CN109724623A - A kind of two-dimensional calibrations method and device of mapping camera elements of interior orientation - Google Patents
A kind of two-dimensional calibrations method and device of mapping camera elements of interior orientation Download PDFInfo
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Abstract
The present invention relates to aerial mapping technical fields, more particularly to a kind of two-dimensional calibrations method and device of mapping camera elements of interior orientation, the scaling method and device are imaged using the geometric center position that directional light is radiated at linear array detector in mapping camera, record the azimuth of mapping camera and pitch angle at this time, change azimuth and the pitch angle of mapping camera, until directional light re-imaging is in the linear array detector of mapping camera, record the azimuth of mapping camera at this time, image point position coordinate in pitch angle and linear array detector imaging, according to the azimuth of multiple mapping cameras, image point position coordinate in pitch angle and linear array detector imaging calculates the elements of interior orientation of mapping camera.Elements of interior orientation calibration is carried out by adjusting the azimuth of mapping camera, pitch angle, guarantees that asterism is imaged in the same line battle array of mapping camera, realizes the precision calibration to linear array type mapping camera.
Description
Technical field
The present invention relates to aerial mapping technical fields, in particular to a kind of two dimension of mapping camera elements of interior orientation
Scaling method and device.
Background technique
Linear array mapping camera has the advantages such as big base-height ratio, high-efficient, obtains in modern Aviation mapping and widely answers
It needed before use with, linear array mapping camera to principal point, main carry out precision calibration away from elements of interior orientation such as, distortion.
Linear array mapping camera generally carries out elements of interior orientation calibration using precision angle method in laboratory, realizes this side
The caliberating device of method include standard sources 1, light pipe holder 2, parallel light tube 3, mapping camera 4, camera support 5, precise rotating platform 6,
Vibration-isolating platform 7, as shown in Figure 1, the star tester in single asterism hole is installed in 3 image planes of parallel light tube, for simulating single infinity
Target.This method calibration principle is as shown in Figure 2: adjustment precise rotating platform 6, mapping camera 4, mutual between parallel light tube 3 first
Relationship, when guaranteeing that precise rotating platform 6 is in zero-bit, asterism is imaged at the selected initial value M of CCD image planes, and M is generally taken as CCD picture
The geometric center in face, O is the principal point to be asked of optical system, S in Fig. 2xFor projection of the principal point in CCD image planes, OSxFor wait ask main
Away from x0For principal point calibration value, fxBased on away from calibration value, due to the influence of distortion, be located at true field angle αiLocate asterism PiImaging
In focal plane Pi' place, according to geometric optics, αiLocate PiThe optical distortion Δ of lightiAre as follows: Δi=xi-x0-fx×tan(αi-dα)。
Change angle with precise rotating platform 6, obtains n asterism angle [alpha]1,α2,α3...αnAnd corresponding image point position x1,x2,x3...xn, with
Observation point distortion quadratic sumMinimum constraint condition can solve principal point x according to least-squares algorithm0, it is main away from fx, distortion
ΔiEqual elements of interior orientation.Precision angle method has many advantages, such as that algorithm is direct, precision is higher, but there is also following problems:
1. this method is one-dimension calibration, need during the calibration process, all asterisms are imaged on the same of linear array detector
In row pixel, need accurately leveling the positional relationship between turntable, camera and light pipe before calibration；
2. have biggish distortion in big visual field line-scan digital camera optical system, make linear array detector in image planes for pincushion or
It is barrel-shaped, it will not be straight line, cause even if carrying out accurate adjustment to the relationship of turntable, camera and light pipe before calibration, also not
May during the calibration process, in the case where not adjusting the elevation angle, asterism images in the same of linear array detector in entire visual field
In row pixel, i.e. this method calibration for not being suitable for big visual field linear array mapping camera.
Summary of the invention
The embodiment of the invention provides a kind of two-dimensional calibrations method and devices of mapping camera elements of interior orientation, at least to solve
Certainly technological deficiency when existing progress one-dimension calibration.
According to an embodiment of the invention, a kind of two-dimensional calibrations method of mapping camera elements of interior orientation is provided, including with
Lower step:
Step b: being imaged using the geometric center position that directional light is radiated at linear array detector in mapping camera, record
The azimuth of mapping camera and pitch angle at this time；
Step c: changing azimuth and the pitch angle of mapping camera, until directional light re-imaging is in the linear array of mapping camera
Image point position coordinate in detector, in the record azimuth of mapping camera, pitch angle and linear array detector imaging at this time；
Step d: being repeated several times step c, obtains in azimuth, pitch angle and the linear array detector imaging of multiple mapping cameras
Image point position coordinate；
Step e: according to the image point position coordinate in the imaging of the azimuth of multiple mapping cameras, pitch angle and linear array detector
Calculate the elements of interior orientation of mapping camera.
Further, step e includes:
According to the image point position coordinate in the imaging of the azimuth of multiple mapping cameras, pitch angle and linear array detector, and make
The elements of interior orientation of mapping camera is calculated using least square adjustment method with distortion quadratic sum minimum constraint condition.
Further, step c includes:
The azimuth for changing mapping camera, judges that can directional light be imaged in the linear array detector of mapping camera, if can,
Image point position coordinate in the record azimuth of mapping camera, pitch angle and linear array detector imaging at this time；If cannot, change and surveys
The pitch angle of camera is drawn, until directional light can be imaged in the linear array detector of mapping camera, record mapping camera at this time
Image point position coordinate in azimuth, pitch angle and linear array detector imaging.
Further, method includes:
Step b: being imaged using the geometric center position that directional light is radiated at linear array detector in mapping camera, record
The azimuth of mapping camera is set to zero by the pitch angle β of mapping camera at this time；
Step c: changing azimuth and the pitch angle of mapping camera, until directional light re-imaging is in the linear array of mapping camera
Detector G1Point position, records the azimuth angle alpha of mapping camera1And pitch angle (β+d β1), record G1Point image point position coordinate G1x；
Step d: step c is repeated several times, successively obtains G2, G3..., GnPoint records the pitch angle (β+d of mapping camera
β2), (β+d β3) ..., (β+d βn) and azimuth angle alpha2, α3..., αn, record G2, G3..., GnImage point position coordinate G2x,
G3x..., Gn x；
Step e: according to the image point position coordinate in the imaging of the azimuth of n mapping camera, pitch angle and linear array detector
The elements of interior orientation of mapping camera is calculated, the integer that wherein n is >=1.
Further, photo coordinate system xNy and turntable coordinate system XOY is defined, x-axis is linear array spy in photo coordinate system
Device length direction is surveyed, N is the intersection point in the online array detector of principal point, and X-axis is parallel with dimensional turntable pitch axis in turntable coordinate system, Y
Axis is parallel with dimensional turntable azimuth axis, and mapping camera is mounted in dimensional turntable；When M point is that dimensional turntable is located at zero point, in parallel
Picture point of the light pipe in linear array detector；
The transformational relation of plane coordinate system xNy and turntable coordinate system XOY are as follows:
MO=CN OMN+T (15)
M in formula (1)OFor M point in turntable coordinate system XOY coordinate, MNFor M point in plane coordinate system xNy coordinate, MOPoint x
Coordinate is denoted as MOx, y-coordinate is denoted as MOy, CN O2 × 2 spin matrixs converted for plane coordinate system xNy to turntable coordinate system XOY:
θ indicates the angle between linear array detector and dimensional turntable direction of rotation, formula (1) in formula (2)
y0It is principal point y to coordinate, G1Point distortion can method for solving it is as follows: dimensional turntable is around its azimuth axis rotation alpha1D is rotated further around pitch axis
β1When, the asterism of directional light subpoint in photo coordinate system xNy by M point is moved to G at this time1Point, then in Rt Δ OO1In S,
It can be in the hope of:
F is the master of mapping camera away from M in formula (3)OxFor M point in turntable coordinate system XOY x coordinate, MOyIt is M point in turntable
Y-coordinate in coordinate system XOY, SO1For line segment SO1Length；When d α is that parallel light tube turns to S point by M point, dimensional turntable is in side
Position to rotational angle；
Then in Rt Δ O1In SH:
SH indicates the length of line segment SH, H in formula (4)OxFor point H in turntable coordinate system XOY x coordinate, HOyTurning for M point
Y-coordinate in platform coordinate system XOY；
After acquiring H point, in Rt Δ OKO1、RtΔG1KO1In to G1Point is solved:
O in formula (5)1K indicates line segment O1The length of K, G1Ox、G1OyRespectively G1X, the y of point in turntable coordinate system XOY are sat
Mark, can obtain according to formula (1):
GN1=(CN O)-1(GO1-T) (20)
(C in formula (6)N O)-1Representing matrix CN OInverse matrix；GN1For G1In the coordinate of plane coordinate system xNy, x, y are sat point
Mark is denoted as G respectivelyN1xAnd GN1y, then G can be obtained1Point distortion are as follows:
DG in formula (7)1xIndicate G point x to distortion, DG1yIndicate G point y to distortion；In entire calibration process, G is obtained altogether1,
G2, G3..., GnAmount to n calibration point, then basisMinimum constraint condition, using least square adjustment
Method can acquire mapping camera principal point x0、y0, main away from f, distort Δi。
Further, the elements of interior orientation of mapping camera include principal point, it is main away from, distortion.
According to another embodiment of the present invention, a kind of two-dimensional calibrations device of mapping camera elements of interior orientation is provided, is wrapped
It includes:
First recording unit, in the geometric center position for being radiated at linear array detector in mapping camera using directional light
After being imaged, the azimuth of mapping camera and pitch angle at this time are recorded；
Second recording unit, for change mapping camera azimuth and pitch angle, until directional light re-imaging exists
After in the linear array detector of mapping camera, record is at this time in the azimuth of mapping camera, pitch angle and linear array detector imaging
Image point position coordinate；
Acquiring unit, the picture point in azimuth, pitch angle and linear array detector imaging for recording multiple mapping cameras
Position coordinates；
Computing unit, for according to the picture point in the imaging of the azimuth of multiple mapping cameras, pitch angle and linear array detector
Position coordinates calculate the elements of interior orientation of mapping camera.
Further, computing unit is used to be imaged according to the azimuth of multiple mapping cameras, pitch angle and linear array detector
In image point position coordinate, and survey calculated using least square adjustment method using distortion quadratic sum minimum constraint condition
Draw the elements of interior orientation of camera.
Further, the calculating step of computing unit are as follows:
Photo coordinate system xNy and turntable coordinate system XOY is defined, x-axis is that linear array detector is rectangular in photo coordinate system
To N is the intersection point in the online array detector of principal point, and X-axis is parallel with dimensional turntable pitch axis in turntable coordinate system, Y-axis and two dimension
Turntable azimuth axis is parallel, and mapping camera is mounted in dimensional turntable；When M point is that dimensional turntable is located at zero point, parallel light tube is online
Picture point in array detector；
The transformational relation of plane coordinate system xNy and turntable coordinate system XOY are as follows:
MO=CN OMN+T (22)
M in formula (1)OFor M point in turntable coordinate system XOY coordinate, MNFor M point in plane coordinate system xNy coordinate, MOPoint x
Coordinate is denoted as MOx, y-coordinate is denoted as MOy, CN O2 × 2 spin matrixs converted for plane coordinate system xNy to turntable coordinate system XOY:
θ indicates the angle between linear array detector and dimensional turntable direction of rotation, formula (1) in formula (2)
y0It is principal point y to coordinate, G1Point distortion can method for solving it is as follows: dimensional turntable is around its azimuth axis rotation alpha1D is rotated further around pitch axis
β1When, the asterism of directional light subpoint in photo coordinate system xNy by M point is moved to G at this time1Point, then in Rt Δ OO1In S,
It can be in the hope of:
F is the master of mapping camera away from M in formula (3)OxFor M point in turntable coordinate system XOY x coordinate, MOyIt is M point in turntable
Y-coordinate in coordinate system XOY, SO1For line segment SO1Length；When d α is that parallel light tube turns to S point by M point, dimensional turntable is in side
Position to rotational angle；
Then in Rt Δ O1In SH:
SH indicates the length of line segment SH, H in formula (4)OxFor point H in turntable coordinate system XOY x coordinate, HOyTurning for M point
Y-coordinate in platform coordinate system XOY；
After acquiring H point, in Rt Δ OKO1、RtΔG1KO1In to G1Point is solved:
O in formula (5)1K indicates line segment O1The length of K, G1Ox、G1OyRespectively G1X, the y of point in turntable coordinate system XOY are sat
Mark, can obtain according to formula (1):
GN1=(CN O)-1(GO1-T) (27)
(C in formula (6)N O)-1Representing matrix CN OInverse matrix；GN1For G1In the coordinate of plane coordinate system xNy, x, y are sat point
Mark is denoted as G respectivelyN1xAnd GN1y, then G can be obtained1Point distortion are as follows:
DG in formula (7)1xIndicate G point x to distortion, DG1yIndicate G point y to distortion；In entire calibration process, G is obtained altogether1,
G2, G3..., GnAmount to n calibration point, then basisMinimum constraint condition, using least square adjustment
Method can acquire mapping camera principal point x0、y0, main away from f, distort Δi。
Further, the elements of interior orientation of mapping camera include principal point, it is main away from, distortion.
The two-dimensional calibrations method and device of one of embodiment of the present invention mapping camera elements of interior orientation, by adjusting survey
Azimuth, the pitch angle progress elements of interior orientation calibration for drawing camera, guarantee that asterism is imaged in the same line battle array of mapping camera,
Realize the precision calibration to linear array type mapping camera.The scaling method is simple, and when calibration does not need to parallel light tube, mapping phase
Mutual alignment relation between machine, dimensional turntable accurately level.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the schematic diagram of caliberating device in the prior art；
Fig. 2 is the schematic diagram for realizing Fig. 1 caliberating device；
Scaling method flow chart of the invention when Fig. 3；
Fig. 4 is the schematic diagram for realizing Fig. 3 scaling method；
Fig. 5 is the module map of caliberating device of the invention；
Fig. 6 is the schematic diagram of caliberating device of the invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
Embodiment 1
An embodiment according to the present invention provides a kind of two-dimensional calibrations method of mapping camera elements of interior orientation, referring to figure
3, comprising the following steps:
Step b: being imaged using the geometric center position that directional light is radiated at linear array detector in mapping camera, record
The azimuth of mapping camera and pitch angle at this time；
Step c: changing azimuth and the pitch angle of mapping camera, until directional light re-imaging is in the linear array of mapping camera
Image point position coordinate in detector, in the record azimuth of mapping camera, pitch angle and linear array detector imaging at this time；
Step d: being repeated several times step c, obtains in azimuth, pitch angle and the linear array detector imaging of multiple mapping cameras
Image point position coordinate；
Step e: according to the image point position coordinate in the imaging of the azimuth of multiple mapping cameras, pitch angle and linear array detector
Calculate the elements of interior orientation of mapping camera.
The two-dimensional calibrations method of one of embodiment of the present invention mapping camera elements of interior orientation, by adjusting mapping camera
Azimuth, pitch angle carry out elements of interior orientation calibration, guarantee that asterism is imaged in the same line battle array of mapping camera, realize
To the precision calibration of linear array type mapping camera.The scaling method is simple, and when calibration does not need to parallel light tube, mapping camera, two
The mutual alignment relation between turntable is tieed up accurately level.
In as a preferred technical scheme, step e includes:
According to the image point position coordinate in the imaging of the azimuth of multiple mapping cameras, pitch angle and linear array detector, and make
The elements of interior orientation of mapping camera is calculated using least square adjustment method with distortion quadratic sum minimum constraint condition.
In as a preferred technical scheme, step c includes:
The azimuth for changing mapping camera, judges that can directional light be imaged in the linear array detector of mapping camera, if can,
Image point position coordinate in the record azimuth of mapping camera, pitch angle and linear array detector imaging at this time；If cannot, change and surveys
The pitch angle of camera is drawn, until directional light can be imaged in the linear array detector of mapping camera, record mapping camera at this time
Image point position coordinate in azimuth, pitch angle and linear array detector imaging.
In as a preferred technical scheme, method includes:
Step b: being imaged using the geometric center position that directional light is radiated at linear array detector in mapping camera, record
The azimuth of mapping camera is set to zero by the pitch angle β of mapping camera at this time；
Step c: changing azimuth and the pitch angle of mapping camera, until directional light re-imaging is in the linear array of mapping camera
Detector G1Point position, records the azimuth angle alpha of mapping camera1And pitch angle (β+d β1), record G1Point image point position coordinate G1x；
Step d: step c is repeated several times, successively obtains G2, G3..., GnPoint records the pitch angle (β+d of mapping camera
β2), (β+d β3) ..., (β+d βn) and azimuth angle alpha2, α3..., αn, record G2, G3..., GnImage point position coordinate G2x,
G3x..., Gn x；
Step e: according to the image point position coordinate in the imaging of the azimuth of n mapping camera, pitch angle and linear array detector
The elements of interior orientation of mapping camera is calculated, the integer that wherein n is >=1.
In as a preferred technical scheme, referring to fig. 4, photo coordinate system xNy and turntable coordinate system XOY is defined, as flat
X-axis is linear array detector length direction in areal coordinate system, and N is the intersection point in the online array detector of principal point, in turntable coordinate system X-axis with
Dimensional turntable pitch axis is parallel, and Y-axis is parallel with dimensional turntable azimuth axis, and mapping camera is mounted in dimensional turntable；M point is two dimension
When turntable is located at zero point, picture point of the parallel light tube in linear array detector is typically chosen as the midpoint of linear array detector length direction；
The transformational relation of plane coordinate system xNy and turntable coordinate system XOY are as follows:
MO=CN OMN+T (29)
M in formula (1)OFor M point in turntable coordinate system XOY coordinate, MNFor M point in plane coordinate system xNy coordinate, MOPoint x
Coordinate is denoted as MOx, y-coordinate is denoted as MOy, CN O2 × 2 spin matrixs converted for plane coordinate system xNy to turntable coordinate system XOY:
θ indicates the angle between linear array detector and dimensional turntable direction of rotation, formula (1) in formula (2)
y0It is principal point y to coordinate, G1Point distortion can method for solving it is as follows: dimensional turntable is around its azimuth axis rotation alpha1D is rotated further around pitch axis
β1When, the asterism of directional light subpoint in photo coordinate system xNy by M point is moved to G at this time1Point, then in Rt Δ OO1In S,
It can be in the hope of:
F is the master of mapping camera away from M in formula (3)OxFor M point in turntable coordinate system XOY x coordinate, MOyIt is M point in turntable
Y-coordinate in coordinate system XOY, SO1For line segment SO1Length；When d α is that parallel light tube turns to S point by M point, dimensional turntable is in side
Position to rotational angle；
Then in Rt Δ O1In SH:
SH indicates the length of line segment SH, H in formula (4)OxFor point H in turntable coordinate system XOY x coordinate, HOyTurning for M point
Y-coordinate in platform coordinate system XOY；
After acquiring H point, in Rt Δ OKO1、RtΔG1KO1In to G1Point is solved:
O in formula (5)1K indicates line segment O1The length of K, G1Ox、G1OyRespectively G1X, the y of point in turntable coordinate system XOY are sat
Mark, can obtain according to formula (1):
GN1=(CN O)-1(GO1-T) (34)
(C in formula (6)N O)-1Representing matrix CN OInverse matrix；GN1For G1In the coordinate of plane coordinate system xNy, x, y are sat point
Mark is denoted as G respectivelyN1xAnd GN1y, then G can be obtained1Point distortion are as follows:
DG in formula (7)1xIndicate G point x to distortion, DG1yIndicate G point y to distortion；In entire calibration process, G is obtained altogether1,
G2, G3..., GnAmount to n calibration point, then basisMinimum constraint condition, using least square adjustment
Method can acquire mapping camera principal point x0、y0, main away from f, distort Δi。
In as a preferred technical scheme, the elements of interior orientation of mapping camera includes principal point, main away from, distortion.
Embodiment 2
Another embodiment according to the present invention provides a kind of two-dimensional calibrations device of mapping camera elements of interior orientation, referring to
Fig. 5, comprising:
First recording unit 201, in the geometric center for being radiated at linear array detector in mapping camera using directional light
After position is imaged, the azimuth of mapping camera and pitch angle at this time are recorded；
Second recording unit 202, for change mapping camera azimuth and pitch angle, until directional light re-imaging
After in the linear array detector of mapping camera, record is at this time in the azimuth of mapping camera, pitch angle and linear array detector imaging
Image point position coordinate；
Acquiring unit 203, the picture in azimuth, pitch angle and linear array detector imaging for recording multiple mapping cameras
Point position coordinates；
Computing unit 204, for according to the picture in the imaging of the azimuth of multiple mapping cameras, pitch angle and linear array detector
Point position coordinates calculate the elements of interior orientation of mapping camera.
The two-dimensional calibrations device of one of embodiment of the present invention mapping camera elements of interior orientation does not need accurate adjustment and turns
The mutual alignment relation of platform, camera and parallel light tube, step is simple, and surveys and draws phase especially suitable for big visual field, big distortion linear array
The elements of interior orientation of machine is demarcated, and the caliberating device is as shown in fig. 6, include standard sources 1, light pipe holder 2, parallel light tube 3, mapping
Camera 4, dimensional turntable 5, vibration-isolating platform 6 are wherein equipped with the star tester with single asterism hole in 3 image planes of parallel light tube,
Demarcating steps are as follows:
A. mapping camera 4 is fixed in dimensional turntable 5；
B. dimensional turntable 5 is adjusted, the directional light of parallel light tube 3 is allowed to be imaged in mapping camera 4 in linear array detector geometry
Heart position；Record the azimuth of dimensional turntable 5 and pitch angle at this time；
C. change the azimuth of dimensional turntable 5, whether the asterism for observing star tester can be imaged in linear array detector, such as
Fruit can be imaged, and record the azimuth of dimensional turntable 5 and pitch angle at this time, while recording image point position coordinate at this time；If no
It can be imaged, adjust the pitching shafting of dimensional turntable 5, change the pitch angle of dimensional turntable 5, until asterism can be imaged on linear array spy
It surveys in device, records the azimuth of dimensional turntable 5 and pitch angle at this time, while recording image point position coordinate at this time；
D. step c) is repeated, in the field range of mapping camera 4, azimuth and the pitch angle of dimensional turntable 5 is adjusted, allows
Mapping camera 4 is imaged parallel light tube 3 in n angle, records the azimuth and pitch angle of n dimensional turntable 5, records n
A image point position coordinate；
E. according to the azimuth of dimensional turntable 5, pitch angle and image point position coordinate, according to the distortion minimum constraint of quadratic sum
Condition solves the elements of interior orientation of mapping camera 4.
Beneficial effects of the present invention are at least are as follows:
The present invention carries out elements of interior orientation calibration by adjusting the azimuth of dimensional turntable 5, pitch angle, guarantees asterism imaging
In the same line battle array of mapping camera 4, the precision calibration to linear array type mapping camera 4 is realized.
Scaling method is simple, and when calibration does not need to the mutual position between parallel light tube 3, mapping camera 4, dimensional turntable 5
Relationship is set accurately to be leveled.
Below with specific embodiment, caliberating device of the invention is described in detail, the demarcating steps of the caliberating device
Are as follows:
A. dimensional turntable 5 is adjusted, the asterism of parallel light tube 3 is allowed to be imaged on linear array detector geometric center position M；
The azimuth of dimensional turntable 5 is set to zero by the pitch angle β for b. recording dimensional turntable 5 at this time；
C. dimensional turntable 5 is rotated, the azimuth and pitch angle, asterism for changing dimensional turntable 5 image in linear array detector G1
Point position, records the azimuth angle alpha of dimensional turntable 51And pitch angle (β+d β1), record G1Point image point position coordinate G1x；
D. step c) is repeated, G is successively obtained2, G3..., GnPoint records the pitch angle (β+d β of dimensional turntable 52), (β+d
β3) ..., (β+d βn) and azimuth angle alpha2, α3..., αn, record G2, G3..., GnImage point position coordinate G2x, G3x..., Gnx。
E. elements of interior orientation is solved.
Solution procedure is as follows: in order to solve conveniently, photo coordinate system xNy and turntable coordinate system XOY is defined, as plane is sat
X-axis is linear array detector length direction in mark system, and N is the intersection point in the online array detector of principal point, X-axis and two dimension in turntable coordinate system
5 pitch axis of turntable is parallel, and Y-axis is parallel with 5 azimuth axis of dimensional turntable.
In order to express conveniently, all the points are expressed in turntable XOY coordinate system, if without specified otherwise in following,
All the points are expressed in turntable XOY coordinate system.According to Fig. 4, the conversion of plane coordinate system xNy and turntable coordinate system XOY
Relationship are as follows: when M point is that dimensional turntable 5 is located at zero point, picture point of the parallel light tube 3 in linear array detector is typically chosen as linear array spy
Survey the midpoint of device length direction；
The transformational relation of plane coordinate system xNy and turntable coordinate system XOY are as follows:
MO=CN OMN+T (36)
M in formula (1)OFor M point in turntable coordinate system XOY coordinate, MNFor M point in plane coordinate system xNy coordinate, MOPoint x
Coordinate is denoted as MOx, y-coordinate is denoted as MOy, CN O2 × 2 spin matrixs converted for plane coordinate system xNy to turntable coordinate system XOY:
θ indicates the angle between linear array detector and dimensional turntable direction of rotation, formula (1) in formula (2)
y0It is principal point y to coordinate, G1Point distortion can method for solving it is as follows: dimensional turntable is around its azimuth axis rotation alpha1D is rotated further around pitch axis
β1When, the asterism of directional light subpoint in photo coordinate system xNy by M point is moved to G at this time1Point, then in Rt Δ OO1In S,
It can be in the hope of:
F is the master of mapping camera away from M in formula (3)OxFor M point in turntable coordinate system XOY x coordinate, MOyIt is M point in turntable
Y-coordinate in coordinate system XOY, SO1For line segment SO1Length；When d α is that parallel light tube turns to S point by M point, dimensional turntable is in side
Position to rotational angle；
Then in Rt Δ O1In SH:
SH indicates the length of line segment SH, H in formula (4)OxFor point H in turntable coordinate system XOY x coordinate, HOyTurning for M point
Y-coordinate in platform coordinate system XOY；
After acquiring H point, in Rt Δ OKO1、RtΔG1KO1In to G1Point is solved:
O in formula (5)1K indicates line segment O1The length of K, G1Ox、G1OyRespectively G1X, the y of point in turntable coordinate system XOY are sat
Mark, can obtain according to formula (1):
GN1=(CN O)-1(GO1-T) (41)
(C in formula (6)N O)-1Representing matrix CN OInverse matrix；GN1For G1In the coordinate of plane coordinate system xNy, x, y are sat point
Mark is denoted as G respectivelyN1xAnd GN1y, then G can be obtained1Point distortion are as follows:
DG in formula (7)1xIndicate G point x to distortion, DG1yIndicate G point y to distortion；In entire calibration process, G is obtained altogether1,
G2, G3..., GnAmount to n calibration point, then basisMinimum constraint condition, using least square adjustment
Method can acquire mapping camera principal point x0、y0, main away from f, distort Δi。
Caliberating device of the invention carries out elements of interior orientation calibration by adjusting the azimuth of mapping camera, pitch angle, protects
Card asterism is imaged in the same line battle array of mapping camera, realizes the precision calibration to linear array type mapping camera.The calibration side
Method is simple, and when calibration does not need accurately to level the mutual alignment relation between parallel light tube, mapping camera, dimensional turntable
?.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, system embodiment described above is only schematical, such as the division of unit, can be one kind
Logical function partition, there may be another division manner in actual implementation, such as multiple units or components can combine or can
To be integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Coupling, direct-coupling or communication connection can be through some interfaces, the indirect coupling or communication connection of unit or module,
It can be electrical or other forms.
Unit may or may not be physically separated as illustrated by the separation member, shown as a unit
Component may or may not be physical unit, it can and it is in one place, or may be distributed over multiple units
On.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
It, can if integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product
To be stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention substantially or
Say that all or part of the part that contributes to existing technology or the technical solution can embody in the form of software products
Out, which is stored in a storage medium, including some instructions are used so that a computer equipment
(can be personal computer, server or network equipment etc.) executes all or part of step of each embodiment method of the present invention
Suddenly.And storage medium above-mentioned includes: USB flash disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), mobile hard disk, magnetic or disk.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of two-dimensional calibrations method of mapping camera elements of interior orientation, which comprises the following steps:
Step b: being imaged using the geometric center position that directional light is radiated at linear array detector in mapping camera, and record is at this time
The azimuth of mapping camera and pitch angle；
Step c: changing azimuth and the pitch angle of mapping camera, until directional light re-imaging is detected in the linear array of mapping camera
Image point position coordinate in device, in the record azimuth of mapping camera, pitch angle and linear array detector imaging at this time；
Step d: being repeated several times step c, obtains the picture in azimuth, pitch angle and the linear array detector imaging of multiple mapping cameras
Point position coordinates；
Step e: it is calculated according to the image point position coordinate in the imaging of the azimuth of multiple mapping cameras, pitch angle and linear array detector
The elements of interior orientation of mapping camera out.
2. the method according to claim 1, wherein the step e includes:
According to the image point position coordinate in the imaging of the azimuth of multiple mapping cameras, pitch angle and linear array detector, and using abnormal
Become quadratic sum minimum constraint condition and the elements of interior orientation of mapping camera is calculated using least square adjustment method.
3. the method according to claim 1, wherein the step c includes:
The azimuth for changing mapping camera, judges that can directional light be imaged in the linear array detector of mapping camera, if can, record
Image point position coordinate in the azimuth of mapping camera, pitch angle and linear array detector imaging at this time；If cannot, change mapping phase
The pitch angle of machine records the orientation of mapping camera at this time until directional light can be imaged in the linear array detector of mapping camera
Image point position coordinate in angle, pitch angle and linear array detector imaging.
4. the method according to claim 1, wherein the described method includes:
Step b: being imaged using the geometric center position that directional light is radiated at linear array detector in mapping camera, and record is at this time
The azimuth of mapping camera is set to zero by the pitch angle β of mapping camera；
Step c: changing azimuth and the pitch angle of mapping camera, until directional light re-imaging is detected in the linear array of mapping camera
Device G1Point position, records the azimuth angle alpha of mapping camera1And pitch angle (β+d β1), record G1Point image point position coordinate G1x；
Step d: step c is repeated several times, successively obtains G2, G3..., GnPoint records the pitch angle (β+d β of mapping camera2), (β+d
β3) ..., (β+d βn) and azimuth angle alpha2, α3..., αn, record G2, G3..., GnImage point position coordinate G2x, G3x..., Gnx；
Step e: it is calculated according to the image point position coordinate in the imaging of the azimuth of n mapping camera, pitch angle and linear array detector
The elements of interior orientation of mapping camera out, the integer that wherein n is >=1.
5. according to the method described in claim 4, it is characterized in that, define photo coordinate system xNy and turntable coordinate system XOY,
X-axis is linear array detector length direction in photo coordinate system, and N is the intersection point in the online array detector of principal point, X in turntable coordinate system
Axis is parallel with dimensional turntable pitch axis, and Y-axis is parallel with dimensional turntable azimuth axis, and mapping camera is mounted in dimensional turntable；M point is
When dimensional turntable is located at zero point, picture point of the parallel light tube in linear array detector；
The transformational relation of plane coordinate system xNy and turntable coordinate system XOY are as follows:
MO=CN OMN+T (1)
M in formula (1)OFor M point in turntable coordinate system XOY coordinate, MNFor M point in plane coordinate system xNy coordinate, MOPoint x coordinate
It is denoted as MOx, y-coordinate is denoted as MOy, CN O2 × 2 spin matrixs converted for plane coordinate system xNy to turntable coordinate system XOY:
θ indicates the angle between linear array detector and dimensional turntable direction of rotation, formula (1) in formula (2)y0Based on
Point y is to coordinate, G1Point distortion can method for solving it is as follows: dimensional turntable is around its azimuth axis rotation alpha1D β is rotated further around pitch axis1When,
The asterism of directional light subpoint in photo coordinate system xNy by M point is moved to G at this time1Point, then in Rt Δ OO1It, can be in the hope of in S
:
F is the master of mapping camera away from M in formula (3)OxFor M point in turntable coordinate system XOY x coordinate, MOyIt is M point in turntable coordinate
It is y-coordinate in XOY, SO1For line segment SO1Length；When d α is that parallel light tube turns to S point by M point, dimensional turntable is in orientation
Rotational angle；
Then in Rt Δ O1In SH:
SH indicates the length of line segment SH, H in formula (4)OxFor point H in turntable coordinate system XOY x coordinate, HOyIt is M point in turntable coordinate
It is y-coordinate in XOY；
After acquiring H point, in Rt Δ OKO1、RtΔG1KO1In to G1Point is solved:
O in formula (5)1K indicates line segment O1The length of K, G1Ox、G1OyRespectively G1X, y-coordinate of the point in turntable coordinate system XOY, root
It can be obtained according to formula (1):
GN1=(CN O)-1(GO1-T) (6)
(C in formula (6)N O)-1Representing matrix CN OInverse matrix；GN1For G1Coordinate of the point in plane coordinate system xNy, x, y-coordinate point
G is not denoted as itN1xAnd GN1y, then G can be obtained1Point distortion are as follows:
DG in formula (7)1xIndicate G point x to distortion, DG1yIndicate G point y to distortion；In entire calibration process, G is obtained altogether1, G2,
G3..., GnAmount to n calibration point, then basisMinimum constraint condition, using least square adjustment side
Method can acquire mapping camera principal point x0、y0, main away from f, distort Δi。
6. the method according to claim 1, wherein the elements of interior orientation of the mapping camera includes principal point, master
Away from, distortion.
7. a kind of two-dimensional calibrations device of mapping camera elements of interior orientation characterized by comprising
First recording unit, for being carried out in the geometric center position for being radiated at linear array detector in mapping camera using directional light
After imaging, the azimuth of mapping camera and pitch angle at this time are recorded；
Second recording unit, for change mapping camera azimuth and pitch angle, until directional light re-imaging is being surveyed and drawn
Picture point after in the linear array detector of camera, in the record azimuth of mapping camera, pitch angle and linear array detector imaging at this time
Position coordinates；
Acquiring unit, the image point position in azimuth, pitch angle and linear array detector imaging for recording multiple mapping cameras
Coordinate；
Computing unit, for according to the image point position in the imaging of the azimuth of multiple mapping cameras, pitch angle and linear array detector
Coordinate calculates the elements of interior orientation of mapping camera.
8. device according to claim 7, which is characterized in that the computing unit is used for the side according to multiple mapping cameras
Image point position coordinate in parallactic angle, pitch angle and linear array detector imaging, and using the distortion minimum constraint condition of quadratic sum, it adopts
With least square adjustment method, the elements of interior orientation of mapping camera is calculated.
9. device according to claim 7, which is characterized in that the calculating step of the computing unit are as follows:
Photo coordinate system xNy and turntable coordinate system XOY is defined, x-axis is linear array detector length direction, N in photo coordinate system
For the intersection point in the online array detector of principal point, X-axis is parallel with dimensional turntable pitch axis in turntable coordinate system, Y-axis and dimensional turntable
Azimuth axis is parallel, and mapping camera is mounted in dimensional turntable；When M point is that dimensional turntable is located at zero point, parallel light tube is visited in linear array
Survey the picture point in device；
The transformational relation of plane coordinate system xNy and turntable coordinate system XOY are as follows:
MO=CN OMN+T (8)
M in formula (1)OFor M point in turntable coordinate system XOY coordinate, MNFor M point in plane coordinate system xNy coordinate, MOPoint x coordinate
It is denoted as MOx, y-coordinate is denoted as MOy, CN O2 × 2 spin matrixs converted for plane coordinate system xNy to turntable coordinate system XOY:
θ indicates the angle between linear array detector and dimensional turntable direction of rotation, formula (1) in formula (2)y0Based on
Point y is to coordinate, G1Point distortion can method for solving it is as follows: dimensional turntable is around its azimuth axis rotation alpha1D β is rotated further around pitch axis1When,
The asterism of directional light subpoint in photo coordinate system xNy by M point is moved to G at this time1Point, then in Rt Δ OO1It, can be in the hope of in S
:
F is the master of mapping camera away from M in formula (3)OxFor M point in turntable coordinate system XOY x coordinate, MOyIt is M point in turntable coordinate
It is y-coordinate in XOY, SO1For line segment SO1Length；When d α is that parallel light tube turns to S point by M point, dimensional turntable is in orientation
Rotational angle；
Then in Rt Δ O1In SH:
SH indicates the length of line segment SH, H in formula (4)OxFor point H in turntable coordinate system XOY x coordinate, HOyIt is M point in turntable coordinate
It is y-coordinate in XOY；
After acquiring H point, in Rt Δ OKO1、RtΔG1KO1In to G1Point is solved:
O in formula (5)1K indicates line segment O1The length of K, G1Ox、G1OyRespectively G1X, y-coordinate of the point in turntable coordinate system XOY, root
It can be obtained according to formula (1):
GN1=(CN O)-1(GO1-T) (13)
(C in formula (6)N O)-1Representing matrix CN OInverse matrix；GN1For G1Coordinate of the point in plane coordinate system xNy, x, y-coordinate point
G is not denoted as itN1xAnd GN1y, then G can be obtained1Point distortion are as follows:
DG in formula (7)1xIndicate G point x to distortion, DG1yIndicate G point y to distortion；In entire calibration process, G is obtained altogether1, G2,
G3..., GnAmount to n calibration point, then basisMinimum constraint condition, using least square adjustment side
Method can acquire mapping camera principal point x0、y0, main away from f, distort Δi。
10. device according to claim 7, which is characterized in that the elements of interior orientation of the mapping camera includes principal point, master
Away from, distortion.
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| WO2022016356A1 (en) * | 2020-07-21 | 2022-01-27 | 中国科学院长春光学精密机械与物理研究所 | Method for calibrating high-precision interior and exterior orientation elements of mapping camera |
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