CN109724625B - Aberration correction method of optical composite large-area-array surveying and mapping camera - Google Patents
Aberration correction method of optical composite large-area-array surveying and mapping camera Download PDFInfo
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Abstract
The invention discloses an aberration correction method of an optical composite large-area array surveying and mapping camera, and relates to a method for carrying out optical composite and aberration correction on a multi-area array CCD spliced aerial surveying camera. The multi-area array CCD spliced aerial survey camera is often provided with a plurality of sub-image surface CCDs separated in image space, the original sub-images obtained by shooting are difficult to be directly applied to photogrammetry, the original sub-images of the multi-area array CCD aerial survey camera can be converted into the large undistorted area array images after being compounded by the method, and subsequent photogrammetry application can be carried out on the basis, so that the photography efficiency of the multi-area array CCD spliced aerial survey camera is exerted.
Description
Technical Field
The invention belongs to the technical field of measurement and remote sensing, and particularly relates to an aberration correction method of an optical composite large-area-array surveying and mapping camera.
Background
With the increasing demand of digital earth and smart city construction for surveying and mapping remote sensing, the aerial camera develops towards the direction of large visual field and high resolution. Due to the limitation of the manufacturing process, the size of the single-chip Charge Coupled Device (CCD) cannot meet the requirement of the large-field-of-view aerial camera. At present, a CCD splicing mode is generally adopted internationally to enlarge an imaging view field, and the CCD splicing mode mainly comprises an external view field splicing mode and an internal view field splicing mode. The DMZ aerial survey camera adopts a design idea that the DMZ aerial survey camera realizes image frame expansion based on an internal view field division mode, adopts a technical system different from other international aerial survey camera systems, and consists of a single photographic objective and a focal plane formed by a plurality of area array devices.
The aberration distribution within the full-field range of the new system area-array camera is discontinuous, which is different from the continuous characteristic of the full-field aberration distribution of the traditional single-face array camera, and the prior method is difficult to effectively express and solve.
Disclosure of Invention
In view of the above technical problems, the present invention provides an aberration correction method for an optical composite large-area array surveying and mapping camera, comprising the steps of:
and S1, shooting the control field through a multi-face array CCD splicing type aerial survey camera, wherein the aerial survey camera comprises i sub image surfaces and acquires sub images collected by the sub image surfaces. In the present embodiment, since there are 12 sub-image planes in total, i is 1 to 12.
S2, automatically generating the coordinate pairs of the connecting point image points of the sub-image overlapping area by adopting image matching according to the obtained sub-images of all the sub-image surfaces
Calculating a local placement parameter (A) from the pair of connection point image point coordinates0i，A1i，A2i，B0i，B1i，B2i) And carrying out image stitching on the sub-images of all the sub-image surfaces by using the local arrangement parameters, and forming a full image containing global aberration after stitching.
S3, measuring to obtain ground coordinates (X, Y, Z) of the control point and corresponding coordinates (X ', Y') of the full-frame image point, and calculating an exterior orientation element (X) at the photographing time according to the global aberration model and the imaging geometric model by adopting a light beam method self-checking adjustment methods，Ys，Zs，a1，a2，a3，b1，b2，b3，c1，c2，c3) And global aberration model parameters.
S4, generating a distortion-free large-area array image according to the obtained global aberration parameters and the full-width image;
s5, performing geometric quality detection on the generated distortion-free large-area array image by adopting an inspection point; judging whether the precision of the check point meets the requirement, if not, executing the steps from S2 to S4 again; if the accuracy requirement has been met, go to step S6;
and S6, finishing the generation of the large-area array image after the distortion-free compounding, and ending the process.
Furthermore, the calculation of the operator image local placement parameters in step 2 is specifically to substitute the coordinate pairs of the connecting point image points obtained by matching measurement into a formula,
x′i＝A0i+A1ixi+A2iyi，
y′i＝B0i+B1ixi+B2iyi，
obtaining local setting parameters (A) after calculation0i，A1i，A2i，B0i，B1i，B2i)。
Further, the imaging geometric model in step 3 is:
wherein (x)0，y0F) is the internal orientation element of the aerial survey camera, (X, Y, Z) is the ground coordinate of the control point, (X ', Y') is the image point coordinate of the full image corresponding to the ground point,
the coordinates of the image points of the set full-width image are distortion-free coordinates after being corrected by a global aberration model.
Further, in step 3, (dx, dy) is a global aberration model:
wherein (dx)0，dy0Df) is an interior orientation element (x) of the aerial camera0，y0Correction of f), K1，K2，K3，P1，P2，b1，b2As the intrinsic distortion parameter of the camera, (X)s，Ys，Zs，a1，a2，a3，b1，b2，b3，c1，c2，c3) Is an exterior orientation element at the time of photographing, r2Is the square of the distance of the pixel from the central principal point of the image plane.
Further, in step 3, the exterior orientation element (X) at the time of imaging is calculateds，Ys，Zs，a1，a2，a3，b1，b2，b3，c1，c2，c3) And the global aberration model parameters are specifically:
s301, linearizing the imaging geometric model of the nonlinear model, and expressing the imaging geometric model in a matrix form as follows:
v＝At-l，
wherein t is the solution quantity of the geometric model, A is the inverse coefficient matrix of t, t is the correction quantity of the initial value after being given artificially, l is the difference between the calculated result and the coordinates (x ', y') of the image point of the full image after the initial value of t is substituted into the imaging geometric model, v is the random observation error, concretely,
wherein the content of the first and second substances,
s302, according to vTSolving a final solution amount t through loop iteration under the requirement of a v → min principle;
s303, determining a global aberration model according to the global aberration model parameters in the t, carrying out aberration correction on any point (x ', y') on the whole image according to the model,
and performing pixel-by-pixel correction on the full-width image to obtain a composite undistorted large-area-array image.
The invention has the beneficial effects that:
1. the comprehensive aberration model can effectively describe the physical characteristics of the novel area array mapping camera, the description precision can reach 1/4 pixels, and the requirement of image measurement precision can be met.
2. The cross iterative solution mode can effectively isolate the mutual influence between the global parameters and the local parameters, correctly solve the comprehensive aberration parameter estimation value, and objectively reflect the actual aberration distribution by the calculation result.
3. After aberration model correction, the generated image measuring capability reaches 1/3 pixel level, and basically reaches the geometric precision level of an undistorted area array image.
Drawings
The invention will be further described with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of the aberration correction method of the optical composite large-area array surveying and mapping camera of the present invention;
FIG. 2 is a schematic diagram of a configuration of an aerial survey camera of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides an aberration correction method of an optical composite large-area array mapping camera, which comprises the following steps as shown in figure 1:
and S1, shooting the control field through a multi-face array CCD splicing type aerial survey camera, wherein the aerial survey camera comprises a plurality of sub image surfaces and acquires sub images collected by the sub image surfaces.
The structure of the aerial survey camera in this embodiment is shown in fig. 2, and includes a plurality of small area-array CCDs, each of which is a sub-image plane, and when shooting, the full-field-of-view image is divided into spatially separated sub-images that overlap each other by a field-of-view divider.
S2, automatically generating the coordinate pairs of the connecting point image points of the sub-image overlapping area by adopting image matching according to the obtained sub-images of all the sub-image surfaces
Calculating a local placement parameter (A) from the pair of connection point image point coordinates0i，A1i，A2i，B0i，B1i，B2i) And carrying out image stitching on the sub-images of all the sub-image surfaces by using the local arrangement parameters, and forming a full image containing global aberration after stitching. In this embodiment, equivalent weights are taken to connect point-image point coordinate pairs
After 3 pairs are exceeded, the local placement parameters can be obtained by calculation.
S3, measuring to obtain ground coordinates (X, Y, Z) of the control point and corresponding coordinates (X ', Y') of the full-frame image point, and calculating an exterior orientation element (X) at the photographing time according to the global aberration model and the imaging geometric model by adopting a light beam method self-checking adjustment methods，Ys，Zs，a1，a2，a3，b1，b2，b3，c1，c2，c3) And global aberration model parameters (dx)0，dy0，df，K1，K2，K3，P1，P2，b1，b2)。
In the present embodiment, the control point coordinates are obtained by observation.
And S4, generating a distortion-free large-area array image according to the obtained global aberration parameters and the full-width image.
S5, performing geometric quality detection on the generated distortion-free large-area array image by adopting an inspection point; judging whether the precision of the check point meets the requirement, if not, executing the steps from S2 to S4 again; if the accuracy requirement has been met, step S6 is performed.
And S6, finishing the generation of the large-area array image after the distortion-free compounding, and ending the process.
On the basis of the above embodiment, further, the calculating the local placement parameter of the computed image in step 2 is to substitute the coordinate pair of the connecting point image point obtained by matching measurement into a formula,
x′i＝A0i+A1ixi+A2iyiequation (1)
y′i＝B0i+B1ixi+B2iyiEquation (2)
Obtaining local setting parameters (A) after calculation0i，A1i，A2i，B0i，B1i，B2i)。
In addition to the above embodiment, the imaging geometric model in step 3 is further:
wherein (x)0，y0F) is the internal orientation element of the aerial survey camera, (X, Y, Z) is the ground coordinate of the control point, (X ', Y') is the image point coordinate of the full image corresponding to the ground point,
the coordinates of the image points of the set full-width image are distortion-free coordinates after being corrected by a global aberration model. Wherein (X, Y, Z) and (X ', Y') are obtained by a measurement method.
On the basis of the above embodiment, further, in step 3, (dx, dy) is a global aberration model:
wherein (dx)0，dy0Df) is an interior orientation element (x) of the aerial camera0，y0F) correction of near zero if the camera manufacturer provides sufficiently accurate internal orientation elements, K1，K2，K3，P1，P2，b1，b2As the intrinsic distortion parameter of the camera, (X)s，Ys，Zs，a1，a2，a3，b1，b2，b3，c1，c2，c3) Is an exterior orientation element at the time of photographing, r2Is the square of the distance of the pixel from the central principal point of the image plane.
And synthesizing the formulas to obtain a novel camera imaging geometric model and a comprehensive aberration model:
the model uses global parameters (dx, dy) and local parameters (A)0i，A1i，A2i，B0i，B1i，B2i) Novel camera geometries are described effectively as a mathematical basis for comprehensive aberration correction.
In addition to the above embodiment, the exterior orientation element (X) at the time of imaging is further calculated in step 3s，Ys，Zs，a1，a2，a3，b1，b2，b3，c1，c2，c3) And the global aberration model parameters are specifically:
s301, linearizing the imaging geometric model of the nonlinear model, and expressing the imaging geometric model in a matrix form as follows:
v ═ At-l, equation (10)
Wherein t is the solution of the geometric model, A is the inverse coefficient matrix of t, t is the correction amount after the initial value is given artificially, l is the difference between the calculated result and the coordinates (x ', y') of the image point of the full image after the initial value of t is substituted into the imaging geometric model, v is the random observation error, concretely,
wherein the content of the first and second substances,
wherein
And (a)1，a2，a3，b1，b2，b3，c1，c2，c3) Equivalently, the specific form can be specified by a professional user according to the use situation, and the required corner system function form (P)1，P2) As the tangential distortion coordinate of the optical system, (b)1，b2) The coordinates of the entire image plane are shifted,
v＝[vx vy]T；
s302, according to vTSolving a final solution amount t through loop iteration under the requirement of a v → min principle;
s303, determining a global aberration model according to the global aberration model parameters in the t, carrying out aberration correction on any point (x ', y') on the whole image according to the model,
and performing pixel-by-pixel correction on the full-width image to obtain a composite undistorted large-area-array image.
The first embodiment is as follows:
flight data are verified twice by adopting a DMZ II camera in an aviation test area in Hanzhong of Shaanxi province in 2015, the relative altitudes are 3000 meters and 1500 meters respectively, and the full-color image GSD is 0.1 meter and 0.05 meter. And performing aberration calibration by using the shooting data with the altitude of 3000 meters, and performing precision verification by using the shooting data with the altitude of 1500 meters.
The single original data comprises 12 panchromatic sub-images and 4 multispectral images, the scale factor of the panchromatic multispectral images is 1: 4, the effective image width exceeds 23 Kx23K, and the effective recording digit is 12 Bits. The area of the whole test area is about 400 square kilometers, 10 routes are shot by adopting 85% course overlapping and 65% side overlapping, and the number of images is 961.
In order to meet the detection requirements of dynamic test characteristic parameters of a DMZ II photographic camera system, a ground comprehensive test field with the area range of 4Km multiplied by 4Km is established, the ground undulation is about 460 to 800 meters, more than 400 high-precision ground mark points are arranged, the plane precision of the ground mark points is +/-1 cm, the elevation precision is +/-2 cm, the arrangement distance of the mark points is 200m multiplied by 200m, and the effective detection of various aberration parameters and the full verification of the image geometric precision are ensured. The test field photography adopts a cross route.
The control data is adopted to carry out parameter detection on the automatically generated full-width image, and the calculation result of the parameters of the single-image model according to the error model is shown in the table 1. Under the condition that the whole image is not subjected to any parameter calibration, the geometric accuracy in the x direction and the geometric accuracy in the y direction are respectively 5.5 micrometers and 5.9 micrometers, and after the self-calibration with the global aberration parameters, the geometric accuracy in the x direction and the geometric accuracy in the y direction are respectively improved to 2.8 micrometers and 4.3 micrometers.
Although the accuracy has been greatly improved, the self-checking method considering only the global aberration parameter still does not reach the accuracy level of the measurement-level image, i.e. 1/3 pixels to 2 μm accuracy level, relative to the size of the pixel of 6 μm. The effect of the various area array mounting parameters must therefore be taken into account, and it is necessary to introduce local aberration parameters to more fully describe the camera system geometry. Through a self-checking method with global aberration parameters and local aberration parameters and cross iterative calculation, the geometric accuracy in the x direction and the y direction after convergence is 1.4 mu m and 1.5 mu m respectively, and the accuracy level of 1/4 picture elements is achieved.
TABLE 1 comparison of image measurement accuracy before and after calibration
As can be seen from table 1, the cross-iterative computation with global and local parameters converges gradually after 3 times.
The synthetic aberration calculation result comprises a global aberration part and a local aberration part. The global aberration parameters adopt formula (5) and formula (6), and the calculation results are shown in table 2.
TABLE 2 Global aberration parameter calculation results
From the calculation results, the radial distortion of the optical system becomes a primary term, and a higher-order term is an invalid parameter. The image principal point is greatly deviated, particularly in the y direction, which indicates that the position relationship between the image plane center and the optical projection center needs to be further accurately adjusted.
The local aberration parameters were calculated according to formula (1) and formula (2), and the calculation results are shown in table 3.
TABLE 3 local aberration parameter calculation results
Using the aberration parameters and the formulas (8) and (9), the system-level geometric correction is performed on all 12 sub-images to generate a distortion-free center projection image. The geometric quality of the generated distortion-free center projection image was checked using the inspection point, and the accuracy was as shown in table 4. The results in the table show that after the geometric correction of the system, the two directions of the undistorted image x and y reach 2 μm, on the basis, even if the precision detection is carried out by adopting the self-checking beam method adjustment method with the accessory aberration parameter condition, the precision of the two directions of the x and the y is still 2 μm, almost no improvement is caused, and compared with the results in the table 1, the system error is completely corrected, and the measurement precision level is reached. Because the checking points are completely measured manually, the geometric accuracy is slightly lower than that of table 1, and the reduction range is within the range of about 1/3 pixels from the image measurement error level.
TABLE 4 detection of geometric accuracy of undistorted images
And (3) carrying out system geometric correction processing on a test field area image (GSD (5 cm)) obtained by shooting at 1500 m of the flight height by using the comprehensive aberration parameters obtained by calculation to obtain a distortion-free image. Then, the aerial triangulation under the assistance of the POS is adopted to verify the image mapping capacity, and the calculation result precision statistics are shown in the table 5.
TABLE 5 POS Assistant airborne triangulation results
As can be seen from table 5, under different control schemes and point numbers, the plane accuracies of the check points are all within 0.5GSD, which is relatively stable; the elevation precision of the check point is gradually reduced from 2.5GSD to about 1.6GSD along with the increase of the number of control points, the elevation precision reaches within 1GSD under the condition of adopting all the control, and the relative elevation precision is from 1/12165 to 1/30000. Considering that the heading overlapping rate is 85 percent, the side direction overlapping rate is 65 percent, the height ratio of the flight direction to the side direction base is 0.12 and 0.27 respectively, the elevation precision reaches the level equivalent to the plane precision, and the image measuring precision basically reaches the theoretical precision. The result shows that the splicing error of the image of the optical splicing focal plane large-area camera is small, and the precision of the comprehensive aberration calibration result meets the requirement of a measurement type camera.
The foregoing embodiments are intended to illustrate that the invention may be implemented or used by those skilled in the art, and modifications to the above embodiments will be apparent to those skilled in the art, and therefore the invention includes, but is not limited to, the above embodiments, any methods, processes, products, etc., consistent with the principles and novel and inventive features disclosed herein, and fall within the scope of the invention.
Claims (1)
1. An aberration correction method of an optical composite large-area-array mapping camera is characterized by comprising the following steps:
s1, shooting a control field through a multi-surface array CCD splicing type aerial survey camera, wherein the aerial survey camera comprises i sub image surfaces and acquires sub images collected by the sub image surfaces;
s2, automatically generating the coordinate pairs of the connecting point image points of the sub-image overlapping area by adopting image matching according to the obtained sub-images of all the sub-image surfaces
Calculating a local placement parameter (A) from the pair of connection point image point coordinates0i，A1i，A2i，B0i，B1i，B2i) And stitching the sub-images of all the sub-image planes by using the local arrangement parameters to form a full image containing global aberration, wherein the calculation of the local arrangement parameters of the sub-images is specifically to substitute the coordinate pairs of the connecting point image points obtained by matching measurement into a formula,
x′i＝A0i+A1ixi+A2iyi，
y′i＝B0i+B1ixi+B2iyi，
obtaining local setting parameters (A) after calculation0i，A1i，A2i，B0i，B1i，B2i)；
S3, measuring to obtain ground coordinates (X, Y, Z) of the control point and corresponding coordinates (X ', Y') of the full-frame image point, and calculating an exterior orientation element (X) at the photographing time according to the global aberration model and the imaging geometric model by adopting a light beam method self-checking adjustment methods，Ys，Zs，a1，a2，a3，b1，b2，b3，c1，c2，c3) And global aberration model parameters (dx)0，dy0，df，K1，K2，K3，P1，P2)，
Wherein the imaging geometric model is as follows:
wherein (x)0，y0F) is the internal orientation element of the aerial survey camera, (X, Y, Z) is the ground coordinate of the control point, (X ', Y') is the image point coordinate of the full image corresponding to the ground point,
the coordinates of the image points of the arranged full-width image are undistorted coordinates after being corrected by the global aberration model,
where (dx, dy) is the global aberration model:
wherein (dx)0，dy0Df) is an interior orientation element (x) of the aerial camera0，y0Correction of f), K1，K2，K3，P1，P2As the intrinsic distortion parameter of the camera, (X)s，Ys，Zs，a1，a2，a3，b1，b2，b3，c1，c2，c3) Is an exterior orientation element at the time of photographing, r2Is the square of the distance of the pixel from the central principal point of the image plane,
wherein an exterior orientation element of a photographing time is calculated
And global aberration model parameters (x)0，y0，f，K1，K2，K3，P1，P2，b1，b2) The method specifically comprises the following steps:
s301, linearizing the imaging geometric model of the nonlinear model, and expressing the imaging geometric model in a matrix form as follows:
v＝At-l，
wherein t is the solution of the geometric model, A is a partial reciprocal coefficient matrix of t, which can be calculated according to the expression of each element in the following matrix after the initial value of t is given artificially, l is the difference between the calculated result and the coordinates (x ', y') of the image point of the full image after the initial value of t is substituted into the imaging geometric model, v is the random observation error,
wherein the content of the first and second substances,
wherein
ω, k and (a)1，a2，a3，b1，b2，b3，c1，c2，c3) Equivalent (P)1，P2) As the tangential distortion coordinate of the optical system, (b)1，b2) The coordinates of the entire image plane are shifted,
v＝[vx vy]T；
s302, according to vTSolving a final solution amount t through loop iteration under the requirement of a v → min principle;
s303, determining a global aberration model according to the correction quantity of the global aberration model parameter in t, carrying out aberration correction on any point (x ', y') on the whole image according to the model,
performing pixel-by-pixel correction on the full-width image to obtain a composite undistorted large-area-array image;
s4, generating a distortion-free large-area array image according to the obtained global aberration parameters and the full-width image;
s5, performing geometric quality detection on the generated distortion-free large-area array image by adopting an inspection point; judging whether the precision of the check point meets the requirement, if not, executing the steps from S2 to S4 again; if the accuracy requirement has been met, go to step S6;
and S6, finishing the generation of the large-area array image after the distortion-free compounding, and ending the process.
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