CN108344398A - A kind of 3 control points of application obtain the algorithm of ground fixed point multi-disc 3D photography elements of exterior orientation - Google Patents
A kind of 3 control points of application obtain the algorithm of ground fixed point multi-disc 3D photography elements of exterior orientation Download PDFInfo
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- CN108344398A CN108344398A CN201710054266.8A CN201710054266A CN108344398A CN 108344398 A CN108344398 A CN 108344398A CN 201710054266 A CN201710054266 A CN 201710054266A CN 108344398 A CN108344398 A CN 108344398A
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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
Abstract
The invention discloses the algorithms that a kind of 3 control points of application obtain ground fixed point multi-disc 3D photography elements of exterior orientation.The technology is in ground stereophotogrammetric survey, and separated by a distance two take the photograph website S1、S2The upper photographic camera for disposing calibration respectively, camera carries out arbitrary photography, S on two websites1Website camera orientation angle is every β1The primary N that photographs altogether of degree photography1Open photo, S2Website is every β2The primary N that photographs altogether of degree photography2Photo ensures when revolving camera overlay region >=2 ° between two adjacent shots；In S1、S2Website resolves 6 elements of exterior orientation that two websites first open photo by least three control pointsIn S1、S2Website is according to 2~3 corresponding image points of cross-lapping department component selections between adjacent shots, resolve control point of its topocentric coordinates as next photo, and then the exterior orientation angular amount element of next photo can be calculated, the elements of exterior orientation value of N photos can be similarly calculated, realizes the resolving of the arbitrary interest point object coordinates of photo.
Description
One, technical field
The present invention relates to a kind of algorithm of determining ground point multi-disc 3D photographies elements of exterior orientation, especially a kind of applications 3
The control point Combined Calculation of known topocentric coordinates obtains the calculation method of ground fixed point multi-disc 3D photography elements of exterior orientation.
Two, technical background
From the point of view of development present situation, in recent years, photogrammetric technology is developed rapidly, and has been used in each
Among each industry of row, and it is also varied that it, which resolves model and method,.Up to the present, photogrammetric application resolves the big portion of model
Foreign side when dividing the resolving for being all based on collinearity condition equation form or variation progress photo, and how to determine photogrammetric
Position element value is the core and critical issue for carrying out photogrammetric resolving.Just current photogrammetric elements of exterior orientation calculation method comes
It sees, all haves the shortcomings that more or less and deficiency, be mainly reflected in：
1. determining for photogrammetric elements of exterior orientation is needed by other tool auxiliary measurings, complex, and precision compared with
It is low.
2. resolve elements of exterior orientation, the number of control points needed is more, generally requires 6 or more control points, field operation
Heavy workload.
3. the elements of exterior orientation value for resolving individual photo is easier to realize, but covers region-wide all photos and individually resolve
Its elements of exterior orientation seems too cumbersome.
Therefore, in photogrammetric field, solution process, it is corresponding how every photo quickly to be calculated by algorithm
Elements of exterior orientation value seems particularly critical.
Three, the content invented
In order to overcome disadvantages mentioned above and deficiency, the photogrammetric multi-disc of ground point can be quickly and easily resolved
Elements of exterior orientation value is realized and quickly resolves point of interest object space point coordinates value, and the present invention proposes that a kind of 3 control points of application obtain ground
Face pinpoints the algorithm of multi-disc 3D photography elements of exterior orientation.
The purpose of the present invention is such：
In ground stereophotogrammetric survey, separated by a distance two take the photograph website S1、S2The upper photography for disposing calibration respectively
Camera, camera carries out arbitrary photography, S on two websites1Website camera orientation angle is every β1The primary N that photographs altogether of degree photography1Photo is opened,
S2Website is every β2The primary N that photographs altogether of degree photography2Photo ensures when revolving camera overlay region >=2 ° between two adjacent shots；
S1、S2Website resolves 6 exterior orientations that two websites first open photo by least not in three control points on same straight line
ElementIn S1、S2Website is according to 2~3 pictures of the same name of cross-lapping department component selections between two adjacent shots
Point resolves control point of its topocentric coordinates as next photo, and then can calculate the exterior orientation angular amount of next photo
Element similarly can calculate the elements of exterior orientation value of N photos, realize that arbitrary interest point object space is sat in photo field range
Target resolves.
This invention has the following advantages compared with existing conventional method：
(1) resolving of elements of exterior orientation, only need to be light by a small amount of control point energy without other instruments subsidiary
Pine determines elements of exterior orientation value；
(2) two websites respectively only need 3 or more control points in photo, can easily just calculate elements of exterior orientation
Value；
(3) resolving of multiple elements of exterior orientation need to only apply 3 in first photo without resolving one by one
A above control point, can be achieved with the resolving of remaining all elements of exterior orientation.
Four, it illustrates
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 obtains ground fixed point multi-disc 3D photography elements of exterior orientation pictures to schematic diagram of photographing using 3 control points；
Wherein, A, B, C represent control point position, S1、S2Represent two photography site locations, (1,2,3 ..., N1) and (1,2,
3 ..., N2) represent the photo quantity that two websites are photographed.
Five, specific implementation mode：
A kind of calculation method of 3 control points of application acquisition ground fixed point multi-disc 3D photography elements of exterior orientation is taken the photograph with existing
Shadow measures elements of exterior orientation calculation method and compares, and has made larger improvement and innovation on resolving model and implementation method, specifically
It is：
(1) as shown in Figure 1, taking the photograph website S separated by a distance two1、S2The upper photographic camera of placement respectively (examined by camera
School, elements of interior orientation are known), two photographic cameras can pinpoint 360 ° and rotate freely and any angle braking；
(2) in S1Website horizontal direction is every β1Degree photography is primary, and the N that photographs is enclosed around one1Photo is opened, when ensureing revolving camera
Overlay region >=2 ° between two adjacent shots；In S2Website horizontal direction is every β2Degree photography is primary, and the N that photographs is enclosed around one2Photo is opened,
Overlay region >=2 ° between two adjacent shots when guarantee revolving camera.
(3) when starting photography, S is ensured1、S2At least there are three sames in first photo that two photography websites are respectively photographed
Control point on straight line, coordinate (Xi,Yi,Zi) (i=1,2,3) known；1. using mathematical model
Wherein, (xi,yi) corresponding image space coordinate is put in order to control, f is the focal length of photographic camera, (ai,bi,ci) it is by photographing
Exterior orientation angular amount elementDetermining spin matrix element, (XS,YS,ZS) be photography website foreign side's bit line secondary element,
Coordinate the image space coordinate (x at least three control pointsi,yi) and object coordinates (Xi,Yi,Zi), determine set website 6
Elements of exterior orientation value；6 unknown numbers in total6 equations of simultaneous can acquire and set website first and open photo
Elements of exterior orientation value.
(4) elements of interior orientation (the x of known first photoi,yi, f) and elements of exterior orientation valueIt
Afterwards, it has determined that two websites two open the collinear equation of photo, stereogram overlapping can be acquired by space intersection
The corresponding object space coordinate of arbitrary picture point in region；
(5) each using two websites according to 2~3 corresponding image points of first photo and second photo juxtaposition regional choice
The topocentric coordinates of corresponding image points, the control point as next photo are calculated from first photo stereogram；By 2~
3 control point coordinates calculate the exterior orientation angular amount element of respective second photo using space resection's methodω2,κ2
Withω′2,κ′2；
(6) the elements of exterior orientation value of N photos similarly, is calculated, realizes arbitrary interest point object space in photo field range
The resolving of coordinate.
Claims (3)
1. a kind of 3 control points of application obtain the algorithm of ground fixed point multi-disc 3D photography elements of exterior orientation, it is characterized in that：It is being separated by
The two of certain distance take the photograph website S1、S2It is upper to dispose photographic camera respectively (calibration, elements of interior orientation are known), wherein two
Photographic camera can pinpoint 360 ° and rotate freely and any angle braking；In S1Website horizontal direction is every β1Degree photography is primary, surround
One circle photography N1Photo ensures when revolving camera overlay region >=2 ° between two adjacent shots；In S2Website horizontal direction is every β2Degree
Photography is primary, around a circle photography N2Photo ensures when revolving camera overlay region >=2 ° between two adjacent shots.
2. the algorithm of ground fixed point multi-disc 3D photography elements of exterior orientation is obtained according to a kind of 3 control points of application of claim 1,
It is characterized in：When starting photography, ensure S1、S2It is at least not straight in same in first photo that two photography websites are respectively photographed
Three control points on line, coordinate (Xi,Yi,Zi) (i=1,2,3) known；1. using mathematical model
Wherein, (xi,yi) corresponding image space coordinate is put in order to control, f is the focal length of photographic camera, (ai,bi,ci) it is by foreign side of photographing
Parallactic angle secondary elementDetermining spin matrix element, (XS,YS,ZS) be photography website foreign side's bit line secondary element
Coordinate the image space coordinate (x at least three control pointsi,yi) and object coordinates (Xi,Yi,Zi), determine 6 foreign sides for setting website
Position element value；6 unknown numbers in total6 equations of simultaneous can acquire and set website first and open the outer of photo
Element of orientation value.
3. the algorithm of ground fixed point multi-disc 3D photography elements of exterior orientation is obtained according to a kind of 3 control points of application of claim 1,
It is characterized in：Elements of interior orientation (the x of known first photoi,yi, f) and elements of exterior orientation valueLater,
It is determined that two websites two open the collinear equation of photo, can be acquired in stereogram overlapping region by space intersection
The corresponding object space coordinate of arbitrary picture point；It is of the same name according to first photo and second photo juxtaposition regional choice 2~3
Picture point, using two websites, respectively first photo stereogram calculates the topocentric coordinates of corresponding image points, as next picture
The control point of piece；By 2~3 control point coordinates the foreign side of respective second photo is calculated using space resection's method
Parallactic angle secondary elementWithSimilarly, the elements of exterior orientation value of N photos is calculated.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111457896A (en) * | 2020-04-20 | 2020-07-28 | 中国人民解放军空军航空大学 | Single-image space back intersection non-iterative method |
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| CN101226057A (en) * | 2008-02-01 | 2008-07-23 | 武汉朗视软件有限公司 | Digital close range photogrammetry method |
| CN103363961A (en) * | 2013-07-09 | 2013-10-23 | 中国人民解放军第三军医大学第三附属医院 | Aerial image-based determination method of three-dimensional information of traffic accident scene based on s |
| CN104613942A (en) * | 2015-01-30 | 2015-05-13 | 北京林业大学 | Analytic method of image pair relative elements of exterior orientation |
| CN105241422A (en) * | 2015-09-18 | 2016-01-13 | 北京林业大学 | Measurement method for relative exterior orientation elements by using arbitrary photographic image pair of ground without any known photogrammetric control point |
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2017
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002156227A (en) * | 2000-11-16 | 2002-05-31 | Natl Aerospace Lab | Stereoscopic vision system for detecting flat area during vertical descent |
| CN101226057A (en) * | 2008-02-01 | 2008-07-23 | 武汉朗视软件有限公司 | Digital close range photogrammetry method |
| CN103363961A (en) * | 2013-07-09 | 2013-10-23 | 中国人民解放军第三军医大学第三附属医院 | Aerial image-based determination method of three-dimensional information of traffic accident scene based on s |
| CN104613942A (en) * | 2015-01-30 | 2015-05-13 | 北京林业大学 | Analytic method of image pair relative elements of exterior orientation |
| CN105241422A (en) * | 2015-09-18 | 2016-01-13 | 北京林业大学 | Measurement method for relative exterior orientation elements by using arbitrary photographic image pair of ground without any known photogrammetric control point |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111457896A (en) * | 2020-04-20 | 2020-07-28 | 中国人民解放军空军航空大学 | Single-image space back intersection non-iterative method |
| CN111457896B (en) * | 2020-04-20 | 2021-09-14 | 中国人民解放军空军航空大学 | Single-image space back intersection non-iterative method |
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