CN107705272A - A kind of high-precision geometric correction method of aerial image - Google Patents
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- G06T5/80—
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
- G06T3/4007—Interpolation-based scaling, e.g. bilinear interpolation
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30181—Earth observation
Abstract
The invention discloses a kind of high-precision geometric correction method of aerial image, its step includes：1) sampling time of the data to IMU/DGPS system acquisitions and space image data carries out matching treatment, the sampling time of IMU/DGPS system acquisition data is matched with the sampling time of space image data；2) it is converted to by coordinate system and obtains camera elements of exterior orientation；3) according to the space image data and the corresponding relation of corresponding ground actual coordinate, the pixel ranks number matched on the space image data with geographical coordinates are found, i.e., optimal scan line row number；4) according to the optimal scan line row number obtained in step 3) to the space image data resampling, the space image data after being corrected.The present invention carries out geometric correction using IMU/DGPS system acquisitions data to aerial image, for ground moving measuring table or aerial platform, can reach High-precision image geometric correction.
Description
Technical field
The present invention relates to a kind of high-precision geometric correction method of aerial image, belong to robot vision, mapping and remote sensing
And the technical field such as commercial measurement.
Background technology
Geometric correction is carried out for the image gathered the solid space multi-angle more, mainly being had based on ground control point at present
Approximation method and bearing calibration based on position and attitude data, different demands and actual feelings of the two methods according to specific implementation
Condition is different.
For the geometric correction of different situations, there is a certain degree of research both at home and abroad at present.Using the multinomial of different numbers
Formula model, different number of dominating pair of vertices photo carries out geometric correction, and is compared to correcting precision, it is believed that in observation benchmark
The flatter area such as face or plane, ground, multinomial model have preferable fitting precision；Someone is using gps data to point
Pendulum sensor image has carried out geometric correction, can only achieve the effect slightly corrected；The height optimal to linear array under unmanned aerial vehicle platform
The Study on Deformation of spectrum image it is fewer；IMU/DGPS (Inertial Measurement Unit/differential GPS) combined system directly positions
(Direct Georeferencing, DG) although the method for elements of exterior orientation parameter better than traditional aerial triangulation, its
Precision also suffers from the limitation of the instrument calibration error such as DGPS, IMU.
The present invention using IMU/DGPS data to aerial image progress geometric correction, for ground moving measuring table or
Aerial platform, High-precision image geometric correction can be reached.
The content of the invention
The invention discloses a kind of based on IMU/DGPS systems, space shadow established on the basis of collinearity equation
As geometric correction method and step.In order to achieve the above object, the technical proposal of the invention is realized in this way：
A kind of high-precision geometric correction method of aerial image, comprises the following steps：
1) data of IMU/DGPS system acquisitions are handled with luv space image data time match；
2) camera elements of exterior orientation is asked by coordinate system conversion；
3) conversion of luv space image data object coordinates corresponding with ground and the matching of optimal scan line row number.
4) correction space image data resampling, aerial image after being corrected.
The data of step 1) the IMU/DGPS system acquisitions are handled with luv space image data time match, i.e., according to
Time transformational relation, resampling is carried out to IMU/DGPS system acquisitions data or space image data, adopts IMU/DGPS systems
The sampling time of collection data matches with the sampling time of space image data；Specifically include following steps：1. by Beijing time and
GMT is changed, and realizes that time reference is unified；2. on the basis of both time references of step 1. are unified, enter
Row time match.
The step 2) seeks camera elements of exterior orientation by coordinate system conversion, comprises the following steps：1. find image space to sit
The interim coordinate system that mark system changes with ground into figure coordinate system；2. based on step 1. in a series of coordinate systems, solve camera outside
Angle element in the element of orientation, i.e. spin matrix；3. step 2. on the basis of, by spin matrix, determine camera exterior orientation
Element center line element.Camera elements of exterior orientation includes angle element and line element.
The conversion of step 3) the luv space image data object coordinates corresponding with ground and optimal scan line row number
Match somebody with somebody, comprise the following steps：Space image data and corresponding ground actual coordinate are obtained using the collinearity equation in photogrammetric
Corresponding relation, the optimal pixel row on the luv space image data matched the most with ground actual coordinate is found using dichotomy
Row number (i.e. optimal scan line row number).
The step 4) corrects according to the optimal scan line row number obtained in step 3) to original pixel resampling, obtains school
Space image data after just.Comprise the following steps：1. the blank image being pre-created after being corrected, to each of blank image
Individual imaging point carries out gray value assignment.Assignment uses bilinear interpolation method, to blank image one by one picture point from raw video number
According to upper resampling so as to obtaining new gray value.2. resampling saved as after terminating with raw video size similar in without geometry become
Shape image.
Compared with prior art, the advantage of the invention is that：
1st, pose parameter is provided to camera sensor using IMU/DGPS, real-time continuous operation, while IMU/ can be carried out
DGPS difference accuracy is higher, and when interpolation obtains the geometric parameter data of camera scanning row, precision is more reliable.
2nd, from ground is counter seek corresponding to scan line ranks when, using dichotomy, greatly improve find it is optimal
The efficiency of scan line row number.
3rd, any sensor of linear array scanning, including visible, infrared, single band and multiband sensor are gone for.
4th, application field is extensive, not only goes for airborne, as platforms such as unmanned plane, airships, can also be applied to ground
Face, platform is waited as vehicle-mounted.
Brief description of the drawings
Fig. 1 is the inventive method flow chart；
Fig. 2 is IMU and imaging load transducer coordinate system；
Fig. 3 is image space coordinate system schematic diagram；
Fig. 4 is line central projection；
Fig. 5 is that dichotomy determines optimal scan line method flow diagram；
Fig. 6 is specific implementation step flow chart of the present invention.
Embodiment
Chart/formula etc. is combined below, and the specific implementation step of the present invention is elaborated.The inventive method step is such as
Shown in Fig. 1.A kind of high-precision geometric correction method of aerial image of the present invention, comprises the following steps：
1.IMU/DGPS system acquisitions data are handled with space image data time match, are comprised the following steps：
1) Beijing time and GMT are changed, realizes that time reference is unified
Being imaged the time that load is read was defined by Beijing time, and IMU/DGPS outputs is the GMT, institute
Must accurately determine the transformational relation of the two before geometric manipulations are carried out, its reduction formula is
IMU/DGPS_time=(hour+16) × 3600+minute × 60+second (1)
In formula, hour is the hour in the sampling time of raw video data；Similarly, minute is minute；Second is
Second.
2) on the basis of both time references of step 1) are unified, time match is carried out
IMU/DGPS sample frequency is 100 times per second, and the sample frequency for being imaged load data is 25 per second scannings
Row IMU/DGPS.So the corresponding time relationship according to IMU/DGPS system acquisitions data and imaging load is needed, to IMU/
DGPS system acquisitions data carry out closest resampling by the space image data recording frequency of imaging spectrometer.
2. seeking camera elements of exterior orientation by coordinate system conversion, comprise the following steps：
1) the interim coordinate system that image space coordinate system is changed with ground into figure coordinate system is found
The required camera elements of exterior orientation of the present invention (belonging to photogrammetric coordinate system system) navigates with existing IMU/DGPS
Solution (belonging to inertial navigation coordinate system) belongs to two entirely different systems, it is therefore desirable to is at the two by Coordinate Conversion
Opening relationships is so as to obtaining the elements of exterior orientation of imaging spectral camera between system.It is that inertial navigation coordinate system and photography are surveyed below
Measure the definition and the coordinate system involved when solving elements of exterior orientation conversion of coordinate system.
Each coordinate system is defined as follows：
Into figure coordinate system (m)：User is according to the customized local right-handed coordinate system of flight range feature.
Geocentric coordinate system (E)：Origin is fixed on earth center, ZEAxle points to the arctic, XEAxle points to the equatorial plane and meridian at the beginning of this
The intersection point in face, YEAxle is perpendicular to XEOZEPlane.Conventional geocentric coordinate system is WGS-84 earth coordinates.
Navigational coordinate system (g)：Origin is located at aircraft barycenter, XgIt is the north to (the earth north), YgIt is east to ZgPoint to
The earth's core.Coordinate system constantly changes with heading.
Sensor coordinate system (c)：Origin is located at the centre of perspectivity, C2It is just C on the right side of axle orientation sensor3Axle points to ground side
Xiang Weizheng, C1Axle is along before heading to for just.
IMU coordinate systems (b)：Using the intersection point of 3 axis accelerometers as origin, xbAxle points to heading, ybIt is right that axle points to aircraft
Side, zbAxle forms right-handed coordinate system straight down.Ideally, IMU should be connected firmly closely with bloom spectrum sensor, IMU coordinates
System only exists the translation on course with sensor coordinate system, but in practice, there is one between IMU coordinate systems and sensor coordinate system
The fixed angle of cut, referred to as eccentric angle, this eccentric angle need to be determined by setting up calibration field, see Fig. 2.
Image space coordinate system (i)：Using photo centre S as the origin of coordinates, x-axis points to heading, and it is left that y-axis points to image
Side, z-axis and key light overlapping of axles, form image space right hand rectangular coordinate system S-xyz, see Fig. 3.
2) a series of coordinate systems being based in step 1), solve the angle element in camera elements of exterior orientation, i.e. spin matrix.
According to the definition of foregoing elements of exterior orientation, image space coordinate system (i) can regard into figure coordinate system (m) as and pass through successively
Cross around Y, X, the Z axis anglec of rotationω, κ are obtained, and this process can divide the conversion of multistep coordinate system to complete, and therefore, are sat into figure
Mark system (m) arrives the spin matrix of image space coordinate system (i)It is represented by：
Wherein (Φ, Θ, Ψ) is respectively the angle of roll, the angle of pitch and yaw angle.Once it is determined that spin matrixWithExterior orientation angle element can be solved by above formulaω and κ.
A) spin matrix is determinedGeocentric coordinate system (E) (WGS-84) is transformed into figure coordinate system (m)
The origin for being defined as figure coordinate system is located at the center of flight range, and origin is set to (B0,L0, 0), then by (m) to (E)
Spin matrix be represented by：
B) spin matrix is determinedGeocentric coordinate system (E) transforms to navigational coordinate system (g)
The spin matrix that geocentric coordinate system is transformed to (E) to (g) that navigational coordinate system is formed is represented by：
Wherein, L and B is respectively the longitude and latitude of imaging moment IMU unit center phases.
C) spin matrix is determinedNavigational coordinate system (g) transforms to IMU coordinate systems (b)
The spin matrix that navigational coordinate system is transformed to (g) to (b) that IMU coordinate systems are formed is represented by：
D) spin matrix is determinedIMU coordinate systems (b) transform to sensor coordinate system (c)
By existing eccentric angle between IMU coordinate system transformations to sensor coordinate system i.e. two coordinate systems of correction.It is assuming that eccentric
Component difference θ of the angle on 3 direction of principal axisx, θy, θz, then spin matrix be represented by：
E) spin matrix is determinedSensor coordinate system (c) transforms to image space coordinate system (i)
Sensor coordinate system (c) is to the difference that image space coordinate system (i) is Y, Z coordinate direction of principal axis, thereforeIt can represent
For：
3) on the basis of step 2), by spin matrix, line element (X is determineds,Ys,Zs)
In imaging moment, the sensor lenses centre of perspectivity can be obtained into the coordinate in figure coordinate system by following formula：
Wherein, (XIMU,YIMU,ZIMU) it is coordinate of the IMU coordinate systems (b) in WGS-84 rectangular coordinate systems；(x1,y1,z1)
The eccentric vector for being the sensor centre of perspectivity in IMU coordinate systems；(X0,Y0,Z0) it is into figure coordinate origin (L0,B0) corresponding to
Geocentric rectangular coordinate.
3. the conversion of space image data object coordinates corresponding with ground and the matching of optimal scan line row number, including following step
Suddenly：
1) conversion of space image data object coordinates corresponding with ground
Due to per all pixels in a line being imaged in synchronization in aerial image, therefore on side in (Y-direction)
It is regarded as central projection relation.Under vertical image-forming condition, aerial image can be reduced to line central projection processing, i.e., same to sweep
The picture point retouched on row has an identical elements of exterior orientation, and the corresponding ground of picture point should truly meet between point on image scan row
Following collinearity equation：
Wherein, (x, y) is the image plane coordinate of picture point, and (X, Y, Z) is the geodetic coordinates of its accordingly millet cake, and f is camera
It is main away from,Sensor elements of exterior orientation is represented, meets line central projection, as shown in Figure 4.
(x, y) solved by formula (9) and (10) is usually relocatable, for the ranks being related in method for resampling
Number (x', y'), then need to do with down conversion
In above formula, psize is the size of single pixel.
2) corresponding relation based on the luv space image data that step 1) obtains with corresponding ground actual coordinate, utilizes two
Point-score matches to optimal scan line row number.
A) the IMU/DGPS solutions of ground point imaging are obtained.Utilize the elements of exterior orientation and topocentric coordinates of picpointed coordinate, knot
Collinearity equation (9) is closed, x=0 is approached by solving infinite convergence, using the now row on corresponding image as optimal scan line,
Elements of exterior orientation of the elements of exterior orientation as ground point corresponding to the row.
B) elements of exterior orientation of ground point, topocentric coordinates are substituted into formula (9), ground point is calculated and corresponds to original shadow
As the row number of the picture point in data, so, the picture point of raw video data corresponding to imaging point (ground point) after just being corrected
Positional information, be written into and be saved in projection file .prj, by often row image corresponds to luv space image number after correction
According to ranks scope write and be saved in index file .idx.
The key that resampling is corrected is the optimal surface sweeping ranks number for determining ground point, and then obtains corresponding to the scan line
Elements of exterior orientation.The basis for estimation of the optimal scan line of ground point is to find one group of navigational solution to bring formula (9) into so that required x etc.
In or close to 0.The determination of optimal surface sweeping ranks number is realized using dichotomy.Concrete operations are as shown in Figure 5.
Dichotomy determines optimal scan line row number by reducing hunting zone step by step, comprises the following steps：
A) initial value of optimal scan line and the initializaing variable of step-size in search are set.By optimal scan line L initial change
Parameter L(0)N/2 is set to, from defined above, step-size in search initial value is represented byN is original sky
Between image data columns.
B) x values are calculated.Respectively by L(0),Corresponding exterior orientation data substitute into formula (9), calculate their x
Value, is designated as x(0),
C) L positions are determined.JudgeSymbol, ifThen L is located at L(0)WithBetween, this
SeasonIfThen L is located at L(0)WithBetween, this
Season
D) judge whether to continue.If step-size in search(δ is given threshold value), then continue in next step, otherwise to return
Return the b) step.
E) optimal scan line row number is determined.By step-size in search [Ls,Le] in the elements of exterior orientation of each scan line substitute into formula
(9) x, x, are calculatedminCorresponding scan line is optimal scan line.
4. correct pixel resampling, image after being corrected
1) bilinear interpolation method is used, it is new so as to obtain from resampling on luv space image data to imaging point one by one
Gray value；
Bilinear interpolation method be using neighbouring 4 pixel values around sampled point Q (u, v), according to its away from interpolated point away from
Linear interpolation is carried out from different weights is assigned, i.e.,
Q (u, v)=(1-s) (1-t) Pi,j-(1-s)tPi,j+1+s(1-t)Pi+1,j+stPi+1,j+1 (12)
Wherein,
2) saved as after resampling terminates with raw video size similar in without geometry anamorphic image.
The whole specific implementation step of the present invention, can be represented by Fig. 6.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, those skilled in the art should
It is understood that any modification, equivalent substitution or improvement for being made within the spirit and principles of the invention etc., should be included in this
Within the protection domain of invention, protection domain is defined by those as defined in claim.
Claims (10)
1. a kind of high-precision geometric correction method of aerial image, its step include：
1) sampling time of the data to IMU/DGPS system acquisitions and space image data carries out matching treatment, makes IMU/DGPS
The sampling time of system acquisition data matches with the sampling time of space image data, when obtaining the sampling with space image data
Between the IMU/DGPS system acquisition data that match；
2) the IMU/DGPS system acquisitions data of the matching obtained based on step 1) carry out coordinate system conversion, obtain camera exterior orientation
Element；
3) according to the corresponding relation of space image data object coordinates corresponding with ground, find on the space image data
The pixel ranks number matched with geographical coordinates, i.e., optimal scan line row number；
4) according to the optimal scan line row number obtained in step 3) to the space image data resampling, the sky after being corrected
Between image data.
2. the method as described in claim 1, it is characterised in that the method for obtaining the camera elements of exterior orientation is：1. obtain
The interim coordinate system that image space coordinate system and ground are changed into figure coordinate system；2. the interim coordinate 1. obtained based on step
System, solve the angle element in camera elements of exterior orientation, i.e. spin matrix；3. by the spin matrix, camera exterior orientation is determined
Line element in element.
3. method as claimed in claim 2, it is characterised in that the interim coordinate system includes the earth's core in inertial navigation system
Coordinate system, navigational coordinate system and IMU coordinate systems, and in Digital Photogrammetric System into figure coordinate system, sensor coordinate system and picture
Space coordinates.
4. method as claimed in claim 3, it is characterised in that the spin matrix is into figure coordinate system to image space coordinate system
Spin matrix；The spin matrix isWherein,For into figure coordinate system transformation to geocentric coordinates
The spin matrix of system,For geocentric coordinate system transform to navigational coordinate system spin matrix,Transformed to for navigational coordinate system
The spin matrix of IMU coordinate systems,For the spin matrix of IMU coordinate system transformations to sensor coordinate system,For sensor coordinates
System transforms to the spin matrix of image space coordinate system.
5. the method as described in claim 1, it is characterised in that the method for obtaining the optimal scan line row number is：Using institute
The elements of exterior orientation and geographical coordinates of the picpointed coordinate of space image data are stated, with reference to collinearity equation, by solving infinite convergence
X=0 is approached, using now the row on corresponding image is as optimal scan line, the elements of exterior orientation corresponding to the row is as ground
The elements of exterior orientation of point；Wherein, x is the image plane coordinate of picture point；Then by the elements of exterior orientation of ground point, topocentric coordinates generation
Enter collinearity equation and the row number that ground point corresponds to the picture point of space image data is calculated.
6. the method as described in claim 1 or 5, it is characterised in that the optimal scan line row number is obtained using dichotomy：
A) initial value of optimal scan line and the initializaing variable of step-size in search are set；By optimal scan line L initializaing variable L(0),
The initializaing variable of step-size in searchN is the columns of the space image data；
B) by L(0)Corresponding exterior orientation data substitute into collinearity equation, calculate x values, are designated as x(0)；WillCorresponding exterior orientation
Data substitute into collinearity equation, calculate x values, are designated asWillCorresponding exterior orientation data substitute into collinearity equation, calculate x values,
It is designated asThe collinearity equation is the equation for the corresponding relation for obtaining the space image data object coordinates corresponding with ground,
X is the image plane coordinate of picture point in the collinearity equation；
C) judgeSymbol, ifThen L is located at L(0)WithBetween, this season If (x(0)·xe (0))≤0, then L be located at L(0)WithBetween, this season
If d) step-size in searchδ is given threshold value, then carries out step e), otherwise return to step b)；
E) by step-size in search [Ls,Le] in the elements of exterior orientation of each scan line substitute into the collinearity equation, calculate x, minimum x
Scan line corresponding to value is optimal scan line.
7. method as claimed in claim 6, it is characterised in that the initializaing variable L(0)Initial value be N/2.
8. the method as described in claim 1, it is characterised in that the method for the space image data after being corrected is：In advance
A blank image is created, then according to the optimal scan line row number obtained in step 3) to the space image data resampling,
Gray value assignment, the space image data after being corrected are carried out to the imaging point of the blank image.
9. method as claimed in claim 8, it is characterised in that using bilinear interpolation method, to each shadow in the blank image
Picture point obtains new gray value from resampling on the space image data.
10. method as claimed in claim 9, it is characterised in that the bilinear interpolation method is using neighbouring around sampled point
Several pixel values, assign different weights according to its distance away from interpolated point and carry out linear interpolation.
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