CN107146256B - Camera marking method under outfield large viewing field condition based on differential global positioning system - Google Patents
Camera marking method under outfield large viewing field condition based on differential global positioning system Download PDFInfo
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- CN107146256B CN107146256B CN201710230059.3A CN201710230059A CN107146256B CN 107146256 B CN107146256 B CN 107146256B CN 201710230059 A CN201710230059 A CN 201710230059A CN 107146256 B CN107146256 B CN 107146256B
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Abstract
The present invention relates to the camera marking methods under the outfield large viewing field condition based on differential global positioning system.The movable part of differential global positioning system is loaded on flying platform by this method constitutes space control dot element, the space coordinate for obtaining space control dot element under local world coordinate system is moved in camera field of view to be calibrated by controlling flying platform, then extracts the image coordinate that dominating pair of vertices answers picture point with target following positioning or the artificial method mentioned a little.Present method solves the problem of obtaining space control point is difficult under the large viewing field condition of outfield, the measurement accuracy of differential global positioning system can reach Centimeter Level, and only need control point to be uniformly distributed in visual field to calculate as a result, therefore this method precision is high, simple and practical.
Description
Technical field
The present invention mainly utilize differential global positioning system high-precision, quickly and easily obtain video camera space control point coordinates and
Dominating pair of vertices answers the advantages of image coordinate of picture point, demarcates to the video camera under the large viewing field condition of outfield.
Background technique
With the continuous development of science and technology, photogrammetric technology has been widely used for various accurate measurements and movement is surveyed
Amount is related to the fields such as aerospace, national defence test, prospecting exploration, communications and transportation.It is relative to the main excellent of other measuring techniques
Gesture is its high-precision, non-contact, movement and dynamic measurement, the distinguishing features such as real-time measurement.High-precision calibrating camera parameters
The basis for carrying out high-precision videographic measurment, including the intrinsic parameters such as principal point, focal length, description camera installation locations, posture it is outer
The aberration coefficients of parameter and description lens distortion.Therefore research has the characteristics that high, practical, the easy to operate camera shooting of precision
Machine scaling method has important theoretical significance and application value.
In recent years, the method development of camera calibration is swift and violent.Camera calibration embodiment has two major classes: one kind is to pass through
The special equipments such as theodolite, collimating light pipe, rating test field are demarcated；It is another kind of to shoot calibrated reference with video camera, i.e.,
The image of target is demarcated, then by analyzing the images to solve camera parameter.In camera marking method development process, compare through
The scaling method of allusion quotation includes the scaling method of Tsai, Weng and Zhang et al..These methods are by accurately given sky
Between object of reference known to the structures such as control point or control line be imaged, or shoot several chessboard table images from different perspectives
Obtain calibration result.But these scaling methods are only applicable to the lesser situation of the visual fields such as laboratory since object of reference size is smaller,
It cannot then be used under the large visual field environments such as outfield, therefore limitation is apparent.In the engineering practice of the author, frequently encounter
Camera calibration problem under the large visual field environments such as outfield, the field range of video camera reach 3KM × 50M.Traditional calibration side
Method requires control point or control line to be evenly distributed in camera field of view, can just obtain more stable, accurate calibration result,
These conditions readily satisfy under small field of view or laboratory condition, such as the common crosshair target in laboratory, chessboard case marker
Plate etc..But under above-mentioned outfield large visual field environment, especially it is spacious, not under the external field environment of high-lager building, then
The control point for being evenly distributed on camera field of view can not be obtained easily.
Summary of the invention
The technical problem to be solved by the present invention is to utilize differential global positioning system high-precision, quickly and easily acquisition video camera sky
Between control point coordinates and dominating pair of vertices the advantages of answering the image coordinate of picture point, the video camera under the large viewing field condition of outfield is marked
It is fixed.The invention solves the problems, such as to be difficult to obtain space control point under the large viewing field condition of outfield, and due to the survey of differential global positioning system
Accuracy of measurement can reach Centimeter Level, and theoretically only needing control point to be covered in visual field can calculate as a result, therefore the scaling method is smart
Degree is high, simple and practical.
Space control is constituted the technical scheme is that the movable part of differential global positioning system is loaded on flying platform
Dot element, reference part are placed on the origin of world coordinate system.Control flying platform moves in camera field of view to be calibrated, obtains
Space controls space coordinate of the dot element under local world coordinate system, is mentioned with target following positioning or the artificial method mentioned a little
Dominating pair of vertices is taken to answer the image coordinate of picture point.The calibration side of the image coordinate of space coordinate and corresponding picture point further according to control point
Method calculates the inside and outside parameter initial value of camera, finally optimized to obtain accurate calibrating parameters.Scheme is broadly divided into following three step: first
First control flying platform moves in camera field of view to be calibrated, obtains space control dot element under local world coordinate system
Space coordinate, the method then mentioned using target following positioning or manually a little extract the image coordinate that dominating pair of vertices answers picture point,
Finally calibrate the camera interior and exterior parameter under the large viewing field condition of outfield.
1, differential global positioning system positioning measurement obtains space coordinate of the space control dot element under local world coordinate system；
The precision of GPS One-Point Location is not high, to find out its cause, main because being known as satellite ephemeris error, atmosphere delay (ionization
Layer delay, tropospheric delay) error, Multipath Errors and the clock deviation of satellite etc..In order to eliminate these errors, if can be known
A fixed GPS receiver (referred to as base station) is placed on point, carries out GPS sight together with user's (referred to as movement station)
It surveys, then sends movement station for the Correction of Errors number of base station, positioning accuracy can greatly improve, and here it is differential GPSs
Basic principle.Attached drawing 1 is differential GPS schematic diagram.
Differential GPS positioning measurment system is primarily used to obtain the control point being difficult under large viewing field condition in world's seat
D coordinates value under mark system.Since differential GPS positioning measurment system is divided into following two mode: real-time carrier phase difference is surveyed
Amount is RTK mode (Real Time Kinematic), it can provide the three-dimensional of centimetre class precision in real time in measurement process and sit
Mark；Another kind is subsequent difference processing mode, therefore its hardware composition is also different.Under subsequent difference processing mode, due to being not required to
The data of base station are transferred to movement station by radio station in real time and carry out RTK processing, as long as and by base station and movement station
The observation data that are independently observed preserve while respectively, thus only need base station, movement station, antenna, power supply and its
Accessory does not need heavy control station and mobile station.Since the payload of flying platform is limited, basic principle is to move
The weight of dynamic part the more is simplified the more good, so we use the scheme of subsequent difference processing, this in effect increases flights
The flight efficiency of platform and flight time achieve good effect in practical operation.But it states simultaneously, if flying platform
Loading capacity it is enough if, utilize real-time RTK to obtain space coordinate of the space control dot element under local world coordinate system
Method is also feasible.Fig. 2-Fig. 3 is two kinds of differential global positioning system pattern diagrams.
2, based on the camera calibration of differential global positioning system, the image for extracting control point space coordinate and its corresponding picture point is sat
Mark；
The image coordinate of the corresponding picture point of space coordinate in 2.1 spaces control point when unite problem
Since the space coordinate that the scaling method that the present invention uses needs to obtain some space control point of certain moment is right with it
The image coordinate of picture point is answered, therefore needs to sit the image of the time corresponding picture point of the space coordinate at the space control point of acquisition
The alignment of target time unification.The present invention used respectively unite sometimes module and without when module two schemes of uniting solve space control
The time unification problem of the image coordinate of the corresponding picture point of space of points coordinate.
2.1.1 the scheme united sometimes
In the scheme united sometimes, the present invention adds GPS time module in camera to be calibrated, using GPS time service, in this way
Obtained control point image is shot with GPS time information, then the space coordinate at the space control point obtained with differential global positioning system
GPS time alignment, the space coordinate and image coordinate data of time unification can be obtained.
2.1.2 without when the scheme united
In the scheme united when no, and be divided to two kinds of situations: whether there is or not the situations of local zone time for camera:
If camera has local zone time, as shown in Fig. 4.After then flying platform takes off, controls it and move up and down, select one
The critical point of a movement is set as A point, if the differential global positioning system time at this moment is tAG, the local zone time of camera shooting is tAX；
Similarly, when flying platform lands after Uniform Movement in camera visual field, the up and down motion after taking off is repeated, one is selected and faces
Boundary's point is set as B point, if the differential global positioning system time at this moment is tBG, the local zone time of camera shooting is tBX.Therefore it can be by tAG
With tAX、tBGWith tBXData be mapped, this addresses the problem it is no when system situation down space control point space coordinate it is corresponding
The time unification problem of the image coordinate of picture point.Fig. 4 moves schematic diagram for flying platform in the case of no Shi Tongyou local zone time.
If after camera does not have local zone time, flying platform to take off, it is outstanding in the spatial point position being previously set to control it
Stop, when can thus obtain one section of all opposing stationary target in spatial position and image, then solve this section with the method for average
The mean value of interior control space of points coordinate and image coordinate.With same method, controls flying platform and hovers in camera visual field,
Obtain the control point space coordinate and image coordinate throughout visual field, this addresses the problem it is no when unite in the case of camera without local zone time
The corresponding picture point of space control point space coordinate image coordinate time unification problem.
3, the calibration of camera interior and exterior parameter；
The initial value of 3.1 camera interior and exterior parameters solves
Present invention employs " high-precision calibrating methods based on collinearity equation ".Superposition nonlinear mirror is projected by perspective
The imaging model of head distortion is it is found that it uses the collinearity equation of projection matrix each element description are as follows:
Wherein, (x, y) is the image coordinate of zonal aberration, and (X, Y, Z) is space coordinate of the index point in world coordinate system,
m0~m11For each element of projection matrix M, matrix M describes spatial point to the perspective projection relation of picture point, deployable
For following formula:
In formula (3.2), (Cx, Cy) it is image principal point coordinate, i.e. camera optical axis passes through the corresponding figure in imaging target surface position
As coordinate.FxAnd FyFor the equivalent focal length of horizontal and vertical imaging, i.e. camera lens real focal length is single with video camera imaging target surface respectively
The ratio of the horizontal and vertical physical size of pixel.r0~r8For each element of camera rotation matrix R, form are as follows:
Scaling method based on collinearity equation, specific method can be subdivided into many kinds, such as: known six or more are different
The scaling method at face control point, the scaling method of+four, known optical center coordinate and the above non-colinear control point, known camera internal reference
Scaling method, known camera internal reference+four and the scaling method at the above non-colinear control point at+six and the above antarafacial control point
Deng.And aberration caused by lens distortion when camera imaging, also there are several typical aberration models to describe, such as: WengShi picture
Differential mode type, D.C.Brown aberration model etc..
3.2, the exact value of camera interior and exterior parameter solves
After the initial value for finding out camera inside and outside parameter using the scaling method based on collinearity equation, many optimization methods can be used
Parameter optimization is carried out, such as: all inside and outside parameters for acquiring initial value are optimized with nonlinear least square method, utilize light beam
Method adjustment method, using the deviation minimum between re-projection result and actual image point as optimization object function, L-M iterative method, Gauss
Newton iteration method etc..So far, it would be desirable to camera inside and outside parameter exact value solution finish.
The three-dimensional coordinate and dominating pair of vertices that present problem is simplified to space control point in camera field of view to be obtained should pictures
The image coordinate of point.The initial value of camera inside and outside parameter is calibrated in order to be more accurate, it just must be artificially in camera field of view
The interior equally distributed control point of setting.The movable part of differential global positioning system is loaded on flying platform and constitutes space by the present invention
Dot element is controlled, and reference part is placed on the coordinate origin of world coordinate system, thus the available flying platform of differential global positioning system
Upper mobile station antenna accurate spatial value under the world coordinate system using terrestrial reference station antenna as origin；Then with wait mark
Determine the image that camera acquires these control points, recycle target following positioning or manually mentions the picture that method a little extracts each control point
Point coordinate, solves the inside and outside parameter of camera to be calibrated then according to above-mentioned " high-precision calibrating method based on collinearity equation "
Exact value.
Above-mentioned " high-precision calibrating method based on collinearity equation ", does not need to go out in camera in Laboratory Calibration in advance
Ginseng, but directly rapidly the inside and outside parameter of video camera is calibrated to come together at the scene.But if reducing calibration scene to set
The control point number set, the present invention accurately can also calibrate the internal reference of camera in laboratory in advance, and will in optimization
This internal reference, which substitutes into, is used as initial value, can equally calculate the outer parameter of camera.Attached drawing 5 is flying platform flight path schematic diagram.
The present invention can achieve technical effect below:
1, suitable for the camera calibration under the large viewing field condition of outfield；
2, it does not need to go out internal reference in Laboratory Calibration in advance, but directly the inside and outside parameter of video camera is marked together at the scene
It fixes；
3, it does not require to lay control point in camera field of view in advance, theoretically only control point is needed uniformly to divide in visual field
Cloth can calculate as a result, easy to operate efficient；
4, the measurement accuracy of differential global positioning system can reach Centimeter Level, therefore the precision of the scaling method is high；
5, equipment interoperability is strong, is easy to use, is all suitable for the camera calibration under general large viewing field condition；
6, required hardware device is mature, and cost is relatively low, has very strong engineering practicability.
Detailed description of the invention
Fig. 1 differential GPS schematic diagram,
The real-time RTK pattern diagram of Fig. 2,
The subsequent difference modes schematic diagram of Fig. 3,
Fig. 4 moves schematic diagram without flying platform in the case of Shi Tongyou local zone time,
Fig. 5 flying platform flight path schematic diagram.
Specific embodiment
The movable part of differential global positioning system is loaded on flying platform by the present invention constitutes space control dot element, innovation
Property by control flying platform move in camera field of view to be calibrated obtain space control dot element in local world coordinates
Space coordinate under system, then extract dominating pair of vertices with target following positioning or the artificial method mentioned a little and the image of picture point is answered to sit
Mark.
The image coordinate for the corresponding picture point of control point space coordinate that the present invention is obtained using space control dot element
The inside and outside parameter of scaling method calculating camera.Since the measurement accuracy of differential global positioning system can reach Centimeter Level, and theoretically only need
Wanting control point to be uniformly distributed in visual field can calculate as a result, therefore the scaling method precision is high, simple and practical.The present invention is available
Camera calibration under the large viewing field condition of outfield has important theoretical significance and broad application prospect.
The invention proposes a kind of typical process demarcated for camera parameters under the large viewing field condition of outfield are as follows:
1) direction video camera to be calibrated flown against flying platform is simultaneously fixed.Again by differential global positioning system
Benchmark station antenna is placed on the reference point of world coordinate system, and movement station part is fixed on flying platform.
2) control flying platform slowly flies in the field range of video camera to be calibrated, makes the flight of flying platform as far as possible
Track covers the entire visual field of video camera to be calibrated, and the confidential variation for having longitudinal direction of flying platform Range Profile.It is flat in flight
While platform flight, video camera will also record image of the flying platform as control point simultaneously.
3) method mentioned a little on the image for having control point of video camera shooting using target following positioning or manually is mentioned
The image coordinate for taking mobile station antenna on flying platform is chosen at equally distributed image coordinate point in visual field and controls as calibration
Point can thus calibrate the inside and outside parameter of camera shooting.
Claims (1)
1. the camera marking method under the outfield large viewing field condition based on differential global positioning system, first control flying platform to
Movement in calibrating camera visual field, obtains space coordinate of the space control dot element under local world coordinate system, and feature exists
In the method then mentioned using target following positioning or manually a little extracts the image coordinate that dominating pair of vertices answers picture point, finally marks
Make the camera interior and exterior parameter under the large viewing field condition of outfield；
It is described that the image coordinate that dominating pair of vertices answers picture point is extracted using target following positioning or the artificial method proposed a little specifically:
The image coordinate for obtaining the corresponding picture point of space coordinate at some space control point of certain moment, needs the sky that will be obtained
Between the time unification of image coordinate of time corresponding picture point of space coordinate at control point get up, using system sometimes and without when
System two schemes solve the problems, such as the time unification of the image coordinate of the corresponding picture point of space control point space coordinate,
1.1.1 the scheme united sometimes
In the scheme united sometimes, GPS time module, using GPS time service, the control that shoots are added in camera to be calibrated
Point image has GPS time information, then corresponding with the GPS time of space coordinate at space control point that differential global positioning system obtains,
It can obtain the space coordinate and image coordinate data of time unification；
1.1.2 without when the scheme united
In the scheme united when no, and divide situation of the camera whether there is or not local zone time:
If after camera has local zone time, flying platform to take off, controlling it and moving up and down, select the critical point of a movement,
It is set as A point, if the differential global positioning system time at this moment is, camera shooting local zone time be；When flying platform is in picture
When landing after Uniform Movement in machine visual field, the up and down motion after taking off is repeated, a critical point is selected, is set as B point, if this moment
The differential global positioning system time be, camera shooting local zone time be, willData it is corresponding
Get up, the time unification of the image coordinate for the corresponding picture point of situation down space control point space coordinate of uniting when solving no is asked
Topic；
If after camera does not have local zone time, flying platform to take off, controlling it in the spatial point position hovering being previously set, obtaining
The target all opposing stationary in spatial position and image to one section, then solved in this time with the method for average and control the space of points
The mean value of coordinate and image coordinate, the same flying platform that controls hover in camera visual field, obtain empty throughout the control point of visual field
Between coordinate and image coordinate, when solving no unite in the case of space control point space coordinate of the camera without local zone time it is corresponding
The time unification problem of the image coordinate of picture point.
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| CN108845341A (en) * | 2018-07-04 | 2018-11-20 | 中国船舶工业系统工程研究院 | A kind of dynamic locating accuracy acceptance test method of GPS positioning system |
| CN109634305A (en) * | 2018-12-21 | 2019-04-16 | 国网安徽省电力有限公司淮南供电公司 | UAV position and orientation method of adjustment and system based on visual aids positioning |
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| CN111754581A (en) * | 2019-03-28 | 2020-10-09 | 阿里巴巴集团控股有限公司 | Camera calibration method, roadside sensing equipment and intelligent traffic system |
| CN111754580A (en) * | 2019-03-28 | 2020-10-09 | 阿里巴巴集团控股有限公司 | Camera calibration method, roadside sensing equipment and intelligent traffic system |
| CN112541950A (en) * | 2019-09-20 | 2021-03-23 | 杭州海康机器人技术有限公司 | Method and device for calibrating external parameter of depth camera |
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| CN112132890B (en) * | 2020-11-26 | 2021-09-21 | 三代光学科技（天津）有限公司 | Calibration method of digital grating projection measurement system for enlarging calibration space |
| CN113221253B (en) * | 2021-06-01 | 2023-02-07 | 山东贝特建筑项目管理咨询有限公司 | Unmanned aerial vehicle control method and system for anchor bolt image detection |
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