CN107464264A - A kind of camera parameter scaling method based on GPS - Google Patents
A kind of camera parameter scaling method based on GPS Download PDFInfo
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- CN107464264A CN107464264A CN201610389433.XA CN201610389433A CN107464264A CN 107464264 A CN107464264 A CN 107464264A CN 201610389433 A CN201610389433 A CN 201610389433A CN 107464264 A CN107464264 A CN 107464264A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
The present invention proposes a kind of camera parameter scaling method based on GPS, obtains longitude, latitude and height coordinate of the GPS receiving antenna barycenter in GPS navigation coordinate system by GPS receiving antenna, while gather image of the GPS receiving antenna in diverse location with camera；Coordinate Conversion is carried out according to the relation between GPS navigation coordinate system and world coordinate system, obtains coordinate of the GPS receiving antenna barycenter in world coordinate system, and the coordinate of GPS receiving antenna barycenter in the picture is obtained using Harris Corner Detection Algorithms；Camera parameter matrix is gone out according to camera imaging model solution.The present invention replaces calibrating template using GPS accurate coordinates, the calibrated error caused by calibrating template precision is not high is avoided, so as to improve stated accuracy in calibration process.
Description
Technical field
The invention belongs to computer vision processing technology field, and in particular to a kind of camera parameter demarcation side based on GPS
Method.
Background technology
It is that computer regards to calculate the geological information of object in three dimensions in the two-dimensional image information obtained from camera
One of main task of feel technology.During carrying out object dimensional and rebuilding with feature recognition, space object surface certain point
Three-dimensional geometry position and its relation in two dimensional image between corresponding pixel points position, be the geometrical model by camera imaging
Determine, the parameters of these geometrical models is exactly camera parameter, such as focal length, principal point, rotation and translation vector etc., and obtains this
The process of a little parameters is camera parameter calibration process.As indispensable part in computer vision, camera calibration method
Stability and high accuracy be premise and basis that whole vision system is well run.Computer vision will be realized more extensive
It is of great significance using the research tool of the support for just be unableing to do without camera calibration technology, therefore camera parameter calibration technique.
In traditional camera parameter scaling method, in order to obtain more accurate calibration result, to calibrating template (such as chess in calibration process
Disk lattice, grid, solid circular array etc.) use have certain requirement, it is necessary to accurately be measured the size of calibrating template, and
The diverse location of shooting image is at, covers four angles of image as far as possible, to improve the precision of demarcation.However, in general
Calibrating template can not fully meet required precision, thus can cause error.
GPS (Global Position System) global positioning systems realize mesh using passing of satelline ranging and when surveying
Target is navigated and positioning.The system is by gps satellite (space segment), ground supporting system (ground monitoring part) and GPS receiver
Machine (User Part) forms, and crucial equipment is GPS in the application, is obtained by receiving the gps navigation message of standard
Take positioning and the navigation data on basis.Due to GPS have to the navigator fix of moving target comprehensive, round-the-clock, data in real time,
The features such as precision is high, obtain quite being widely applied in many fields.
The content of the invention
It is an object of the invention to propose a kind of camera parameter scaling method based on GPS, in calibration process, GPS is used
Accurate coordinates replace calibrating template, avoid due to calibrating template precision it is not high caused by calibrated error.
In order to solve the above-mentioned technical problem, the present invention provides a kind of camera parameter scaling method based on GPS, passes through GPS
Reception antenna obtains longitude, latitude and height coordinate of the GPS receiving antenna barycenter in GPS navigation coordinate system, while uses camera
Gather image of the GPS receiving antenna in diverse location；Sat according to the relation between GPS navigation coordinate system and world coordinate system
Mark conversion, coordinate of the GPS receiving antenna barycenter in world coordinate system is obtained, and obtained using Harris Corner Detection Algorithms
The coordinate of GPS receiving antenna barycenter in the picture；Camera parameter matrix is gone out according to camera imaging model solution.
Further, obtaining GPS receiving antenna barycenter process of coordinate in world coordinate system is：
First, GPS navigation coordinate system is converted into earth rectangular coordinate system, shown in conversion regime such as formula (1),
In formula (1), (B, L, H) be respectively longitudes of earth surface any point P in GPS navigation coordinate system, latitude and
Height coordinate, (XE,YE,ZE) it is coordinates of any point P in earth rectangular coordinate system；N is the radius of curvature of ellipsoid, and E is ellipse
First eccentricity of ball, if the major radius of the earth is a=6378137m, short radius is b=6356752m, then the curvature of ellipsoid half
Shown in first eccentricity E of footpath N and ellipsoid computational methods such as formula (2),
Then, earth rectangular coordinate system is converted into world coordinate system, shown in conversion method such as formula (3),
In formula (3), (X, Y, Z) is world coordinate system, and the world coordinate system is former by coordinate of GPS receiving antenna main website O
Point, (XE0,YE0,ZE0) it is coordinates of the GPS receiving antenna main website O in earth rectangular coordinate system.
Further, shown in the camera imaging model such as formula (4),
In formula (4), siFor scale factor,For world coordinate system of the GPS receiving antenna barycenter at diverse location
Homogeneous coordinates expression,For GPS receiving antenna barycenter corresponding homogeneous image coordinate in the picture,It is camera parameter matrix, mabFor camera parameter matrix a row b column elements, a ∈ 1,2,3, b
∈1,2,3,4；I is the sequence number of GPS receiving antenna image at diverse location, photo sum captured by i ∈ n, n；
Camera parameter matrix is gone out according to camera imaging model solutionMethod be：For n
Individual known world coordinate system coordinateWith corresponding image coordinate system coordinateSolved using direct linear transformation's method
Go out each element m solved in Metzler matrixab。
Compared with prior art, its remarkable advantage is the present invention, and the inventive method need not use traditional scaling method
The middle calibrating template used, but according to GPS receiving antenna diverse location coordinate information, by the conversion between coordinate system
Coordinate position of the GPS receiving antenna barycenter in world coordinate system is obtained, so as to carry out the demarcation of camera inside and outside parameter.Through experiment
Prove, the inventive method can obtain high-precision spatial coordinate information by GPS, avoid and made because calibrating template precision is not high
Into calibrated error.Compared with traditional camera calibration method, the inventive method can improve the accuracy of camera parameter demarcation
And precision.
Brief description of the drawings
Fig. 1 is the inventive method schematic flow sheet.
Fig. 2 is the GPS front view and top view used in the inventive method.
Fig. 3 is WGS-84 coordinate system schematic diagrames.
Fig. 4 is camera imaging model schematic.
Fig. 5 is the European conversion schematic diagram between camera coordinates system and world coordinate system.
Fig. 6 is experimental provision schematic diagram.
Embodiment
It is readily appreciated that, according to technical scheme, in the case where not changing the connotation of the present invention, this area
Those skilled in the art can imagine the numerous embodiments of the camera parameter scaling method based on GPS of the invention.Therefore, with
Lower embodiment and accompanying drawing are only the exemplary illustrations to technical scheme, and are not to be construed as the complete of the present invention
Portion is considered as limitation or restriction to technical solution of the present invention.
First, basic thought of the invention
First, by GPS receiving antenna obtain longitude of the GPS receiving antenna barycenter in WGS-84 coordinate systems, latitude and
Height coordinate information, while gather image of the GPS receiving antenna in diverse location with camera；
Then, Coordinate Conversion is carried out according to the relation between WGS-84 coordinate systems and world coordinate system, obtains GPS receiver day
Coordinate information of the line barycenter in world coordinate system, and GPS receiving antenna barycenter is obtained using Harris Corner Detection Algorithms and existed
Coordinate in image；
Finally, camera parameter matrix is gone out according to camera imaging model solution, realizes the demarcation of camera inside and outside parameter.
2nd, world coordinate system, camera coordinates system and image coordinate system
During camera calibration, in order to accurately establish the locus model from two dimensional image to three-dimensional world, need
Define unified coordinate system.
World coordinate system (X, Y, Z)：World coordinate system is according to the world three dimensional coordinate system for being actually needed definition, for retouching
Object, the coordinate position of camera in three dimensions are stated, meets right-hand rule；
Camera coordinates system (Xc,Yc,Zc)：Camera coordinates system is the Z using the photocentre of camera as origincAxle and optical axis coincidence,
Perpendicular to imaging plane, and it is positive direction to take photography direction.Xc,YcWith the x of image physical coordinates system, y-axis is parallel, and OcO is phase
The focal length f of machine；
Image coordinate system：Due to the operation principle of camera, the image coordinate system of camera is a seat in units of pixel
Mark system, its origin represent the position of each pixel in the picture not based on physical unit on upper left side.For
Solve this problem to represent, it is necessary to establish based on physical unit (such as the millimeter of camera coordinates system and physical coordinates system)
Image coordinate system.Image pixel coordinates system (u, v)：Image pixel coordinates system be using the image upper left corner as origin, using pixel as
The rectangular coordinate system of coordinate unit, u, v represent columns and line number of the pixel in digital picture respectively.Image physical coordinates system
(x,y)：Image physical coordinates system is the rectangular coordinate system in units of millimeter using optical axis and the intersection point of image plane as origin.Its x
Axle and y-axis are parallel with u, v axle of image pixel coordinates system respectively.
3rd, GPS navigation coordinate system and the conversion of gps coordinate system
Camera parameter scaling method of the invention based on GPS, it is not necessary to using calibrating template, but pass through GPS receiver day
Line obtains the world coordinate system coordinate information of diverse location, exists by the GPS receiving antenna barycenter that is converted between coordinate system
Coordinate position in world coordinate system, carry out the demarcation of camera parameter.The GPS receiving antenna that the present invention uses is led to for the Big Dipper
GPS, the coordinate information of acquisition is coordinate at its barycenter.Fig. 2 is image of the GPS receiving antenna in diverse location, including front view
With top view, its barycenter is point O.
1st, GPS navigation coordinate system and the parsing of navigation message data
Navigation coordinate system is WGS-84 coordinate systems used by the GPS used in the present invention, as shown in Figure 3.The coordinate
System is a kind of agreement world geodetic system (World Geodetic System) that U.S. Department of Defense develops.WGS-84 coordinates
Using the barycenter of the earth as the origin of coordinates, X-axis points to CTP equator and the meridianal intersection point of BIH10984.0 zero degrees for system, and Z axis points to
Agreement earth pole CTP (Conventional Terrestrial Pole) direction that BIH10984.0 is defined, Y-axis and X-axis, Z axis
Form right-handed coordinate system.
WGS-84 coordinate systems are indicated using (latitude B, longitude L, height H), and its content is included in gps navigation message
In, output form is ASCII character.GPS telegraph text data forms are as follows：$ GPGGA, (1), (2), (3), (4), (5), (6), (7),
(8), (9), M, (10), M, (11), (12) * hh., it is necessary to extract (latitude B, longitude L, the height of target from above-mentioned data
H) information, corresponding respectively is (2) latitude (form ddmm.mmmm), (4) longitude (form：Dddmm.mmmm), (9) antenna is high
Journey (sea level, -9999.9~99999.9, unit：m).Such as the frame data received in experiment are：$ GPGGA,
085902.00,3201.6557, N, 11851.4286, E, 4,21,0.6,55.51, M, 1.20, M, 01,908Z*02, then correspond to
(latitude B, longitude L, height H) information be：(32.02759445887,118.85714386997,55.5143).
2nd, GPS navigation coordinate system and system world coordinate system are changed
After it there is known GPS navigation coordinate system (B, L, H) information, it is possible to carry out mutual between various coordinate systems
It converted.
GPS navigation coordinate system is converted into earth rectangular coordinate system first.If earth surface any point P is in GPS navigation
It is P in coordinate systemG(B, L, H), it is P in earth rectangular coordinate systemE(XE,YE,ZE).Then GPS navigation coordinate system and earth right angle
Relation between coordinate system is：
In formula (1), N is the radius of curvature of ellipsoid, and E is the first eccentricity of ellipsoid.If the major radius of the earth is a=
6378137m, short radius are b=6356752m, then have：
After obtaining earth rectangular coordinate system, world coordinate system P (X, Y, Z) is also converted into.The world coordinate system with
GPS receiving antenna main website O is the origin of coordinates.If GPS receiving antenna main website O is P in earth rectangular coordinate systemE0(XE0,YE0,
ZE0), GPS receiving antenna slave station A is P in earth rectangular coordinate systemE(XE,YE,ZE), then slave station A relative to main website O coordinate
For：
4th, camera imaging model
Fig. 4 is preferable camera imaging model-pinhole camera model, is described between camera coordinates system and image coordinate system
Relation.Under pinhole camera model, space coordinates is mapped to a point p, point p on plane of delineation Π for the point P of (X, Y, Z)
It is tie point P and projection centre (camera photocentre) C straight line and the intersection point of the plane of delineation.Camera photocentre C hangs down to the plane of delineation
Line is the main shaft of camera, and the intersection point of main shaft and the plane of delineation is principal point c (x0,y0), camera photocentre C and principal point c (x0,y0) it
Between distance be camera focus f.
Camera coordinates system (X can be obtained by Fig. 4c,Yc,Zc) relation between image coordinate system (u, v) is：
In formula (4),Scale factor respectively on u, v axle, or to normalize focal length on u, v axle；S is
Scale factor,For camera internal reference matrix, I is unit matrix.
Camera coordinates system (X can be obtained by Fig. 5c,Yc,Zc) European conversion between world coordinate system (X, Y, Z) closes
System：
In formula (5), R is the spin matrix of one 3 × 3；T is the translation matrix of one 3 × 1.
By formula (4) and formula (5), the relation between image coordinate system (u, v) and world coordinate system (X, Y, Z) can be obtained：
In formula (6), M=A [R | t] it is camera parameter matrix, wherein,For camera internal reference matrix, [R |
T] it is Camera extrinsic matrix, R is spin matrix, and t is translation matrix.Each parameter asks in the demarcation of camera parameter as Metzler matrix
Solution preocess.
5th, the camera parameter demarcation based on GPS
Camera imaging modular form (6) is expressed as form：
In formula (8), siFor scale factor,For world coordinate system of the GPS receiving antenna barycenter at diverse location
Homogeneous coordinates expression,For GPS receiving antenna barycenter in shooting image corresponding homogeneous image coordinate, mabFor Metzler matrix a
Row b column elements.
Formula (8) is deployed, obtained：
S in subtractive (9)i, then have：
For n known world coordinate system coordinatesWith corresponding image coordinate system coordinateAdopt
Each element in Metzler matrix can be solved with direct linear transformation (DLT) method, i.e.,：
Make m in formula (11)34=1, so as to obtain on Metzler matrix m11~m332n linear equation of element.Order：
Then formula (11) can be rewritten as：
Km=U (13)
M in formula (13) can be obtained using least square method, i.e.,：
M=(KTK)-1 KTU (14)
Then each element in the Metzler matrix in formula (6) can be obtained.
6th, the concept that camera inside and outside parameter solves
After obtaining the m in formula (13), it is possible to by Metzler matrix and the relation of camera inside and outside parameter, try to achieve camera successively
Whole inside and outside parameters.
Metzler matrix can be obtained by formula (8) and the relation of camera inside and outside parameter is：
In formula (15),For the row vector of first three element composition of a rows of Metzler matrix；ma4(a=1,
2,3) it is the column element of Metzler matrix a rows the 4th；For a rows of spin matrix R in Camera extrinsic；tx,ty,tzFor
Translation vector t three components in Camera extrinsic.
It can be obtained by formula (15)：
Known by formula (16)：m34m3=r3, due to r3The third line of orthogonal matrices, then | r3|=1.Therefore have：The other specification in Metzler matrix is obtained further according to formula (17).
Wherein, x0,y0,αx,αyAs camera internal reference matrixIn parameter, r1,r2,r3Constitute phase
Spin matrix R, t in joining outside machinex,ty,tzFor three components of translation vector t in Camera extrinsic.
According to formula (17), the internal reference matrix of cameraIt is and every in the outer ginseng matrix [R | t] of camera
Individual parameter can be obtained.
In summary, as more than 6 known points and the image coordinate corresponding to them in space, it is possible to obtain M squares
Battle array, and obtain according to formula (17) inside and outside parameter of camera.
7th, a flow of the inventive method is performed
Step 1：GPS receiving antenna main website O and slave station A is placed, radio station, GPS and computer is connected, GPS is in RTK
(Real-time kinematic, carrier phase difference technology) mode of operation, record GPS receiving antenna main website O longitude and latitude height
Information PG0(B0,L0,H0)；
Step 2：Mobile GPS reception antenna slave station A makes moving range cover visual field whole model as far as possible to diverse location
Enclose, with camera gather GPS receiving antenna slave station A at diverse location image I (i=1,2 ..., n), and record GPS receiver
The high information of longitude and latitude of the antenna at diverse location
Step 3：According to formula (1)~(3) by longitude and latitude elevation informationBe converted to generation
Boundary coordinate system coordinate Pi(Xi,Yi,Zi) (i=1,2 ..., n)；
Step 4：The image preprocessings such as binaryzation, smothing filtering are carried out to the image I (i=1,2 ..., n) collected；
Step 5：Using the matter of GPS receiving antenna in Harris Corner Detection Algorithms extraction image I (i=1,2 ..., n)
Heart coordinate (xi,yi) (i=1,2 ..., n)；
Step 6：Metzler matrix is obtained according to previously described formula (8)~(14), the inside and outside ginseng of camera is obtained according to formula (15)~(17)
Number.
Beneficial effects of the present invention can be further illustrated by following experiment：
This experiment using the Big Dipper lead to GPS, camera be Basler acA640-90gc, CCD size be 4.88mm ×
3.66mm, resolution ratio are 658 × 492, and camera lens mark focal length is F=12mm.Experimental provision is as shown in Figure 6.
In experiment, according to the specific steps of the inventive method, the image of shooting GPS receiving antenna diverse location in visual field
I (i=1,2 ..., 20), and GPS receiving antenna center-of-mass coordinate corresponding to recordingRoot
According to formula (1)~(3) by the high information of longitude and latitudeBe converted to system coordinate system coordinate Pi(Xi,
Yi,Zi) (i=1,2 ..., 20).GPS receiving antenna centroid position coordinate in image is extracted using Harris angular-point detection methods
(ui,vi) (i=1,2 ..., 20).Metzler matrix is obtained according to formula (8)~(14), the inside and outside of camera is obtained according to formula (15)~(17)
Parameter.The Metzler matrix obtained is：
Metzler matrix is decomposed, obtaining camera internal reference is：
fx=1659.57, fy=1650.87
cx=337.23, cy=239.47
Camera extrinsic matrix [R | t] be：
It is above-mentioned it is demonstrated experimentally that camera parameter scaling method proposed by the present invention can pass through GPS obtain high-precision spatial sit
Mark information, avoid due to calibrating template precision it is not high caused by calibrated error.Compared with traditional camera calibration method, the party
Method can improve the accuracy and precision of camera parameter demarcation.
Claims (3)
1. a kind of camera parameter scaling method based on GPS, it is characterised in that GPS receiving antenna is obtained by GPS receiving antenna
Longitude, latitude and height coordinate of the barycenter in GPS navigation coordinate system, while GPS receiving antenna is gathered in different positions with camera
The image put；Coordinate Conversion is carried out according to the relation between GPS navigation coordinate system and world coordinate system, obtains GPS receiving antenna
Coordinate of the barycenter in world coordinate system, and GPS receiving antenna barycenter is obtained in the picture using Harris Corner Detection Algorithms
Coordinate；Camera parameter matrix is gone out according to camera imaging model solution.
2. the camera parameter scaling method based on GPS as claimed in claim 1, it is characterised in that obtain GPS receiving antenna barycenter
The process of coordinate is in world coordinate system：
First, GPS navigation coordinate system is converted into earth rectangular coordinate system, shown in conversion regime such as formula (1),
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In formula (1), (B, L, H) is respectively longitude, latitude and height of earth surface any point P in GPS navigation coordinate system
Coordinate, (XE,YE,ZE) it is coordinates of any point P in earth rectangular coordinate system；N is the radius of curvature of ellipsoid, and E is ellipsoid
First eccentricity, if the major radius of the earth is a=6378137m, short radius is b=6356752m, then ellipsoid radius of curvature N
Shown in the first eccentricity E of ellipsoid computational methods such as formula (2),
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Then, earth rectangular coordinate system is converted into world coordinate system, shown in conversion method such as formula (3),
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In formula (3), (X, Y, Z) is world coordinate system, the world coordinate system using GPS receiving antenna main website O as the origin of coordinates,
(XE0,YE0,ZE0) it is coordinates of the GPS receiving antenna main website O in earth rectangular coordinate system.
3. the camera parameter scaling method based on GPS as claimed in claim 1, it is characterised in that
Shown in the camera imaging model such as formula (4),
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In formula (4), siFor scale factor,For the homogeneous seat of world coordinate system of the GPS receiving antenna barycenter at diverse location
Mark expression,For GPS receiving antenna barycenter corresponding homogeneous image coordinate in the picture,It is
Camera parameter matrix, mabFor camera parameter matrix a row b column elements, the ∈ 1,2,3,4 of a ∈ 1,2,3, b；I is GPS receiver day
The sequence number of line image at diverse location, photo sum captured by i ∈ n, n；
Camera parameter matrix is gone out according to camera imaging model solutionMethod be：For n
The world coordinate system coordinate knownWith corresponding image coordinate system coordinateSolution is solved using direct linear transformation's method
The each element m gone out in Metzler matrixab。
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