CN108318007A - A kind of image pickup method of spliced aviation oblique photograph - Google Patents
A kind of image pickup method of spliced aviation oblique photograph Download PDFInfo
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- CN108318007A CN108318007A CN201810087327.5A CN201810087327A CN108318007A CN 108318007 A CN108318007 A CN 108318007A CN 201810087327 A CN201810087327 A CN 201810087327A CN 108318007 A CN108318007 A CN 108318007A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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Abstract
The present invention provides a kind of image pickup method of spliced aviation oblique photograph, image pickup method includes the following steps：S1, aircraft, which reach, presets camera site, by rotating the first nacelle, completes the shooting of multiple angles of two inclined cameras in the first nacelle；S2, by rotating the second nacelle, complete the shooting of multiple angles of two inclined cameras in the second nacelle；S3, the shooting for completing remaining predeterminated position are overlapped between the stitching image of adjacent predeterminated position shooting；In same default camera site, two inclined cameras in two inclined cameras, the second nacelle in the first nacelle are overlapped between the image of adjacent angular shooting.The entire image pickup method process of the present invention is simple and reliable, and the precision of shooting is high, and the requirement to inclined camera is low, realizes Multi-angle free shooting；The stitching image of the extension obtained by the image pickup method facilitates post-processing, is conducive to the precision for improving the efficiency and model of later stage modeling.
Description
Technical field
The present invention relates to a kind of image pickup methods of spliced aviation oblique photograph.
Background technology
Aviation Pan Tilt camera belongs to the technology scope of aerophotogrammetry and aviation oblique photograph amount.Aviation is taken the photograph
Shadow measurement is to be based on Aerial photography image, and utilize photogrammetric technology, produces various mapping products, including digitally face mould
Type, orthophotoquad and line draw map.Aviation oblique photograph measurement is to tilt image by shooting, obtains the side line of atural object
Reason, then by photogrammetric technology, establish true city threedimensional model.
Breakthrough of the aviation oblique photograph as traditional aerophotogrammetry passes through the camera combination of different visual angles, shooting packet
Include the natural forms on ground and artificial structure.Existing aviation oblique photograph device generally uses the shape of five camera combinations
Camera and four inclined cameras are regarded under formula, including one.Since camera is more, when in view of the volume and weight of system, design
Inclined camera will generally use commercialized middle image camera or silent frame camera.
Chinese patent 2017100622249 discloses a kind of aviation Pan Tilt camera, including gondola main body, described
Be provided in gondola main body at least two times regard camera and multiple inclined cameras, described at least two time regarding camera transversely
Arrangement, described at least two times the lower shooting area depending on camera adjacent depending in camera partly overlaps.
Chinese patent 2014800800293 discloses a kind of system for capturing aerial image, and system includes at least one
A panorama camera, multiple details cameras and the frame for supporting camera, each details camera is than at least one panorama camera
With longer focal length, each details camera angle different in the horizontal is installed so that the visual field of details camera is overlapped
To form the transverse field of extension, frame can be attached to the aircraft floor above camera hole, to be given by camera hole
Camera provides the view on the ground below aircraft.
Chinese patent 201010562117.0 discloses a kind of based on the joining image-forming system for moving axis principle, including at least one
A imaging lens, at least one imaging lens are set on same plane, and focal length having the same and visual field；And it sets
At least one image device being placed on the focal plane of each imaging lens；Wherein, each imaging lens are set
It is its optical axis perpendicular to its focal plane, and each image device is arranged to have preset shifting axis in its focal plane
Amount.
Drawback of the prior art is that：Aviation oblique photograph device used at present generally uses multiple built-in cameras, leads to
Putting for different angle is crossed, realizes multiple angle shots, to obtain the panoramic picture on ground.Required built-in camera quantity is more, takes the photograph
Image device volume and weight is big, of high cost.
Therefore, how a kind of method for imaging of oblique photograph system applied widely, efficient is provided, is become in the industry
Problem to be solved.
Invention content
In view of the drawbacks of the prior art, the present invention provides a kind of image pickup method of spliced aviation oblique photograph, phases
Overlapped between neighbour's shooting image, positioning accuracy is high, and shooting efficiency is high, realizes Multi-angle free shooting.
To achieve the goals above, the present invention provides a kind of image pickup methods of spliced aviation oblique photograph, wherein
Carry cabin is equipped with the first nacelle, the second nacelle, and the first nacelle is equipped with two inclined cameras, and the second nacelle is equipped with two inclination phases
Machine, and four inclined cameras are installed at different angles so that the visual field of four inclined cameras, in same shooting area
Between it is overlapped, to form stitching image；Image pickup method includes the following steps：
S1, aircraft, which reach, presets camera site, by rotating the first nacelle, completes two inclined cameras in the first nacelle
Multiple angles shooting；
S2, by rotating the second nacelle, complete the shooting of multiple angles of two inclined cameras in the second nacelle；
S3, the shooting for completing remaining predeterminated position are overlapped between the stitching image of adjacent predeterminated position shooting；
In same default camera site, two inclined cameras in two inclined cameras, the second nacelle in the first nacelle, in phase
It is overlapped between the image of adjacent angle shot.
The present invention is further driven to inclined camera in the first nacelle, the second cabin by rotating the first nacelle, the second nacelle
Inclined camera in body is shot, to obtain the image of matrix form；It overlaps each other, is formed between the image of adjacent angular shooting
The area coverage of the stitching image of extension, stitching image is larger, can largely improve the efficiency of shooting, save shooting
Time.
Another kind specific implementation mode according to the present invention, two inclined cameras complete the bat of 6 angles in the first nacelle
It takes the photograph；Two inclined cameras complete the shooting of 6 angles in second nacelle；The shooting of 12 angles is completed in predeterminated position, to obtain
Obtain the stitching image of three rows and four columns or four rows three row.
Another kind specific implementation mode according to the present invention, step S1 include：
The first rotating shaft of the first nacelle is rotated to the first inclination angle, is shot, two cameras of the first nacelle obtain first
The image at visual angle；
First rotating shaft is rotated to the second inclination angle, is shot, two cameras of the first nacelle obtain the image at the second visual angle；
First rotating shaft is rotated to third inclination angle, is shot, two cameras of the first nacelle obtain the image at third visual angle.
In the present solution, in image between the first visual angle, the second visual angle, third visual angle, phase mutual respect between adjacent image
Folded, i.e. there are certain occlusion degree, the shootings of camera between adjacent inclination angle between the first inclination angle, the second inclination angle, third inclination angle
There are visual field to partially overlap for position.Wherein, first rotating shaft is equipped with steering engine or other similar driving parts, such as is driven
Rod structure etc., driving first rotating shaft drive the first nacelle to be swung.
Another kind specific implementation mode according to the present invention, two inclined cameras in the first nacelle are along perpendicular to first turn
The direction of axis is symmetrical arranged, and the angle between two inclined cameras is：15°—30°.
Another kind specific implementation mode according to the present invention, step S2 include：
The second shaft of the second nacelle is rotated to the 4th inclination angle, is shot, two cameras of the second nacelle obtain the 4th
The image at visual angle；
The second shaft is rotated to the 5th inclination angle, is shot, two cameras of the second nacelle obtain the image at the 5th visual angle；
The second shaft is rotated to the 6th inclination angle, is shot, two cameras of the second nacelle obtain the image at the 6th visual angle.
In the present solution, in image between the 4th visual angle, the 5th visual angle, the 6th visual angle, phase mutual respect between adjacent image
Folded, i.e., there are certain occlusion degree, the shootings of camera between inclination angle adjacent between the 4th inclination angle, the 5th inclination angle, the 6th inclination angle
There are visual field to partially overlap for position.Wherein, first rotating shaft is equipped with steering engine or other similar driving parts, such as is driven
Rod structure etc., driving first rotating shaft drive the first nacelle to be swung.
Another kind specific implementation mode according to the present invention, two inclined cameras in the second nacelle are along perpendicular to second turn
The direction of axis is symmetrical arranged, and the angle between two inclined cameras is：60°—90°.
Another kind specific implementation mode according to the present invention, first rotating shaft, the second shaft are arranged in parallel.This programme
In, four inclined cameras are arranged in matrix pattern, ensure that the center of gravity of four inclined cameras matches with the center of gravity of aircraft, make shooting
Process is more stablized.
Another kind specific implementation mode according to the present invention, the first visual angle, the 4th visual angle be it is lower regard visual angle, it is lower regard visual angle with
Vertical plane overlaps；Second visual angle, the 5th visual angle are forward sight visual angle, and the angle between the second inclination angle and the first inclination angle is：30°—
45 °, the angle between the 5th inclination angle and the 4th inclination angle is：30°—45°；Third visual angle, the 6th visual angle are backsight visual angle, third
Angle between inclination angle and the first inclination angle is：30 ° -45 °, the angle between the 6th inclination angle and the first inclination angle is：30°—45°.
Preferably, forward sight visual angle, be spaced apart depending on visual angle, backsight visual angle down, i.e., forward sight visual angle and it is lower depending on visual angle, backsight visual angle and under regard
Angle between visual angle is identical.
Another kind specific implementation mode according to the present invention, the camera lens of four inclined cameras is tight shot, and focal length is
20mm-150mm can be specifically selected as：20mm、21mm、22mm、24mm、25mm、28mm、30mm、32mm、35mm、40mm、
50mm、55mm、58mm、60mm、85mm、90mm、100mm、105mm、135mm、150mm；In the present solution, the focal length of inclined camera
It is selected according to the height of flight, the conditions such as required precision of needs.
Another kind specific implementation mode according to the present invention, with 10%-15% between the image of adjacent angular shooting
Overlapping.The image shot between adjacent inclined camera is overlapped, can improve the clarity of the stitching image of extension, be conducive to
The splicing of image and the processing in later stage.
Another kind specific implementation mode according to the present invention is equipped with 12 inclined cameras, 12 inclinations in carry cabin
Camera is in three column distribution of three rows and four columns or four rows, is installed at different angles between adjacent inclined camera so that
It is overlapped between the same shooting area of 12 inclined cameras, to form stitching image；Image pickup method includes：Control module
Control the shooting that 12 inclined cameras are sequentially completed multiple predeterminated positions；The extension splicing shot between adjacent predeterminated position
There is overlapping between image.
First rotating shaft, the rotational angle of the second shaft are consistent in the present invention, and the slewing area of the first nacelle covers three
The slewing area of continuous shooting area, the second nacelle covers three continuous shooting areas, to realize in the same bat
It acts as regent and sets, the image that 12 shooting areas can be completed in the first nacelle, the rotation of the second nacelle twice obtains, to form extension
Stitching image.
It is 70%-to have overlapping, degree of overlapping between the stitching image for the extension that adjacent shooting area obtains in the present invention
90%, this degree of overlapping range can meet most of target area modeling requirement.It should be selected as possible according to the complexity of target area
Small Duplication is selected, to promote shooting efficiency.Such as the aviation oblique photograph that target area is sparse low-rise buildings is selected
70% Duplication selects 90% Duplication for the aviation oblique photograph that target area is intensive high building.
The image that the image pickup method of oblique photograph provided by the present invention obtains, tidiness height, the modeling accuracy of image are high,
The multiple fields such as land management, urban planning, city management and construction are can be widely applied to, renewal speed, drop can be improved
The workload in low field, disclosure satisfy that a wide range of, all standing, the high fundamental spatial information demand data of accuracy requirement field
It closes.
Compared with prior art, the invention has the beneficial effects that：
1, switched by the position of four inclined cameras, obtain the extension stitching image of matrix form, same position shooting
Area is big, and shooting efficiency is high, saves the time of shooting operation；
2, entire image pickup method process is simple and reliable, and the precision of shooting is high, and the requirement to inclined camera is low, realizes polygonal
Degree is freely shot；
3, the stitching image of the extension obtained by the image pickup method facilitates post-processing, is conducive to improve later stage modeling
The precision of efficiency and model.
The present invention is described in further detail below in conjunction with the accompanying drawings.
Description of the drawings
Fig. 1 is the flow diagram of the image pickup method of embodiment 1；
Fig. 2 is the schematic diagram of the stitching image obtained using the image pickup method of embodiment 1；
Fig. 3 is the overall structure diagram of the camera chain for the image pickup method for completing embodiment 1；
Fig. 4 is the upward view of Fig. 3；
Fig. 5 is the partial structural diagram of Fig. 3；
Fig. 6 is the structural schematic diagram of the first nacelle in Fig. 3；
Fig. 7 is the structural schematic diagram of the second nacelle in Fig. 3.
Specific implementation mode
Embodiment 1
A kind of image pickup method of spliced aviation oblique photograph is present embodiments provided, it is as shown in Figs. 1-2, pre- to realize
If the shooting of 12 angles is completed in position, to obtain the stitching image of four rows three row, method for imaging includes the following steps：
S1：Aircraft, which reaches, presets camera site, by rotating the first nacelle, completes two inclined cameras in the first nacelle
Six angles shooting；Specific implementation process is：The first rotating shaft of the first nacelle is rotated to the first inclination angle, is shot, the
Two cameras of one nacelle obtain the image at the first visual angle；First rotating shaft is rotated to the second inclination angle, is shot, the first nacelle
Two cameras obtain the image at the second visual angle；First rotating shaft is rotated to third inclination angle, is shot, two cameras of the first nacelle
Obtain the image at third visual angle.
S2：By rotating the second nacelle, the shooting of six angles of two inclined cameras in the second nacelle is completed；It is specific real
Now process is：The second shaft of the second nacelle is rotated to the 4th inclination angle, is shot, two cameras of the second nacelle obtain the 4th
The image at visual angle；The second shaft is rotated to the 5th inclination angle, is shot, two cameras of the second nacelle obtain the figure at the 5th visual angle
Picture；The second shaft is rotated to the 6th inclination angle, is shot, two cameras of the second nacelle obtain the image at the 6th visual angle.
S3：The shooting of remaining predeterminated position is completed, is overlapped between the stitching image of adjacent predeterminated position shooting；Wherein,
Overlapped, degree of overlapping 85% between the stitching image of adjacent predeterminated position shooting.
As shown in Fig. 2, heading is as shown by arrows in figure, wherein the first visual angle, the 4th visual angle be it is lower regard visual angle, under regard
Visual angle is overlapped with vertical plane；Second visual angle, the 5th visual angle are left view visual angle, and third visual angle, the 6th visual angle are right regarding visual angle.Same
12 images of shooting of one position, 12 images are in four rows, three column distribution relative to heading, and are obtained adjacent
Image between have overlapping, such as 10% overlapping, it is overlapped between adjacent image, the stitching image of extension can be improved
Clarity, be conducive to the splicing of image and the processing in later stage.
A kind of camera chain for realizing above-mentioned image pickup method, as shown in fig. 3 to 7 comprising：Carry cabin 1, camera mechanism 2,
First nacelle 3, the second nacelle 4, control module 5.
Wherein, 1 detachably connected aircraft of carry cabin is equipped with connector 11, braced frame 12, top in carry cabin 1
Support plate 13, connector 11 is located at the top of top support plate 13, for fast implementing the connection with aircraft；Braced frame 12 is set
The lower section of support plate 13 at top, control module 5 are located on the support plate 13 of top.
Camera mechanism 2 is located in braced frame 12 comprising four inclined cameras, it can be mutual between four inclined cameras
It changes, the region of operation as needed is different, determines the focal length and precision of four inclined cameras, such as flying height is 135m, choosing
The inclined camera for being 35mm with focal length.Each inclined camera is installed at different angles so that multiple inclined cameras
It is overlapped between the shooting area of predeterminated position, form the stitching image of extension；Wherein, four inclined cameras are respectively
One camera 21, second camera 22, third camera 23, the 4th camera 24.
As shown in figure 3, being equipped with the first nacelle 3, the second nacelle 4 in braced frame 12, first camera 21, second camera 22 are solid
It is scheduled in the first nacelle 3, the first nacelle 3 can continuously be swung around first rotating shaft 141, in the bottom of the first nacelle 3
Equipped with the first opening 142, the view field space that shooting needs can be provided for first camera 21, second camera 22.Third camera 23,
4th camera 24 is fixed in the second nacelle 4, and the second nacelle 4 can continuously be swung around the second shaft 151, second
The bottom of nacelle 4 is equipped with the second opening 152, can provide the view field space that shooting needs for third camera 23, the 4th camera 24.
Wherein, first rotating shaft 141 is equipped with the first steering engine 143, the second shaft 151 is equipped with the second steering engine 153, the first steering engine 143, the
Two steering engines 153 are installed in braced frame 12, in order to keep the stationarity of the precision and rotation process that rotate, first rotating shaft
141, the position that the second shaft 151 is connect with braced frame 12 passes through control equipped with bearing to reduce the frictional force of rotation process
Module 5 controls the first steering engine 143, the second steering engine 153 is rotated, and then realizes that four are inclined in the first nacelle 3, the second nacelle 4
The change at the inclination angle of monoclinic phase machine.
First camera 21, the layout of second camera 22 as shown in fig. 6, first camera 21, second camera 22 relative to center
Axis L1 is symmetrical, and the optical axis G1 of first camera 21 and the angle of central axis L 1 are 11 °, optical axis G2 and the central axis L 1 of second camera 22
Angle also be 11 °.
Third camera 23, the layout of the 4th camera 24 as shown in fig. 7, third camera 23, the 4th camera 24 relative to center
Axis L2 is symmetrical, wherein central axis L 1 and central axis L 2 are in the vertical plane D1 perpendicular to aircraft direction, and central shaft
L1 and central axis L 2 are mutually parallel.The optical axis G3 of third camera 23 and the angle of central axis L 2 are 33 °, the optical axis of the 4th camera 24
G4 and the angle of central axis L 2 are also 33 °.
In this camera chain, first rotating shaft, the rotational angle of the second shaft are consistent, and the slewing area of the first nacelle covers
The slewing area of three continuous shooting areas, the second nacelle covers three continuous shooting areas, to realize same
A camera site, the image that 12 shooting areas can be completed in the first nacelle, the rotation of the second nacelle twice obtain, are expanded with being formed
The stitching image of exhibition.When the same position is shot (same position here does not imply that aircraft stops flight, but the
One camera, the shooting interval of second camera are smaller, and the distance of aircraft walking can be ignored, entire shooting process, aviation
Device flies at a constant speed), first camera, second camera shoot six images of 1 middle two rows of corresponding diagram, third camera, the 4th camera
Shoot six images of 1 upper and lower two row of corresponding diagram.
In this camera chain, control module is connected with four inclined camera communications, is shot to control inclined camera,
Under the control of control module, the stitching image for completing to preset multiple default camera sites in course line obtains.
Although the present invention is disclosed above with preferred embodiment, it is not limited to the range that the present invention is implemented.Any
The those of ordinary skill in field improves in the invention scope for not departing from the present invention when can make a little, i.e., every according to this hair
Bright done same improvement, should be the scope of the present invention and is covered.
Claims (10)
1. a kind of image pickup method of spliced aviation oblique photograph, which is characterized in that be equipped with the first nacelle, the second cabin in carry cabin
Body, first nacelle are equipped with two inclined cameras, and second nacelle is equipped with two inclined cameras, and four inclined cameras are equal
It is installed at different angles so that the visual field of four inclined cameras, it is overlapped between same shooting area, to be formed
Stitching image；
The image pickup method includes the following steps：
S1, aircraft, which reach, presets camera site, by rotating first nacelle, completes two inclinations in first nacelle
The shooting of multiple angles of camera；
S2, by rotating second nacelle, complete the shooting of multiple angles of two inclined cameras in second nacelle；
S3, the shooting for completing remaining predeterminated position are overlapped between the stitching image of adjacent predeterminated position shooting；
Two inclined cameras in two inclined cameras, second nacelle in same default camera site, first nacelle,
It is overlapped between the image of adjacent angular shooting.
2. image pickup method as described in claim 1, which is characterized in that two inclined cameras complete 6 in first nacelle
The shooting of angle；Two inclined cameras complete the shooting of 6 angles in second nacelle；12 angles are completed in predeterminated position
Shooting, with obtain three rows and four columns or four rows three row stitching image.
3. image pickup method as described in claim 1, which is characterized in that the step S1 includes：
The first rotating shaft of first nacelle is rotated to the first inclination angle, is shot, two cameras of first nacelle obtain
The image at the first visual angle；
The first rotating shaft is rotated to the second inclination angle, is shot, two cameras of first nacelle obtain the second visual angle
Image；
The first rotating shaft is rotated to third inclination angle, is shot, two cameras of first nacelle obtain third visual angle
Image.
4. image pickup method as claimed in claim 3, which is characterized in that two inclined cameras in first nacelle are along vertical
It is symmetrical arranged in the direction of the first rotating shaft, the angle between two inclined cameras is：15°—30°.
5. image pickup method as claimed in claim 4, which is characterized in that the step S2 includes：
The second shaft of second nacelle is rotated to the 4th inclination angle, is shot, two cameras of second nacelle obtain
The image at the 4th visual angle；
Second shaft is rotated to the 5th inclination angle, is shot, two cameras of second nacelle obtain the 5th visual angle
Image；
Second shaft is rotated to the 6th inclination angle, is shot, two cameras of second nacelle obtain the 6th visual angle
Image.
6. image pickup method as claimed in claim 5, which is characterized in that two inclined cameras in second nacelle are along vertical
It is symmetrical arranged in the direction of second shaft, the angle between two inclined cameras is：60°—90°.
7. image pickup method as claimed in claim 5, which is characterized in that the first rotating shaft, second shaft are mutually parallel
Setting.
8. image pickup method as claimed in claim 5, which is characterized in that first visual angle, the 4th visual angle are lower depending on regarding
Angle is overlapped regarding visual angle with vertical plane under described；Second visual angle, the 5th visual angle are forward sight visual angle, second inclination angle
Angle between first inclination angle is：30 ° -45 °, the angle between the 5th inclination angle and the 4th inclination angle is：
30°—45°；The third visual angle, the 6th visual angle are backsight visual angle, between the third inclination angle and first inclination angle
Angle is：30 ° -45 °, the angle between the 6th inclination angle and first inclination angle is：30°—45°.
9. image pickup method as described in claim 1, which is characterized in that the camera lens of four inclined cameras is tight shot,
Focal length is 20mm-150mm.
10. image pickup method as described in claim 1, which is characterized in that there is 10%- between the image of adjacent angular shooting
15% overlapping.
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| CN201810087327.5A CN108318007B (en) | 2018-01-26 | 2018-01-26 | Shooting method of spliced aerial oblique photography |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109163705A (en) * | 2018-09-12 | 2019-01-08 | 广州市红鹏直升机遥感科技有限公司 | A kind of image pickup method of aviation oblique photograph |
| CN111405269A (en) * | 2020-03-12 | 2020-07-10 | 深圳臻像科技有限公司 | Method for adjusting view field overlapping rate of multi-view camera acquisition system |
| CN112017119A (en) * | 2020-09-04 | 2020-12-01 | 江门市低空遥感科技有限公司 | Single-camera spliced image data acquisition method |
| GB2614250A (en) * | 2021-12-22 | 2023-07-05 | Hidef Aerial Surveying Ltd | Aerial imaging array |
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