CN106871873A - The coding method of coding maker in a kind of close-range photogrammetry - Google Patents
The coding method of coding maker in a kind of close-range photogrammetry Download PDFInfo
- Publication number
- CN106871873A CN106871873A CN201710103331.1A CN201710103331A CN106871873A CN 106871873 A CN106871873 A CN 106871873A CN 201710103331 A CN201710103331 A CN 201710103331A CN 106871873 A CN106871873 A CN 106871873A
- Authority
- CN
- China
- Prior art keywords
- coding
- point
- index point
- maker
- index
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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 present invention relates to a kind of coding method of coding maker in close-range photogrammetry, the coding method is based on a square point-like coding maker and realizes, eight isodiametric circular index points are provided with the square point-like coding maker, the unique encodings of the square point-like coding maker are formed by the position for setting eight circular index points；In eight circular index points, the center of circle of index point 0,1,2,3 is with clockwise for sequence constitutes foursquare four summits, 6 × 6 grid divisions are pressed to the square, index point 4 is located at the mesh point on index point 0,1 line, and index point 5,6,7 is distributed on three mesh points of the square interior.Compared with prior art, the present invention has the advantages that quick identification, precise positioning, quantity are enriched.
Description
Technical field
The present invention relates to a kind of coding staff of coding maker in close-range photogrammetry field, more particularly to close-range photogrammetry
Method.
Background technology
When being measured to large complicated object using close range photogrammetry method, because camera fields of view is limited, typically
Needing a large amount of photos for having overlap of shooting carries out splicing the complete shooting that could be realized to object.Therefore in measurement process, it is necessary to
A large amount of coding makers are pasted on measured object or its periphery, coding maker region must be overlapped when taking pictures and shot.By to of the same name
Coding maker identification positioning, it is possible to achieve the adjacent quick splicing for having an overlapping photographs.Therefore coding maker has to meet rotation
The consistency of scaling, the recognition capability of stabilization, the uniqueness of coding, will also ensure there are enough code capacities, and have enough
Contrast, can be accurately positioned.More common coding maker is annular coding maker and point-like coding maker in close-range photogrammetry.
Annular coding maker identification is simple, algorithmic stability, but group/cording quantity is limited, such as wears Hui Liang et al. and has invented a kind of donut
Coding maker (Patent publication No：The A of CN 101261122), coded number is 4096.Point-like coding maker can produce a large amount of codings
Mark, but recognizer is more complicated, and such as Xu Qing, Wang Dong devise a kind of coding maker based on color and architectural feature
(Patent publication No：The A of CN 103033171), wherein index point uses multiple color, and coding maker makes and identification is all relatively more multiple
It is miscellaneous.The coding maker used in current close-range photogrammetry, all only positioning function, are to determine the size between photograph and material object
Proportionate relationship, need to also separately demarcate with the use of station meter.
The content of the invention
The purpose of the present invention is exactly that a kind of quick identification, precisely is provided for the defect for overcoming above-mentioned prior art to exist
The coding method of coding maker, can realize to the size between photograph and material object in the abundant close-range photogrammetry of positioning, quantity
The determination of proportionate relationship.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of coding method of coding maker in close-range photogrammetry, the coding method is based on a square point-like coding mark
Will realization, eight isodiametric circular index points are provided with the square point-like coding maker, by setting eight circles
The position of shape index point forms the unique encodings of the square point-like coding maker.
In eight circular index points, the center of circle of index point 0,1,2,3 is with clockwise for sequence constitutes one foursquare four
Individual summit, 6 × 6 grid divisions are pressed to the square, and index point 4 is located at the mesh point on index point 0,1 line, mark
Point 5,6,7 is distributed on three mesh points of the square interior.
Eight circular index points are respectively positioned on the foursquare mesh point, and circular index point is in grid lines direction
It is non-conterminous two-by-two.
In the coding method, define coding maker coordinate system when, the center of circle with index point 0 as coordinate origin, index point
0th, 1 circle center line connecting is X ' axles, and index point 0,3 circle center line connectings are Y ' axles, and the plane normal for crossing origin is Z ' axles.
In the coding method, the center of circle of index point 0,1,2,3 constitutes square side's target, is calculated according to square target model principle
Method calculates the three-dimensional coordinate for obtaining this four index points in camera coordinates system, so that obtaining coding maker coordinate is tied to camera coordinates
The spin matrix R and translation vector t of system, further according to index point 4,5,6,7 in the coordinate of coding maker coordinate system, calculate and are marked
Three-dimensional coordinate of the will point 4,5,6,7 in camera coordinates system.
Compared with prior art, the present invention has advantages below：
1) coding maker of the present invention can realize 3562 kinds of codings, and group/cording quantity enriches；
2) present invention is using 49mm × 49mm square point-like coding makers, compact structure；
3) present invention has four index points as a foursquare summit, can be conveniently by square target model principle algorithm by this
4 points of pixel coordinates in imaging plane calculate its three-dimensional coordinate in camera coordinates system, and then obtain all eight index points
In the three-dimensional coordinate of camera coordinates system, identification is quick；
4) present invention sets an index point 4 between index point 0,1, is easy to code identification；
5) eight index points of the invention are non-conterminous two-by-two, it is ensured that all angles shoot the image that coding maker is obtained, all
Can realize that coding maker is accurately identified and positioned.
Brief description of the drawings
Fig. 1 is the principle schematic of coding method of the present invention.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, give detailed implementation method and specific operating process, but protection scope of the present invention is not limited to
Following embodiments.
As shown in figure 1, the present embodiment provides a kind of coding method of coding maker in close-range photogrammetry, the coding method
Realized based on a square point-like coding maker, eight isodiametric circle markers are provided with the square point-like coding maker
Point, the unique encodings of the square point-like coding maker are formed by the position for setting eight circular index points, are capable of achieving
3562 kinds of codings.
As shown in figure 1, the present embodiment is inside provided with eight diameters and is using 49mm × 49mm square point-like coding makers
The equal diameter circular index point of 5mm.Four index points are set respectively at the length of side 4.5mm of square numbering mark four corner distance two
0th, 1,2,3, the center of circle of index point 0,1,2,3 to be clockwise foursquare four summits of sequence composition one 40mm × 40mm, to institute
Square is stated by 6 × 6 grid divisions, eight circular index points are respectively positioned on the foursquare mesh point, and circular mark
Will point is non-conterminous two-by-two in grid lines direction, i.e., circular index point is non-conterminous on grid lines in length and breadth, and oblique line directions can be with adjacent.This
In embodiment, an orientation mark point 4 is set on the row mesh point of the first row the 3rd, arranged in the third line two, the third line four is arranged and
Index point 5,6,7 is set on the mesh point of the row of the five-element four.
In the coding method, define coding maker coordinate system when, the center of circle with index point 0 as coordinate origin, index point
0th, 1 circle center line connecting is X ' axles, and index point 0,3 circle center line connectings are Y ' axles, and the plane normal for crossing origin is Z ' axles, then eight coding marks
Coordinate p of the will point in coding maker coordinate systemi=(Xi', Yi', Zi'), i=0, known to 1,2,3,4,5,6,7.Each index point exists
Coordinate under coding maker coordinate system is as shown in table 1.
Table 1 indicates point coordinates (unit：mm)
| Index point | X′ | Y′ | Z′ | Index point | X′ | Y′ | Z′ |
| 0 | 0 | 0 | 0 | 4 | 13.333 | 0 | 0 |
| 1 | 40 | 0 | 0 | 5 | 6.667 | 13.333 | 0 |
| 2 | 40 | 40 | 0 | 6 | 20 | 13.333 | 0 |
| 3 | 0 | 40 | 0 | 7 | 20 | 26.667 | 0 |
In the coding method, the center of circle of index point 0,1,2,3 constitutes square side's target, is calculated according to square target model principle
Method (Yuan Yong etc., the industrial fixed-focus camera parameter calibration method based on motion side's target earnest, publication No. CN 103559707A) is calculated
Three-dimensional coordinate of this four index points in camera coordinates system is obtained, so as to obtain the rotation that coding maker coordinate is tied to camera coordinates system
Torque battle array R and translation vector t, further according to index point 4,5,6,7 coding maker coordinate system coordinate, calculate obtain index point 4,
5th, 6,7 camera coordinates system three-dimensional coordinate.
Preferred embodiment of the invention described in detail above.It should be appreciated that one of ordinary skill in the art without
Need creative work just can make many modifications and variations with design of the invention.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (5)
1. in a kind of close-range photogrammetry coding maker coding method, it is characterised in that the coding method be based on one square
The realization of point-like coding maker, eight isodiametric circular index points are provided with the square point-like coding maker, by setting
The position of eight circular index points forms the unique encodings of the square point-like coding maker.
2. in close-range photogrammetry according to claim 1 coding maker coding method, it is characterised in that described in eight
In circular index point, the center of circle of index point 0,1,2,3 to be clockwise that sequence constitutes foursquare four summits, to the pros
Shape presses 6 × 6 grid divisions, and index point 4 is located at the mesh point on index point 0,1 line, and index point 5,6,7 is distributed in described
On three mesh points of square interior.
3. in close-range photogrammetry according to claim 2 coding maker coding method, it is characterised in that described in eight
Circular index point is respectively positioned on the foursquare mesh point, and circular index point is non-conterminous two-by-two in grid lines direction.
4. in close-range photogrammetry according to claim 2 coding maker coding method, it is characterised in that the coding staff
In method, when defining coding maker coordinate system, as coordinate origin, index point 0,1 circle center line connecting are X ' to the center of circle with index point 0
Axle, index point 0,3 circle center line connectings are Y ' axles, and the plane normal for crossing origin is Z ' axles.
5. in close-range photogrammetry according to claim 4 coding maker coding method, it is characterised in that the coding staff
In method, the center of circle of index point 0,1,2,3 constitutes square side's target, is calculated according to square target model principle algorithm and obtains this four
Index point camera coordinates system three-dimensional coordinate so that obtain coding maker coordinate be tied to camera coordinates system spin matrix R and
Translation vector t, further according to index point 4,5,6,7 in the coordinate of coding maker coordinate system, calculates and obtains index point 4,5,6,7 in phase
The three-dimensional coordinate of machine coordinate system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710103331.1A CN106871873A (en) | 2017-02-24 | 2017-02-24 | The coding method of coding maker in a kind of close-range photogrammetry |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710103331.1A CN106871873A (en) | 2017-02-24 | 2017-02-24 | The coding method of coding maker in a kind of close-range photogrammetry |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106871873A true CN106871873A (en) | 2017-06-20 |
Family
ID=59167714
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710103331.1A Pending CN106871873A (en) | 2017-02-24 | 2017-02-24 | The coding method of coding maker in a kind of close-range photogrammetry |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106871873A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108573511A (en) * | 2018-02-11 | 2018-09-25 | 湖南科技大学 | Spot distribution cooperative coding mark and its recognition positioning method |
| CN110378939A (en) * | 2018-07-27 | 2019-10-25 | 北京京东尚科信息技术有限公司 | Image coding, identification, method, system, equipment and the storage medium tracked |
| CN113112550A (en) * | 2020-12-23 | 2021-07-13 | 合肥工业大学 | Coding plane target for calibrating internal and external parameters of camera and coding method thereof |
| CN113298880A (en) * | 2021-05-27 | 2021-08-24 | 武汉天远视科技有限责任公司 | Camera calibration board, camera calibration method and device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001194146A (en) * | 1999-12-28 | 2001-07-19 | Ishikawajima Harima Heavy Ind Co Ltd | Coded target for photographic measurement |
| US6990215B1 (en) * | 2000-07-31 | 2006-01-24 | Geodetic Services, Inc. | Photogrammetric measurement system and method |
| EP2068117A2 (en) * | 2007-12-05 | 2009-06-10 | Topcon Corporation | Color-coded target, color code extracting device and three-dimensional measuring system |
| CN101853396A (en) * | 2010-06-17 | 2010-10-06 | 中国人民解放军信息工程大学 | Identification method of point-distributed coded marks |
| CN101876555A (en) * | 2009-11-04 | 2010-11-03 | 北京控制工程研究所 | Lunar rover binocular vision navigation system calibration method |
| CN103049731A (en) * | 2013-01-04 | 2013-04-17 | 中国人民解放军信息工程大学 | Decoding method for point-distributed color coding marks |
| CN103559707A (en) * | 2013-10-30 | 2014-02-05 | 同济大学 | Industrial fixed-focus camera parameter calibration method based on moving square target calibration object |
-
2017
- 2017-02-24 CN CN201710103331.1A patent/CN106871873A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001194146A (en) * | 1999-12-28 | 2001-07-19 | Ishikawajima Harima Heavy Ind Co Ltd | Coded target for photographic measurement |
| US6990215B1 (en) * | 2000-07-31 | 2006-01-24 | Geodetic Services, Inc. | Photogrammetric measurement system and method |
| EP2068117A2 (en) * | 2007-12-05 | 2009-06-10 | Topcon Corporation | Color-coded target, color code extracting device and three-dimensional measuring system |
| CN101876555A (en) * | 2009-11-04 | 2010-11-03 | 北京控制工程研究所 | Lunar rover binocular vision navigation system calibration method |
| CN101853396A (en) * | 2010-06-17 | 2010-10-06 | 中国人民解放军信息工程大学 | Identification method of point-distributed coded marks |
| CN103049731A (en) * | 2013-01-04 | 2013-04-17 | 中国人民解放军信息工程大学 | Decoding method for point-distributed color coding marks |
| CN103559707A (en) * | 2013-10-30 | 2014-02-05 | 同济大学 | Industrial fixed-focus camera parameter calibration method based on moving square target calibration object |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108573511A (en) * | 2018-02-11 | 2018-09-25 | 湖南科技大学 | Spot distribution cooperative coding mark and its recognition positioning method |
| CN108573511B (en) * | 2018-02-11 | 2021-10-12 | 湖南科技大学 | Point-distributed cooperative coding mark and identification and positioning method thereof |
| CN110378939A (en) * | 2018-07-27 | 2019-10-25 | 北京京东尚科信息技术有限公司 | Image coding, identification, method, system, equipment and the storage medium tracked |
| CN110378939B (en) * | 2018-07-27 | 2021-11-02 | 北京京东乾石科技有限公司 | Method, system, device and storage medium for image coding, recognition and tracking |
| CN113112550A (en) * | 2020-12-23 | 2021-07-13 | 合肥工业大学 | Coding plane target for calibrating internal and external parameters of camera and coding method thereof |
| CN113112550B (en) * | 2020-12-23 | 2022-08-02 | 合肥工业大学 | Coding plane target for calibrating internal and external parameters of camera and coding method thereof |
| CN113298880A (en) * | 2021-05-27 | 2021-08-24 | 武汉天远视科技有限责任公司 | Camera calibration board, camera calibration method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106871873A (en) | The coding method of coding maker in a kind of close-range photogrammetry | |
| CN103903260B (en) | Target method for quickly calibrating intrinsic parameters of vidicon | |
| CN104484857B (en) | A kind of instrumented data read method and system | |
| CN110068270A (en) | A kind of monocular vision box volume measurement method based on multi-line structured light image recognition | |
| CN103714571B (en) | A kind of based on photogrammetric single camera three-dimensional rebuilding method | |
| CN103258329B (en) | A kind of camera marking method based on ball one-dimensional | |
| CN102930548B (en) | Utilize the intersecting elliptical linear solution camera intrinsic parameter that two identical | |
| CN106898025A (en) | It is a kind of to be based on 8 camera displacement transformation matrix scaling methods of coding maker | |
| CN110009692B (en) | Large control field artificial mark point for camera calibration and encoding method thereof | |
| CN109242915A (en) | Multicamera system scaling method based on multi-face solid target | |
| CN106441242B (en) | A kind of interactive plotting method based on laser point cloud and full-view image | |
| CN102103746B (en) | Method for calibrating parameters in camera through solving circular ring points by utilizing regular tetrahedron | |
| CN101581569A (en) | Calibrating method of structural parameters of binocular visual sensing system | |
| CN105043250B (en) | A kind of double-visual angle data alignment method based on 1 common indicium points | |
| CN104111039A (en) | Calibrating method for randomly placing fringe projection three-dimensional measuring system | |
| CN102982551B (en) | Method for solving intrinsic parameters of parabolic catadioptric camera linearly by utilizing three unparallel straight lines in space | |
| CN103247048A (en) | Camera mixing calibration method based on quadratic curve and straight lines | |
| CN104240221B (en) | Opposite-lens two-camera relative azimuth calibration device and method | |
| CN107886547A (en) | A kind of fisheye camera scaling method and system | |
| CN107145929A (en) | A kind of predistortion two-dimensional code generation method pasted for face of cylinder Quick Response Code | |
| CN102914295A (en) | Computer vision cube calibration based three-dimensional measurement method | |
| CN102930551A (en) | Camera intrinsic parameters determined by utilizing projected coordinate and epipolar line of centres of circles | |
| CN103150724A (en) | Segmented model-based camera calibration method | |
| CN104123725B (en) | A kind of computational methods of single line array camera homography matrix H | |
| CN104376328A (en) | Distribution type coded mark identification method and system based on coordinates |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170620 |
|
| RJ01 | Rejection of invention patent application after publication |