CN109974668A - A kind of empty three adjustments of inclination image determine power method and device - Google Patents
A kind of empty three adjustments of inclination image determine power method and device Download PDFInfo
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- CN109974668A CN109974668A CN201811405256.5A CN201811405256A CN109974668A CN 109974668 A CN109974668 A CN 109974668A CN 201811405256 A CN201811405256 A CN 201811405256A CN 109974668 A CN109974668 A CN 109974668A
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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
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/12—Interpretation of pictures by comparison of two or more pictures of the same area the pictures being supported in the same relative position as when they were taken
- G01C11/14—Interpretation of pictures by comparison of two or more pictures of the same area the pictures being supported in the same relative position as when they were taken with optical projection
Abstract
Power method and device is determined this application provides empty three adjustments of inclination image, the priori weight on the direction x and y is respectively obtained by determining the normalized scale factor and opposite anisotropic ground sampled distance, the normalized scale factor embodies otherness of the inclination image picture point scale with vertical lower seeing image as picture point scale, and anisotropic ground sampled distance then embodies inclination image picture point in x, the otherness of the direction y upper ground surface sampled distance, the enough objective projection features for embodying inclination image picture point of the Posterior weight Beijing South Maxpower Technology Co. Ltd on the direction x and y determined in conjunction with the two othernesses, improve the accuracy of weight, and further improve the accuracy of error compensation method.
Description
Technical field
This application involves geographic information system technology field, in particular to a kind of empty three adjustments of inclination image determine Quan Fangfa
And device.
Background technique
In photogrammetric, certain observation condition just corresponds to certain error distribution, and certain error distribution is just
The corresponding variance that this is determined, therefore, variance are to characterize an absolute numerical index of precision.For more each observation
Between precision can also be measured between observation by the proportionate relationship between variance other than it can apply variance
The height of precision, this numerical characteristic for indicating proportionate relationship between each observation variance is known as weighing, in actual measurement work
In, in order to guarantee image elements of exterior orientation accuracy, usually error is reduced using bundle adjustment (BA), and in adjustment meter
Before calculation, variance is often ignorant, but the relative value of precision can be determined according to condition given in advance, that is,
Fixed power, then goes out variance according to the resulting estimate of adjustment.
During actual bundle adjustment, observation error is defaulted as Normal Distribution.Flux of light method is flat at present
The projection of the lower view image pixel that difference utilizes on the ground is often rule, and pixel dimension is almost the same, so generally
Think that the weight of each imaging point observation is equal.
But projection in aviation oblique photograph measuring technique on ground and irregular, if still using vertically lower seeing image
The weight of picture, weight itself accuracy is lower, and the accuracy of adjustment result will have biggish image, is unable to satisfy high-precision
Degree demand, therefore, need it is a kind of can adapt to oblique photograph measurement determine Quan Fangfa.
Summary of the invention
In order to solve the above technical problems, the embodiment of the present application a kind of empty three adjustments of inclination image are provided determine Quan Fangfa, with
Achieve the purpose that adapt to oblique photograph measurement, technical solution is as follows:
Quan Fangfa is determined this application provides a kind of empty three adjustments of inclination image, comprising:
Obtain the initial elements of exterior orientation of each image；
Inclination image picture point scale is calculated, by the picture point scale ratio of the inclination image picture point scale and vertical lower seeing image picture
Value is used as the normalized scale factor；
Ground sampled distance of the inclination image picture point on the direction x, y is calculated separately, by the ratio of the ground sampled distance
Value is as opposite anisotropic ground sampled distance；
The inverse for determining the normalized scale factor is the priori weight on the direction x；
Determine that the normalized scale factor and the more inverse of the product of anisotropy ground sampled distance relatively are institute
State the priori weight on the direction y.
Preferably, the process for calculating inclination image picture point scale includes:
Obtain the high h of row of the inclination image picture point, inclination angle theta and projection centre S with as origin line and S and picture point
The angle β of line；
According to formulaObtain inclination image picture point scale.
Preferably, the process for calculating separately ground sampled distance of the inclination image picture point on the direction x, y includes:
The average value for calculating two boundary lengths of the inclination image picture point in the x direction, as it on the direction x
Ground sampled distance；
The average value for calculating two boundary lengths of the inclination image picture point in y-direction, as it on the direction y
Ground sampled distance.
Preferably, further includes: the priori weight is verified, does not meet the feelings of preset condition in the priori weight
Under condition, the priori weight is optimized, the priori weight includes: priori weight and the direction y on the direction x
On priori weight.
Preferably, the process verified to the priori weight includes:
Determine image connecting points；
From selecting the coordinate at any point to bring the collinearity equation after linearisation into the image connecting points, error side is obtained
Journey；
The priori weight is multiplied with the weight matrix in the error equation, and using least square method to the error
Equation is solved, and the elements of exterior orientation of each image and the corrected value of ground coordinate are obtained；
If the corrected value is less than preset threshold, the priori weight meets preset condition, if the corrected value is not small
In the preset threshold, then the priori weight does not meet preset condition.
Preferably, the process optimized to the priori weight includes:
Following steps are repeated, until the priori weight meets preset condition, alternatively, number of repetition reaches default time
Number:
The parameter value that the elements of exterior orientation of each image is modified using the corrected value obtains revised image foreign side
Bit element；
The revised normalized scale factor is calculated using the elements of exterior orientation of revised image, and according to the amendment
The normalized scale factor and the opposite anisotropic ground sampled distance afterwards determines the priori weight on the direction x, y respectively,
And the priori weight is verified.
What the application also disclosed a kind of empty three adjustments of inclination image determines power device, comprising:
Element obtains module, for obtaining the initial elements of exterior orientation of each image；
Normalized scale is because of sub-acquisition module, for calculating inclination image picture point scale, by the inclination image picture point ruler
The picture point scale ratio of degree and vertical lower seeing image picture is as the normalized scale factor；
Opposite anisotropic ground sampled distance obtains module, for calculating separately inclination image picture point in the direction x, y
Ground sampled distance, using the ratio of the ground sampled distance as opposite anisotropic ground sampled distance；
Priori weight determination module on the direction x, for determining that the inverse of the normalized scale factor is the direction x
On priori weight；
Priori weight determination module on the direction y, for determining the normalized scale factor and the relatively more Xiang Yi
Property ground sampled distance the inverse of product be priori weight on the direction y.
Preferably, described device further include: correction verification module, for being verified to the priori weight；
Optimization module, for being carried out to the priori weight in the case where the priori weight does not meet preset condition
Optimization.
Compared with prior art, the application has the beneficial effect that the application passes through and determines the normalized scale factor and opposite
Anisotropic ground sampled distance respectively obtains the priori weight on the direction x and y, and the normalized scale factor embodies inclination shadow
As picture point scale with vertical lower seeing image as the otherness of picture point scale, and anisotropic ground sampled distance then embodies inclination shadow
As picture point is in the otherness of the direction x, y upper ground surface sampled distance, the priori on the direction x and y determined in conjunction with the two othernesses
Weight objective can embody the projection feature for tilting image picture point, improve the accuracy of weight, and further improve flat
The accuracy of difference method.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for
For those of ordinary skill in the art, without any creative labor, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is a kind of flow diagram for determining power method of empty three adjustments of inclination image disclosed in the embodiment of the present application；
Fig. 2 is the schematic illustration of the disclosed inclination image picture point scale of the embodiment of the present application；
Fig. 3, which is that the embodiment of the present application is disclosed, calculates the stream for tilting ground sampled distance of the image picture point on the direction x, y
Journey schematic diagram；
Fig. 4, which is that the embodiment of the present application is disclosed, tilts image picture point perspective view；
Fig. 5 is the flow diagram for determining power method of another empty three adjustments of inclination image disclosed in the embodiment of the present application；
Fig. 6 is the disclosed flow diagram verified to priori weight of the embodiment of the present application；
Fig. 7 is the disclosed flow diagram optimized to priori weight of the embodiment of the present application；
Fig. 8 is a kind of structural schematic diagram for determining power method of empty three adjustments of inclination image disclosed in the embodiment of the present application.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
During bundle adjustment, inclination image because its side view characteristic can to characteristic matching, determine the priori of observation
Uncertainty etc. has an adverse effect, and observation error is defaulted as Normal Distribution.Conventional beam method adjustment utilizes down
It is often rule depending on the projection of image pixel on the ground, and pixel dimension is almost the same, so it is generally acknowledged that each image
The weight of point observation is equal.But for inclination image, the projection of image pixel on the ground is usually irregular four side
Shape necessarily has different ground sampled distances between different images point, and in other words, the observation error of different images point can meet not
Same normal distribution.
The power work of determining of observation will will affect the precision of data processed result, and the order of accuarcy of observation weight is to parameter
Estimated value and association's factor battle array have stronger influence, in order to obtain more accurate parameter Estimation, it would be desirable to utilize suitable method
Weighed surely for observation to improve adjustment result.
Inventor has found that observation error can regard image scale and ground sampled distance as in the course of the research
(GSD) function represents the corresponding distance or length on the spot of a pixel.And in oblique photograph measurement, this function
It will receive the image of image proportional ruler and ground sampled distance difference.Based on this discovery, present applicant proposes a kind of inclination images
Empty three adjustments determine Quan Fangfa, and process is as shown in Fig. 1, comprising:
Step S101: the initial elements of exterior orientation of each image is obtained.
The embodiment of the present application is using bundle adjustment as scene.In this step, acquisition is each in a group image
The initial elements of exterior orientation of image.The initial elements of exterior orientation of each image includes six parameters, wherein three are line elements,
For describing photo centre S for position X, Y, Z of object space coordinate system, the other three is angle element, for describing image
Aerial statue of the face in photography moment, including what is rotated using Y-axis as main shaftAngle, then around the angle ω that X-axis rotates and finally around Z
The angle κ of axis rotation.In the present embodiment, can be by the parameter of GPS/IMU and particular platform, such as camera internal position element, abnormal
Variable coefficient etc. seeks the elements of exterior orientation initial value of each image.Also need to obtain the initial elements of interior orientation of image, x simultaneously0、y0For
Initial elements of interior orientation indicates the collimation mark coordinate of image center point, and f is also elements of interior orientation, indicates optical center to image plane
Hang down away from, also referred to as lead away from.
Step S102: calculating inclination image picture point scale, by the inclination image picture point scale and it is vertical under seeing image as
Picture point scale ratio is as the normalized scale factor.
In the present embodiment, can be subject to some inclination image picture point calculate inclination image picture point scale, with a certain
Vertical image picture point scale is calculated subject to a vertical image picture point, for example, some image can be found from inclination image picture point
Tie point is calculated inclination image picture point with the point, an image connecting points are looked for from vertical image picture point, is calculated with the point
Vertical image picture point scale.A group image tie point can also be found, after seeking the picture point scale of each image connecting points respectively
Calculate average value.Alternatively, directly calculating the inclination image picture point scale of all inclination image picture points, then average value is calculated, as
Image picture point scale is tilted, directly calculates the inclination image picture point scale of all vertical image picture points, then calculate average value, as
Vertical image picture point scale.
In the present embodiment, image picture point scale m and vertical image picture point scale m is tilted0Ratio be normalized scale because
Sub- Fs, it may be assumed that
Fs=m/m0(formula 1)
Step S103: ground sampled distance of the inclination image picture point on the direction x, y is calculated separately, by described ground surface sample
The ratio of distance is used as opposite anisotropic ground sampled distance.
In vertical photography measurement, ground sampled distance of the image picture point on the direction x, y is equal, therefore GSD is equal.And
When inclination image picture point projects to ground, the ground sampled distance on the direction x, y is unequal, needs to be counted respectively
It calculates.Its in the x direction be projected as GSDx, in y-direction be projected as GSDy.Relative anisotropies GSDFR, it may be assumed that
Step S104: the inverse for determining the normalized scale factor is the priori weight p on the direction xx；
Step S105: the normalized scale factor and the more product of anisotropy ground sampled distance relatively are determined
Inverse is the priori weight p on the direction yy。
The application respectively obtains x and y by determining the normalized scale factor and opposite anisotropic ground sampled distance
Priori weight on direction, the normalized scale factor embody inclination image picture point scale with vertical lower seeing image as picture point scale
Otherness, and anisotropic ground sampled distance then embodies inclination image picture point in the difference of the direction x, y upper ground surface sampled distance
The opposite sex, the enough objective projections for embodying inclination image picture point of the Posterior weight Beijing South Maxpower Technology Co. Ltd on the direction x and y determined in conjunction with the two othernesses
Feature improves the accuracy of weight, and further improves the accuracy of error compensation method.
In the above-described embodiments, the principle of inclination image picture point scale is calculated as shown in Fig. 2, with reference to Fig. 2, is inclined described in acquisition
The high h of row of oblique image picture point, inclination angle theta and projection centre S and the angle β as origin line and S and picture point line, according to public affairs
Formula:
Obtain inclination image picture point scale.
In addition to aforesaid way, image proportional ruler m can also be sought using exterior orientation in image, calculation is as follows:
Wherein, X, Y, Z indicate the three-dimensional coordinate of any ground point, Xs、Ys、ZsIndicate the corresponding ground point of image center point
Three-dimensional coordinate, x0、y0For initial elements of interior orientation, indicate that the collimation mark coordinate of image center point, x, y indicate image arbitrary point
Collimation mark coordinate.F is also elements of interior orientation, indicate optical center to image plane hang down away from, also referred to as master away from.
In above-mentioned formula, when inclination angle theta is 0, as vertical image picture point scale m0.Therefore, vertical image picture point ruler
Degree also can get.
In the above-described embodiments, the process of ground sampled distance of the inclination image picture point on the direction x, y is calculated separately such as
Shown in Fig. 3, comprising:
Step S301: the average value of two boundary lengths of the inclination image picture point in the x direction is calculated, as it in x
Ground sampled distance on direction.
Step S302: the average value of two boundary lengths of the inclination image picture point in y-direction is calculated, as it in y
Ground sampled distance on direction.
The inclination image picture point perspective view with reference to shown in Fig. 4 can be seen that the four edges point for the quadrangle that projection obtains
It Wei abcd, wherein ac projects to x-axis, and bd projects to y-axis.In the present embodiment, it is averaged with two sides for projecting to x-axis
Value is as the ground sampled distance on the direction x, it may be assumed that
GSDx=(a+c)/2 (formula 7)
Using project to y-axis two sides average value as the ground sampled distance on the direction y, it may be assumed that
GSDy=(b+d)/2 (formula 8)
Certainly, aforesaid way is a kind of concrete implementation method, can also if the difference on two sides ac or bd is little
Arbitrarily select the length of a line as ground sampled distance.
The hereinafter referred to as priori weight of the priori weight in priori weight and the direction y on the direction x.
In conjunction with above-described embodiment as can be seen that the accuracy of priori weight can directly influence the accurate of adjustment result
Property.In order to further enhance the accuracy of priori weight, the another process of method of weighing surely disclosed in the present application is as shown in figure 5, remove
Outside comprising steps all in Fig. 1, further includes:
Step S106: verifying the priori weight, in the case where the priori weight does not meet preset condition,
The priori weight is optimized.
That is, optimizing when priori weight is unsatisfactory for preset requirement to it, keep it more accurate.By
It is eventually applied in adjustment in priori weight, therefore, the disclosed mistake that priori weight is verified of the embodiment of the present application
The principle of adjustment is utilized in journey, and process is as shown in Fig. 6, comprising:
Step S601: image connecting points are determined.
In the present embodiment, the tie points such as feature extraction, matching can be carried out by Scale invariant features transform SIFT and extract skill
Art obtains image connecting points.Image connecting points are exactly photo control point, and SIFT feature is the local feature of image, to rotation, scale
Scaling, brightness change remain unchanged, and also keep a degree of stability to visual angle change, affine transformation, noise.Also, its
It is unique good, the features such as volume, high speed and scalability, it can guarantee the accuracy of image connecting points.
Step S602: bringing the collinearity equation after linearisation into from the coordinate at selection any point in the image connecting points,
Obtain error equation.
Combined bundle block adjustment is used in the present embodiment, that takes into account the factors such as the distortion factor of camera platform, adjustment knots
The accuracy of fruit is taught high.Its collinearity equation is as follows:
Wherein, X, Y, Z indicate the three-dimensional coordinate of any ground point, Xs、Ys、ZsIndicate the corresponding ground point of image center point
Three-dimensional coordinate, x0、y0For initial elements of interior orientation, indicate that the collimation mark coordinate of image center point, x, y indicate image arbitrary point
Collimation mark coordinate, that is, observation coordinate.F is also elements of interior orientation, indicates optical center hanging down away from also referred to as main to image plane
Away from △ x, △ y are corrected value, that is, error, and others are all the constant coefficients set based on experience value.
After above-mentioned collinearity equation is linearized, using collimation mark coordinate x, the y at any point in image connecting points as
Initial observation value coordinate is brought into, and error equation is obtained:
V=AX-L, P (formula 10)
Wherein, V is error, and A is known coefficient, and L is constant term, and P is weight matrix.
Step S603: the priori weight is multiplied with the weight matrix in the error equation, and utilizes least square method
The error equation is solved, the elements of exterior orientation of each image and the corrected value of ground coordinate are obtained.
Each picture point weight is identical in conventional beam method adjustment, and weight matrix P is unit battle array.This method will consider picture point scale
With anisotropic weight (Px, Py) weight matrix is introduced, it is multiplied with unit matrix with weight.
In the present embodiment, error is exactly corrected value.This corrected value is used for elements of exterior orientation and observation to image
Obtained ground coordinate is corrected, to realize the purpose of adjustment.
Step S604: if the corrected value is less than preset threshold, the priori weight meets preset condition, if described change
Positive value is not less than the preset threshold, then the priori weight does not meet preset condition.
If priori weight meets preset condition, error is less than preset threshold, for example, preset threshold is 1 pixel, explanation
Error is in acceptable range, then the accuracy of priori weight at this time is higher, can be applied to subsequent adjustment process
In.
If priori weight is not less than preset threshold, specification error is larger, and adjustment effects at this time are unsatisfactory, therefore
It needs that the priori weight is further processed.It is, being optimized to the priori weight.
The process that optimized to priori weight as shown in fig. 7, comprises:
Step S701: the parameter value of the elements of exterior orientation of each image is modified using the corrected value, after obtaining amendment
Image elements of exterior orientation.
It is modified using parameter value of the corrected value to the elements of interior orientation of each image, modified here is x, y value,
That is observation coordinate.
Step S702: the revised normalized scale factor is calculated using the elements of exterior orientation of revised image.
In this process, the formula of m is sought are as follows:
Wherein, i is positive integer, indicates that i-th computes repeatedly.
M is sought with same method(i), then seek Fs (i):
Fs (i)=m(i)/m0 (i)(formula 13)
Step S703: according to the revised normalized scale factor and the opposite anisotropic ground sampled distance
The priori weight on the direction x, y is determined respectively.
Finally determine new priori weight:
Step S704: S601 is returned to step.
Checking process shown in step S601- step S604 shown in execution Fig. 6 is returned to carry out further new priori weight
Secondary verification, if the priori weight meets preset condition, termination process, which is finally determining Posterior weight
Weight.If being unsatisfactory for preset condition, then execute the process of step S701-S703 in Fig. 7.
If multiple cyclic check is all not met for the priori weight of preset condition, can be in circulating repetition
It states when the number of process reaches preset times and terminates the process, for example, preset times are 100, then by i=in above-mentioned formula
When 100, currently available Posterior weight recast is final priori weight.
Quan Fangfa is determined disclosed in the embodiment of the present application, by the verification and optimization to priori weight, so that priori weight
Accuracy can reach higher level, so that the accuracy of adjustment result is higher.
What the embodiment of the present application also disclosed a kind of empty three adjustments of inclination image determines power device, structure as shown in figure 8,
Include:
Element obtains module 801, for obtaining the initial elements of exterior orientation of each image；
Normalized scale is because of sub-acquisition module 802, for calculating inclination image picture point scale, by the inclination image picture point
The picture point scale ratio of scale and vertical lower seeing image picture is as the normalized scale factor；
Opposite anisotropic ground sampled distance obtains module 803, for calculating separately inclination image picture point in the direction x, y
On ground sampled distance, using the ratio of the ground sampled distance as opposite anisotropic ground sampled distance；
Priori weight determination module 804 on the direction x, for determining that the inverse of the normalized scale factor is the x
Priori weight on direction；
Priori weight determination module 805 on the direction y, for determine the normalized scale factor and it is described relatively more to
The inverse of the product of anisotropic ground sampled distance is the priori weight on the direction y.
Empty three adjustments of inclination image disclosed in the present application determine power device, by the determining normalized scale factor and relatively respectively
Anisotropic ground sampled distance respectively obtains the priori weight on the direction x and y, and the normalized scale factor embodies inclination image
Picture point scale is with vertical lower seeing image as the otherness of picture point scale, and anisotropic ground sampled distance then embodies inclination image
Picture point the direction x, y upper ground surface sampled distance otherness, in conjunction with the two othernesses determine the direction x and y on Posterior weight
The enough objective projection features for embodying inclination image picture point of Beijing South Maxpower Technology Co. Ltd, improve the accuracy of weight, and further improve adjustment
The accuracy of method.
The hereinafter referred to as priori weight of the priori weight in priori weight and the direction y on the direction x.Because of the standard of priori weight
True performance enough directly influences the accuracy of adjustment result.In order to further enhance the accuracy of priori weight,
The device further include: correction verification module 806, for being verified to the priori weight；
Optimization module 807, in the case where the priori weight does not meet preset condition, to the priori weight into
Row optimization.
Before the concrete function of the modules for determining power device of empty three adjustments of the disclosed inclination image of the present embodiment can refer to
Embodiment of the method is stated, details are not described herein.
For the various method embodiments described above, for simple description, therefore, it is stated as a series of action combinations, but
Be those skilled in the art should understand that, the application is not limited by the described action sequence because according to the application, certain
A little steps can be performed in other orders or simultaneously.Secondly, those skilled in the art should also know that, it is retouched in specification
The embodiment stated belongs to preferred embodiment, necessary to related actions and modules not necessarily the application.
It should be noted that all the embodiments in this specification are described in a progressive manner, each embodiment weight
Point explanation is the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.
For device class embodiment, since it is basically similar to the method embodiment, so being described relatively simple, related place ginseng
See the part explanation of embodiment of the method.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
For convenience of description, it is divided into various units when description apparatus above with function to describe respectively.Certainly, implementing this
The function of each unit can be realized in the same or multiple software and or hardware when application.
As seen through the above description of the embodiments, those skilled in the art can be understood that the application can
It realizes by means of software and necessary general hardware platform.Based on this understanding, the technical solution essence of the application
On in other words the part that contributes to existing technology can be embodied in the form of software products, the computer software product
It can store in storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions are used so that a computer equipment
(can be personal computer, server or the network equipment etc.) executes the certain of each embodiment of the application or embodiment
Method described in part.
The power method and device of determining of empty three adjustments of inclination image provided herein is described in detail above, this
Specific case is applied in text, and the principle and implementation of this application are described, the explanation of above example is only intended to
Help understands the present processes and its core concept；At the same time, for those skilled in the art, the think of according to the application
Think, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not be construed as pair
The limitation of the application.
Claims (8)
1. a kind of empty three adjustments of inclination image determine Quan Fangfa characterized by comprising
Obtain the initial elements of exterior orientation of each image；
Inclination image picture point scale is calculated, the picture point scale ratio of the inclination image picture point scale and vertical lower seeing image picture is made
For the normalized scale factor；
Ground sampled distance of the inclination image picture point on the direction x, y is calculated separately, the ratio of the ground sampled distance is made
For opposite anisotropic ground sampled distance；
The inverse for determining the normalized scale factor is the priori weight on the direction x；
It determines the normalized scale factor and the more inverse of the product of anisotropy ground sampled distance relatively is the side y
Upward priori weight.
2. the method according to claim 1, wherein the process for calculating inclination image picture point scale includes:
Obtain the high h of row of the inclination image picture point, inclination angle theta and projection centre S and as origin line and S and picture point line
Angle β；
According to formulaObtain inclination image picture point scale.
3. according to the method described in claim 2, it is characterized in that, the inclination image picture point that calculates separately is on the direction x, y
The process of ground sampled distance include:
The average value for calculating two boundary lengths of the inclination image picture point in the x direction, is adopted as its ground in the x direction
Sample distance；
The average value for calculating two boundary lengths of the inclination image picture point in y-direction, is adopted as its ground in y-direction
Sample distance.
4. the method according to claim 1, wherein further include: the priori weight is verified, described
In the case that priori weight does not meet preset condition, the priori weight is optimized, the priori weight includes: the x
The priori weight in priori weight and the direction y on direction.
5. according to the method described in claim 4, it is characterized in that, the process verified to the priori weight includes:
Determine image connecting points；
From selecting the coordinate at any point to bring the collinearity equation after linearisation into the image connecting points, error equation is obtained；
The priori weight is multiplied with the weight matrix in the error equation, and using least square method to the error equation
It is solved, obtains the elements of exterior orientation of each image and the corrected value of ground coordinate；
If the corrected value is less than preset threshold, the priori weight meets preset condition, if the corrected value is not less than institute
Preset threshold is stated, then the priori weight does not meet preset condition.
6. according to the method described in claim 5, it is characterized in that, the process optimized to the priori weight includes:
Following steps are repeated, until the priori weight meets preset condition, alternatively, number of repetition reaches preset times:
The parameter value that the elements of exterior orientation of each image is modified using the corrected value obtains revised image foreign side bit
Element；
The revised normalized scale factor is calculated using the elements of exterior orientation of revised image, and according to described revised
The normalized scale factor and the opposite anisotropic ground sampled distance determine the priori weight on the direction x, y respectively, and right
The priori weight is verified.
7. a kind of empty three adjustments of inclination image determine power device characterized by comprising
Element obtains module, for obtaining the initial elements of exterior orientation of each image；
Normalized scale is because of sub-acquisition module, for calculating inclination image picture point scale, by the inclination image picture point scale with
The picture point scale ratio of vertical lower seeing image picture is as the normalized scale factor；
Opposite anisotropic ground sampled distance obtains module, for calculating separately ground of the inclination image picture point on the direction x, y
Surface sample distance, using the ratio of the ground sampled distance as opposite anisotropic ground sampled distance；
Priori weight determination module on the direction x, for determining that the inverse of the normalized scale factor is on the direction x
Priori weight；
Priori weight determination module on the direction y, for determining the normalized scale factor and the more anisotropy relatively
The inverse of the product of surface sample distance is the priori weight on the direction y.
8. device according to claim 7, which is characterized in that described device further include: correction verification module, for the elder generation
Weight is tested to be verified；
Optimization module, for being optimized to the priori weight in the case where the priori weight does not meet preset condition.
Priority Applications (1)
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