
The spatial coordinates calculation of step 304) Long baselines model: the identical method of step 203) is utilized, long base is recalculated
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) passes through to image p2On each characteristic point carry out it is described 301)-step 304) calculate, will obtain
Three-dimensional coordinate constitute Long baselines essence model.
The utility model has the advantages that compared with prior art, the invention has the following advantages: utilizing the short small light of baseline model parallax
The images match in photogrammetric at present is improved to short Baseline Stereo picture to images match is carried out according to the close feature of intensity
Precision；The images match that Long baselines model is instructed using the matching achievement and model accuracy of short baseline solves current digital photography
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 of one position shooting is short Baseline Stereo picture pair, to short Baseline Stereo picture to images match is carried out, calculates three-dimensional
Error in the measurement of each model points of model；Again from different location (T1、T2) shooting photo in select p2、p3It is vertical to form Long baselines
Body image pair assists Long baselines space image using short baseline image matching result and three-dimensional coordinate and mean square error of a point as primary condition
Images match and three-dimensional coordinate are calculated, to improve the photogrammetric precision of Long baselines.
Detailed description of the invention
Fig. 1 is the flow chart of the embodiment of the present invention；
Fig. 2 is the working principle diagram of the embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawing, technical solution of the present invention 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) carries out the photography of length mixed baseline, obtains short base line image data and Long baselines image data；
The short base line image data of step 20) processing；
Step 30) handles Long baselines image data according to short base line image data processing result, obtains Long baselines accurate three
Dimension module.
As shown in Fig. 2, the step 10) specifically includes in above-described embodiment:
Step 101) is 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 S2For the straight line of endpoint connection, baseline B1For short baseline；
Step 102) is 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 S4For the straight line of endpoint connection, baseline B3For short baseline；
Step 103) chooses the image in an image and the second stereogram in the first stereogram, forms Long baselines
Stereogram, using the photo centre of two images in the Long baselines stereogram as endpoint, line is baseline B2, baseline B2For
The Long baselines of Long baselines stereogram.
The step 20) specifically includes:
Step 201) is using FAST feature point detection algorithm to image p1Image characteristic point is extracted, image p is obtained1On figure
As characteristic point coordinate；
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 p1The straight line of intersection is l1, the plane and p2The straight line of intersection is l2；In l2
Upper search characteristics point a1Corresponding image points a2；
Step 203) calculates characteristic point a using digital photogrammetry principle1With corresponding image points a2The three of corresponding spatial point A
Tie up coordinate (XA、YA、ZA) and wherein error (MX、MY、MZ)；
Digital photogrammetry principle is the prior art, reference can be made to Feng Wenhao writes, close-range photogrammetry, Wuhan: Wuhan University
Publishing house, 2002.
The three-dimensional coordinate that step 203) is calculated step 204) constitutes short baseline roughcast type；
Step 205) calculates the depth bounds of each point in the short baseline roughcast type that step 204) obtains: according to the three of spatial point
Tie up coordinate and wherein error, using error in twice as limit error, depth error εZ=2MZ, wherein MZIndicate step 203)
The middle error of calculated each model points depth direction；The depth bounds of spatial point are (ZA-εZ,ZA+εZ)；ZAIndicate step 203)
Calculated depth value；If M1=ZA-εZ, M2=ZA+εZ。
The step 30) specifically includes:
The constraint of step 301) Long baselines model core line calculates: for image p2On characteristic point a2, image is constrained using core line
Matching process determined S2、S3And a2Plane, determine plane and image p3The straight line of intersection is core line l3.The characteristic point
a2For in step 202) in l2Upper search characteristics point a1Corresponding image points a2。
It is the prior art that core line, which constrains image matching method, reference can be made to Zhang Zuxun, Zhang Jianqing write, digital photogrammetry
(second edition), June 30 in 2012, publishing house: publishing house, Wuhan University.
The constraint of step 302) depth bounds calculates: the depth bounds of the spatial point determined according to step 205) constrain, i.e. M1
=ZA-εZ,M2=ZA+εZ, the A point in step 203) is calculated in core line l3On value range m1And m2.Calculating process is existing skill
Art, reference can be made to Zhang Jianqing, Pan Li, Wang Shugen write, photogrammetry, publishing house, Wuhan University, 2003 years.
The essence matching of step 303) Long baselines model: in m1And m2In range, a is matched2Corresponding image points a3。
The spatial coordinates calculation of step 304) Long baselines model: the identical method of step 203) is utilized, long base is recalculated
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) passes through to 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 is shot
DNA mitochondrial DNA picture pair, stereoscopic camera constitute Long baselines stereogram in two photos that different location is shot.
Traditional digital photogrammetry is since photographic base length is longer, although three-dimensional measurement precision is higher, due to
Stereogram parallax is big, intensity of illumination is inconsistent, causes space image images match low efficiency, error hiding height, is difficult to realize intensively
Point matching.The photogrammetric advantage of short baseline digital is: stereogram parallax is small, intensity of illumination is consistent, space image image
With high-efficient, realization point off density matching, the disadvantage is 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, convenient for correcting error hiding and leakage matching in current digital photogrammetry technology,
The matching technique for realizing more images improves photogrammetric overall measurement accuracy.
The method of above-described embodiment, the mixed baseline photography means combined using long-short baselines obtain image, in image
In situation known to elements of exterior orientation, by establishing the low precision threedimensional model of short Baseline Stereo image, auxiliary Long baselines are three-dimensional
The images match of image, to establish High Precision Stereo model.
The basic principles, main features and advantages of the 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 the principle of the present invention, without departing from the spirit and scope of the present invention, the present invention also have various change and
It improves, these changes and improvements all fall within the protetion scope of the claimed invention.The scope of protection of present invention is wanted by right
Ask book and its equivalent thereof.
Claims (1)
1. a kind of digital photogrammetry method based on length mixed baseline, which is characterized in that the measurement method includes:
Step 10) carries out the photography of length mixed baseline, obtains short base line image data and Long baselines image data；The step
10) it specifically includes:
Step 101) is 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 S2For the straight line of endpoint connection, baseline B1For short baseline；
Step 102) is 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 S4For the straight line of endpoint connection, baseline B3For short baseline；
Step 103) chooses the image in an image and the second stereogram in the first stereogram, and composition Long baselines are three-dimensional
As right, using the photo centre of two images in the Long baselines stereogram as endpoint, line is baseline B2, baseline B2For long base
The Long baselines of DNA mitochondrial DNA picture pair；
The short base line image data of step 20) processing；The step 20) specifically includes:
Step 201) is using FAST feature point detection algorithm to image p1Image characteristic point is extracted, image p is obtained1On image it is special
Sign point coordinate；
Step 202) images match: to image p1On each characteristic point a1, image matching method is constrained using core line, is determined
Cross S1、S2And a1Plane, the plane and p1The straight line of intersection is l1, the plane and p2The straight line of intersection is l2；In l2On search
Rope characteristic point a1Corresponding image points a2；
Step 203) calculates characteristic point a using digital photogrammetry principle1With corresponding image points a2The three-dimensional of corresponding spatial point A is sat
Mark (XA、YA、ZA) and wherein error (MX、MY、MZ)；
The three-dimensional coordinate that step 203) is calculated step 204) constitutes short baseline roughcast type；
Step 205) calculates the depth bounds of each point in the short baseline roughcast type that step 204) obtains: being sat according to the three-dimensional of spatial point
Mark and wherein error, using error in twice as limit error, depth error εZ=2MZ, wherein MZIndicate that step 203) calculates
The middle error of each model points depth direction out；The depth bounds of spatial point are (ZA-εZ,ZA+εZ)；ZAIndicate that step 203) calculates
Depth value out；If M1=ZA-εZ, M2=ZA+εZ；
Step 30) handles Long baselines image data according to short base line image data processing result, obtains Long baselines accurate three-dimensional mould
Type；The step 30) specifically includes:
The constraint of step 301) Long baselines model core line calculates: for image p2On characteristic point a2, images match is constrained using core line
Method determined S2、S3And a2Plane, determine plane and image p3The straight line of intersection is core line l3；
The constraint of step 302) depth bounds calculates: the depth bounds of the spatial point determined according to step 205) constrain, and calculate step
203) the A point in is in core line l3On value range m1And m2；
The essence matching of step 303) Long baselines model: in m1And m2In range, a is matched2Corresponding image points a3；
The spatial coordinates calculation of step 304) Long baselines model: the identical method of step 203) is utilized, Long baselines mould is recalculated
Characteristic point a in type2With corresponding image points a3Accurate three-dimensional coordinate (the X ' of corresponding spatial point AA Y′A Z′A)；
Step 305) passes through to image p2On each characteristic point carry out it is described 301)-step 304) calculate, three will obtained
It ties up coordinate and constitutes Long baselines essence model.
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