CN107689065A - A kind of GPS binocular cameras demarcation and spatial point method for reconstructing - Google Patents
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- 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
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Abstract
The present invention proposes a kind of GPS binocular cameras demarcation and spatial point method for reconstructing, the parameter calibration of 2D or 3D targets progress binocular camera is replaced using GPS receiving antenna, optional position of the GPS receiving antenna in two video camera public view fields is moved, obtains the high coordinate information of longitude and latitude of GPS receiving antenna barycenter；And several images for containing GPS receiving antenna are shot by binocular camera, projection matrix relation in utilization space object dimensional coordinate and the plane of delineation between two-dimensional coordinate, according to camera imaging model and binocular camera calibration principle, the parameter of binocular camera is calculated, and Exact Reconstruction is carried out to space point coordinates.The present invention can mitigate to the Dependence Problem of high-precision target in binocular camera calibration process, and obtained spatial point, which rebuilds coordinate, has higher precision.
Description
Technical field
The invention belongs to computer vision processing technology field, and in particular to a kind of GPS binocular cameras demarcation and space
Point method for reconstructing.
Background technology
At present, because with speed is fast, precision is high, knows without the advantages such as contact, automation, computer vision in three-dimensional body
Not, the field such as space object three-dimensional data processing, robot guiding has been obtained for being widely applied.Binocular camera demarcates skill
Art has larger as an important component in computer vision research, its stated accuracy to follow-up research work
Influence, therefore improve binocular camera stated accuracy also to turn into an important topic of research.The demarcation of video camera, exactly passes through
The corresponding relation established between the three dimensional space coordinate corresponding with space of object two-dimensional projection point coordinates on the plane of delineation, calculate
Go out accurate camera imaging model parameter.But in many occasions, video camera inner geometry parameter and optical parametric, and
Position relationship between different cameras simultaneously need not be solved specifically, it is only necessary to established object two-dimensional projection point on the plane of delineation and sat
Mark the mapping relations between its corresponding space coordinates.
When global positioning system (Global Position System, GPS) is surveyed using the passing of satelline and mesh is realized in ranging
Target is navigated and positioning.In actual application, GPS obtains basis by receiving the gps navigation message of standard
Positioning and navigation data.Because GPS has to the navigator fix of moving target, comprehensive, round-the-clock, data are real-time, high accuracy
The features such as, it is widely used in many fields.
In view of compared with traditional 2D or 3D demarcation targets, GPS can provide precision higher space coordinates coordinate,
The present invention proposes a kind of novel binocular camera demarcation and spatial point method for reconstructing based on GPS, and tradition is replaced using GPS
2D or 3D targets in scaling method, Accurate Calibration is carried out to binocular camera, and using binocular camera after demarcation to space
Arbitrfary point carries out high-precision three-dimensional coordinate reconstruction.
The content of the invention
It is an object of the invention to propose that a kind of GPS binocular cameras demarcation and spatial point method for reconstructing, this method use
The accurate coordinates of GPS receiving antenna barycenter replace traditional 2D or 3D demarcation targets, carry out binocular camera parameter calibration and sky
Between arbitrfary point three-dimensional reconstruction, solve binocular camera demarcation in for high-precision target Dependence Problem, improve target
Stated accuracy, reduce spatial point and rebuild relative distance error.
In order to solve the above-mentioned technical problem, the present invention provides a kind of GPS binocular cameras demarcation and spatial point method for reconstructing,
The projection matrix M needed for binocular camera calibration process is calculated using the method as shown in formula (1)j(j=1,2), so as to
The demarcation of binocular camera parameter is realized,
In formula (1),It is needed for during binocular camera parameter calibration
Projection matrix, Zc1,Zc2For scale factor,For Mj(j=1,2) matrix a row b column elements；
In formula (1),It is GPS receiving antenna barycenter in the world coordinate system at diverse location
Homogeneous coordinates represent；
In formula (1),Two groups shot for GPS receiving antenna barycenter in binocular camera
For corresponding homogeneous graph as coordinate representation, n is the picture number of each video camera shooting in image；
In formula (1), j represents binocular camera 1,2.
Space reconstruction point P (X, Y, Z) coordinate is calculated using the method as shown in formula (2), so as to realize space point coordinates
Rebuild,
In formula (2),Pass through binocular camera parameter
Projection matrix obtained by calibrating, Zc1,Zc2For scale factor,For Mj(j=1,2) matrix a row b column elements；
In formula (2),Respectively GPS receiving antenna barycenter is corresponding in the two images that binocular camera is shot
Homogeneous graph as coordinate representation；
In formula (2),For the homogeneous expression of space reconstruction point P (X, Y, Z) coordinate.
The homogeneous coordinates of world coordinate system of the GPS receiving antenna barycenter at diverse locationBy the following method
Calculate and obtain：
Using formula (3), changed by GPS navigation coordinate system (B, L, H) between world coordinate system and solve GPS receiver
The homogeneous coordinates of world coordinate system of the antenna barycenter at diverse location
In formula (3), (B, L, H) is longitude, latitude and height coordinate letter in GPS navigation coordinate system WGS-84 coordinate systems
Breath, N is ellipsoid radius of curvature, and E is the eccentricity of ellipsoid first.
The GPS receiving antenna barycenter corresponding homogeneous image coordinate in shooting imageExamined by Harris angle points
Survey method, which calculates, to be obtained.
Compared with prior art, its remarkable advantage is the present invention：The precision of traditional binocular camera marking method is often
Dependent on 2D the or 3D targets used in calibration process, the two-stage calibration method based on radial constraint proposed such as R.Tsai.Marking
During fixed, 2D the or 3D targets used usually require to carry out accurate processing, and target requirement covering as much as possible is whole
Visual field.However, in actual applications, 2D the or 3D targets of large-scale high-precision are difficult to process and safeguarded, and entered using small-sized target
Rower is fixed due to the uneven distribution of precision in visual field, can cause huge calibrated error, influence follow-up work.Due to GPS
It can provide precision higher space coordinates, and can arbitrarily move, moving range covers whole visual field, therefore, calibrated
2D or 3D targets need not be relied in journey.Throwing in utilization space object dimensional coordinate and the plane of delineation of the present invention between two-dimensional coordinate
Shadow matrix relationship, by GPS, optional position is put in visual field, and several images for containing GPS are shot by binocular camera, according to taking the photograph
Camera imaging model and binocular calibration principle, while calculate the parameter of video camera.
Brief description of the drawings
Fig. 1 is the inventive method flow chart.
Fig. 2 is camera imaging model.
Fig. 3 is Binocular vision model.
Embodiment
First, basic thought of the present invention
The present invention proposes a kind of GPS binocular cameras demarcation and spatial point method for reconstructing, its general principle：
First, longitude, latitude and height coordinate of its barycenter in WGS-84 coordinate systems is obtained by GPS receiving antenna to believe
Breath, while gather image of the GPS receiving antenna barycenter in diverse location with binocular camera；
Then, Coordinate Conversion is carried out according to the relation between WGS-84 coordinate systems and world coordinate system, obtains world coordinates
In coordinate information, and the coordinate of GPS receiving antenna barycenter in the picture is obtained using Harris Corner Detection Algorithms；
Then, camera parameter matrix is gone out according to camera imaging model solution, realizes the demarcation of camera inside and outside parameter；
Finally, the Binocular vision model formed according to binocular camera solves space Point Coordinates, realizes that binocular is taken the photograph
The spatial point of camera is rebuild.
2nd, the concept of camera imaging model
Four coordinate systems included in binocular camera calibration process, respectively world coordinate system Ow-XwYwZw, video camera
Coordinate system Oc-XcYcZc, image coordinate system oc- xy and computer picture coordinate system o-uv.
According to preferable camera imaging model, camera coordinate system O can be obtainedc-XcYcZcWith image coordinate system o-uv it
Between transformation relation be：
Wherein, αx,αyRespectively u axles, the scale factor on v axles, or to normalize focal length on u axles, v axles；S is ratio
The factor, A are video camera internal reference matrix, and I is unit matrix.
Camera coordinate system Oc-XcYcZcWith world coordinate system Ow-XwYwZwBetween transformation relation be：
Wherein, R is the spin matrix of one 3 × 3；T is the translation matrix of one 3 × 1.
Image coordinate system o-uv and world coordinate system O can be obtained by formula (1) and formula (2)w-XwYwZwBetween conversion close
It is to be：
Wherein, M=A [R | t] is video camera projection matrix, and A is video camera internal reference matrix, and [R | t] is joins square outside video camera
Battle array.Binocular camera calibration process is to solve video camera projection matrix M process.
The preferable camera imaging model refers to document (camera calibration algorithm research [D] in Wu Dan computer visions
The Central China University of Science and Technology, 2014.).
3rd, the concept of gps coordinate system conversion
The GPS that the present invention uses is that the Big Dipper leads to GPS, and is in RTK mode of operations, with WGS-84 coordinate systems (World
Geodetic System) it is navigational coordinate system, the coordinate system is indicated with latitude B, longitude L, height H, and its content is included in
In gps navigation message, output form is ASCII character.
The information of GPS navigation coordinate system (B, L, H) is obtained afterwards, it is necessary to which it to be first transformed into earth rectangular coordinate system.If
Earth surface any point P is P in GPS navigation coordinate systemG(B, L, H), it is P in earth rectangular coordinate systemE(XE,YE,ZE)。
Then the relation between GPS navigation coordinate system and earth rectangular coordinate system is：
In formula (4), 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 A is relative to O coordinate：
The agreement world geodetic system refers to document (Li Zhiyuan.Application studies of the GPS in target following Coordinate Conversion
[J] computer programmings skill is with safeguarding, 2012 (19):7-8.).
4th, the concept of the camera parameter demarcation based on GPS
Camera imaging modular form (3) is expressed as form：
In formula (7),It is needed for during binocular camera parameter calibration
Projection matrix, Zc1,Zc2For scale factor,For Mj(j=1,2) matrix a row b column elements；For
Homogeneous coordinates of the GPS receiving antenna barycenter in the world coordinate system at diverse location represent；For GPS receiving antenna barycenter in two groups of images that binocular camera is shot it is corresponding homogeneous
Image coordinate represents that n is the picture number of each video camera shooting；J represents binocular camera 1,2.
Formula (7) is deployed, obtained：
Z in subtractive (8)cj, (j=1,2)：
For n known world coordinate system coordinatesWith corresponding image coordinate system coordinateM can be solved using direct linear transformation (DLT) methodj(j=1,2) it is each in matrix
Element, i.e.,：
Make in formula (10)So as to obtain on Mj(j=1,2) matrix2n line of element
Property equation.Order：
Then formula (10) can be rewritten as：
Kjmj=Uj (12)
M in formula (12) can be obtained using least square methodj, i.e.,：
Complete the demarcation of binocular camera.
Direct linear transformation (DLT) method refers to document, and (Ge Baozhen, Li Xiaojie, Qiu's reality are based on the direct line of coplanar point
Property conversion camera distortion correction [J] Chinese lasers, 2010 (2):488-494.).
The least square method refers to document (foundation of Jia little Yong, Xu Chuansheng, Bai Xin least square methods and its thought
Method [J] Northwest Universitys journal:Natural science edition, 2006,36 (3):507-511.).
5th, the concept that spatial point is rebuild
Assuming that any point P (X, Y, Z) is in two camera C in space1With C2It is point p on captured image1(u1,v1),
p2(u2,v2), camera C1With C2Projection matrix be respectively M1With Μ2, then have：
Z in subtractive (14)c1,Zc2, obtain four linear equations on (X, Y, Z)：
Write formula (15) as matrix form, had：
Space reconstruction point P coordinate (X, Y, Z) can be obtained using least square method.
The point P coordinates (X that the actual measurement of the space reconstruction being calculated point P coordinates (X, Y, Z) and GPS is obtainedP,YP,ZP)
It is compared, analysis space reconstruction point is respectively in X, Y, error dX, dY, dZ in Z-direction, has：
The relative distance error e rr that space reconstruction point can be obtained by formula (17) is：
6th, 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 the high information of GPS receiving antenna main website O longitudes and latitudes
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 two video camera C1With C2Collection GPS slave stations A is located at the image of visual field diverse location
And record latitude corresponding to slave station A, longitude and altitude information
Step 3：According to formula (4)~(6) by the high information of longitude and latitudeBe converted to the world
Coordinate system coordinate Pi(Xi,Yi,Zi) (i=1,2 ..., n)；
Step 4：To the image collectedThe images such as binaryzation, smothing filtering are carried out in advance to locate
Reason；
Step 5：Image is extracted using Harris Corner Detection AlgorithmsMiddle GPS receiving antenna
Center-of-mass coordinateThe Harris Corner Detection Algorithms refer to document, and [Chen Baifan, Cai is certainly
It is emerging.Harris Corner Detections [J] Central South University journal based on Scale-space theory：Natural science edition, 2005,36 (5)：
751-754]。
Step 6：Two camera C are obtained respectively according to formula (7)~(13)1With C2Projection matrix M1,M2。
Step 7：Obtain space reconstruction point P coordinates (X, Y, Z) according to formula (14)~(16), and with GPS is actual measures
Coordinate (the X arrivedp,Yp,Zp) be compared, point tolerance is rebuild according to formula (17)~(18) analysis space.
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.
In experiment, according to the specific steps of the inventive method, GPS receiving antenna main website O is fixed position, and records its latitude
Degree, longitude and altitude information.The mobile GPS reception antenna slave station A in the range of the public view field of two video cameras, while clap respectively
It is taken the photograph in C1With C2In image, and record corresponding GPS center-of-mass coordinates information.Binocular camera is obtained according to formula (7)~(13)
M1,M2Matrix.The M obtained1,M2Matrix is：
It is P=(- 2.3413, -1.6226,2.2023) to calculate space reconstruction point P coordinates according to formula (14)~(16).
Spatial point, which is obtained, according to formula (17)~(18) rebuilds relative distance error e rr=0.52%.
Claims (4)
1. a kind of GPS binocular cameras demarcation and spatial point method for reconstructing, it is characterised in that use the side as shown in formula (1)
Projection matrix M needed for during method calculating binocular camera parameter calibrationj(j=1,2), so as to realize binocular camera parameter
Demarcation,
In formula (1),It is the projection matrix needed for during binocular camera parameter calibration, j=
1,2 represents the camera one and camera two in binocular camera, Zc1,Zc2For scale factor,For matrix MjIn a rows b
Column element, a=1,2,3, b=1,2,3,4；
In formula (1),I=1,2 ..., n is that GPS receiving antenna barycenter is neat in the world coordinate system at diverse location
Secondary coordinate representation, n are the picture number of each video camera shooting；
In formula (1),J=1,2；I=1,2 ..., n is two groups of figures that GPS receiving antenna barycenter is shot in binocular camera
The corresponding homogeneous image coordinate as in.
2. GPS binocular cameras demarcation as claimed in claim 1 and spatial point method for reconstructing, it is characterised in that using such as formula
(2) method shown in calculates space reconstruction point P (X, Y, Z) coordinate, so as to realize that space point coordinates is rebuild,
In formula (2),WithIt is by binocular camera parameter mark
Surely the camera one and the projection matrix of camera two obtained, Zc1,Zc2For scale factor,For matrix MjIn a rows b arrange
Element；
In formula (2),Respectively GPS receiving antenna barycenter is corresponding neat in the two images that binocular camera is shot
Secondary image coordinate represents；
In formula (2),For the homogeneous expression of space reconstruction point P (X, Y, Z) coordinate.
3. GPS binocular cameras demarcation as claimed in claim 2 and spatial point method for reconstructing, it is characterised in that the GPS receiver
The homogeneous coordinates of world coordinate system of the antenna barycenter at diverse locationCalculate and obtain by the following method：
Using formula (3), changed by GPS navigation coordinate system (B, L, H) between world coordinate system and solve GPS receiving antenna
The homogeneous coordinates of world coordinate system of the barycenter at diverse location
In formula (3), (B, L, H) is longitude, latitude and the height coordinate information in GPS navigation coordinate system, and N is ellipsoid curvature half
Footpath, E are the eccentricity of ellipsoid first.
The GPS receiving antenna barycenter corresponding homogeneous image coordinate in shooting imagePass through Harris Corner Detection sides
Method, which calculates, to be obtained.
4. GPS binocular cameras demarcation as claimed in claim 3 and spatial point method for reconstructing, it is characterised in that
First, longitude, latitude and height coordinate information of its barycenter in GPS navigation coordinate system are obtained by GPS receiving antenna,
Simultaneously image of the GPS receiving antenna barycenter in diverse location is gathered with binocular camera；
Then, Coordinate Conversion is carried out according to the relation in GPS navigation coordinate system between world coordinate system, obtained in world coordinates
Coordinate information, and the coordinate of GPS receiving antenna barycenter in the picture is obtained using Harris Corner Detection Algorithms；According to camera
Imaging model solves camera parameter matrix, realizes the demarcation of camera inside and outside parameter；
Finally, the Binocular vision model formed according to binocular camera solves space Point Coordinates, realizes binocular camera
Spatial point rebuild.
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