CN110285827A - A kind of photogrammetric high-precision object localization method of distance restraint - Google Patents

A kind of photogrammetric high-precision object localization method of distance restraint Download PDF

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CN110285827A
CN110285827A CN201910348852.2A CN201910348852A CN110285827A CN 110285827 A CN110285827 A CN 110285827A CN 201910348852 A CN201910348852 A CN 201910348852A CN 110285827 A CN110285827 A CN 110285827A
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image
target
target point
coordinate
initial value
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CN110285827B (en
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孟庆祥
付建红
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Wuhan University WHU
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/30—Computing systems specially adapted for manufacturing

Abstract

The invention discloses a kind of photogrammetric high-precision object localization methods of distance restraint, method includes the following steps: step 1, calibration of camera internal parameters；Step 2, shooting include the target image of indium steel ruler；Step 3, target point image coordinate measure；Step 4, the three-dimensional coordinate that target point is calculated using least square method, the physical coordinates initial value as target point；Step 5, image elements of exterior orientation initial value obtain；Step 6, the net adjusted data for calculating distance restraint；Step 7, the judgement of adjustment iteration convergence, judge calculated correction every time, until meeting poor demand limit；Obtain the high-precision coordinate of target point.Method of the invention does not need individually to lay control point, can get grade target positional accuracy, and method is simple, quick, reduces the activity duration, measuring speed is fast, greatly improves measurement operating efficiency.

Description

A kind of photogrammetric high-precision object localization method of distance restraint
Technical field
The present invention relates to photogrammetric and computer vision geometry location technical field more particularly to a kind of distance restraints Photogrammetric high-precision object localization method.
Background technique
Photogrammetry targets positioning, by obtaining the image of measured target, is obtained after processing using video camera The geometry and location information of subject have untouchable, speed is fast, can obtain numerous observed objects, precision height simultaneously etc. Advantage.Archaeology (artifact, ancient building etc.), biomedicine, commercial measurement etc. are extended to from field of aerial photography measurement Various fields.And itself main drawback is that, it is several in size, mutual distance etc. just with the measurement target of picture construction What message context be all it is opposite, i.e., be with actual object using the threedimensional model of picture construction it is similar, there are a ratios Scaling.To obtain the absolute geometry information of measured target it is necessary to relying on and external control point.General way is using other Measuring tool (total station, laser scanner, laser tracker etc.) observes the seat of geological information or point in a small amount of measured target Scale value controls as outside, certain scaling is carried out to the threedimensional model of building, to obtain the exhausted of observed object To geological information.
In order to obtain high-precision control information, it is often necessary to establish Three dimensions control field before measured target.Such as using complete Instrument intersection measurement of standing establishes Three dimensions control field, first has to set up 2-4 stable forced centering bases before measured target, be used for Total station is disposed, forced centering base can use reinforcement welding or cement cast in situs.
By equipment placement after forced centering base, relative orientation is carried out between two total stations first, determines angle Spend the prime direction of observation.The maneuvering sequence of rotary apparatus method are as follows:
A) pin is fixed on total station A, the B that mutually observed at two respectively, the stringent essence of instrument is flat, it is used in combination Instrument slightly takes aim at device and aims at other side's instrument mutually；
B) observation of facing left is set by total station A；
C) the pin recording level direction H1 on B instrument is sighted, and by B instrument horizontal direction zero setting；
D) total station B is rotated 180 °, the pin recording level direction H2 on B instrument is sighted from total station A；
E) total station B is rotated 180 °, is converted to the right observation of disk；
F) (c) and (d) two step are repeated, is completed a survey time, and observation is taken into average conduct AB prime direction；
The prime direction of BA can be determined according to same step.
After determining prime direction, a certain section of known length on indium steel ruler is also measured by gauge method and is surveyed come inverse The accurate distance stood between AB passes through angular observation intersection calculation control point coordinates later.
This way is relatively complicated, heavy workload, this is serious with the requirement of a large amount of measured targets of photogrammetric quick obtaining It is not inconsistent.Moreover, requiring height for measurement accuracy, time of measuring is urgent, and measuring can not implement in the limited situation in space at all.
Summary of the invention
The technical problem to be solved in the present invention is that for the defects in the prior art, providing a kind of photography of distance restraint Measure high-precision object localization method.
The technical solution adopted by the present invention to solve the technical problems is:
The present invention provides a kind of photogrammetric high-precision object localization method of distance restraint, and this method includes following step It is rapid:
Step 1, calibration of camera internal parameters；
Step 2, shooting include the target image of indium steel ruler；
Step 3, target point image coordinate measure: the target image of shooting imported and measures software, treats the target of measurement, Its coordinate in image coordinate system is obtained, using one jiao of image as origin, while measuring on indium steel ruler with certain distance Two o'clock, as picture point；
Step 4, the three-dimensional coordinate that target point is calculated using least square method, the physical coordinates initial value as target point；
Step 5, image elements of exterior orientation initial value obtain: after obtaining the three-dimensional coordinate of target point, making itself and figure Picture point corresponds to each other, and the elements of exterior orientation of image, i.e. three location parameters, three are then calculated according to monolithic resection method A attitude parameter；
Step 6, the net adjusted data for calculating distance restraint: the picture point coordinate of measurement is numbered in certain sequence, makes itself and object Coordinate is managed to correspond；Then it is linearized by photogrammetric collinear condition model, establishes the error equation of adjustment；It is building When vertical error equation, for the two o'clock on indium steel ruler, distance restraint is introduced as adjustment constraint condition；
Step 7, the judgement of adjustment iteration convergence: after each picture point establishes error equation, item is constrained using having The least square Indirect Adjustment Method of part solves correction, and corrects physical coordinates initial value, repeats step 6 and step 7, calculated correction every time is judged, until meeting poor demand limit；Obtain the high-precision coordinate of target point.
Further, the method for calibration of camera internal parameters is carried out in step 1 of the invention are as follows:
To selected camera, the shooting depth of field is adjusted in a manual mode, is then fixed constant；Select high-precision room Interior three-dimensional scaling field guarantees that camera from the direction filmed image of Calibration Field front left, center, right three, extracts and indicates point diagram on image As coordinate, and calculate camera intrinsic parameter.
Further, the method for the target image comprising indium steel ruler is shot in step 2 of the invention specifically:
Image Acquisition carried out to the target to be measured, indium steel ruler is placed in the designated position of target when acquisition, guarantees The image of shooting had both included the target to be measured, and also included indium steel ruler；It will be from front, above, below, the left side, the right side when shooting Five different directions are shot, it is ensured that measure target has overlapping on different images.
Further, in step 4 of the invention target point physical coordinates initial value acquisition methods are as follows:
The calculating of target point physical coordinates initial value uses motion structure algorithm, restores object dimensional geometry from multiple image Shape；By the corresponding image points measured, in the case where differing an invariant, basis matrix is solved using least square, and SVD is carried out to it to decompose to obtain essential matrix, and singular value decomposition is carried out to essential matrix and calculates camera motion parameter, is finally counted Calculate the three-dimensional coordinate of target point.
Further, the method that image elements of exterior orientation initial value obtains in step 5 of the invention are as follows:
By the three-dimensional coordinate of target point and the corresponding image coordinate of every image, single image space based on collinear condition is utilized Resection method calculates the elements of exterior orientation value of photograph；Due to lacking an invariant when basis matrix solves, cause Exterior orientation line element and actual value there are certain proportion, the value that rescales by indium steel ruler physical length and the ratio between initial value must It arrives, and exterior orientation line element is corrected.
Further, the method for the net adjusted data of distance restraint is calculated in step 6 of the invention are as follows:
In the case where target point initial value and elements of exterior orientation initial value all determine, it is based on photogrammetric collinear condition side Journey establishes error equation, is finally solved by least square adjustment method；
Based on photogrammetric collinearity condition equation are as follows:
Amount of distortion is indicated are as follows:
In formula, (x, y) is image coordinate；(X, Y, Z) is the corresponding object coordinates of picture point；(XS,YS,ZS) it is outside camera Orientation line element；(Rij, i, j=1,2,3) and it is the spin matrix that camera exterior orientation angle element is constituted；(f, x0, y0) it is in camera The element of orientation；(k1,2,3, p1,2) it is camera distortion parameter；r2=x2+y2。
The beneficial effect comprise that: the photogrammetric high-precision object localization method of distance restraint of the invention, It include the image of high-precision indium steel ruler and observed object, the net through distance restraint with video camera shooting based on photogrammetry principles Compensating computation, the high-precision coordinate of available target do not need individually to lay control point, can get grade target point essence Degree, method is simple, quick, reduces the activity duration, measuring speed is fast, greatly improves measurement operating efficiency.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the method flow diagram of the embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not For limiting the present invention.
As shown in Figure 1, the photogrammetric high-precision object localization method of the distance restraint of the embodiment of the present invention, including it is following Step:
1. calibration of camera internal parameters；
To selected video camera, the shooting depth of field is adjusted in a manual mode, is then fixed constant.The mark of intrinsic parameter It is fixed to be calculated by shooting indoor high-precision three-dimensional controlling filed.
2. choosing indium steel ruler；
According to the actual conditions of photographed scene, the indium steel ruler of certain length is chosen, generally there are the types such as 1 meter, 2 meters or 3 meters long Number.Indium steel ruler after selection has to pass through national testing requirements, i.e., misses to indium steel ruler gap length average value and each decimetre graduation Difference has following requirement: the difference of indium steel ruler rice gap length average value and nominal value, and a scale must not exceed ± 0.1mm, and one is secondary Scale must not exceed ± 0.05mm；The delineation standard deviation of one row's graduation must not exceed ± 13um.
3. target point image taking；
It include indium steel ruler and measurement using selected video camera shooting before indium steel ruler is placed on the target point for needing to measure The image of target, it is desirable that shot from different location, and have 60% or more degree of overlapping between adjacent image.The image of acquisition Uniform illumination is answered, target is clear.
4. target point measures；
It is the key that calculate its three-dimensional coordinate that target point accurate measurement on image, which is come out, and feature is known as in image procossing Point extracts.It for multiple images, will also be matched between characteristic point, establish the same space point automatically in different images Corresponding relationship between middle imaging point, corresponding points of the same space point on different images are referred to as corresponding image points.It is wanted when measurement Same place on image is all measured.
5. calculating physical coordinates initial value；
Target point physical coordinates initial value is the key that adjustment Models linearisation, using motion structure algorithm, from several figures As restoring object dimensional geometry.By the corresponding image points measured, in the case where differing an invariant, using minimum two Multiply solution basis matrix, and SVD is carried out to it and decomposes to obtain essential matrix, singular value decomposition estimation video camera fortune is carried out to essence Dynamic parameter, finally calculates the three-dimensional coordinate of target point.Specific calculating process is as follows:
Assuming that basis matrix isThe corresponding image points coordinate of measurement is m=[u v 1]T, m '= [u′ v′ 1]T, then meet:
M ' Fm=0 (1)
When having measured 8 pairs or more same places, then formula (1) is solved using least square method to get basis is arrived Matrix F.
Camera internal matrix is formed by camera calibration parameterIt can be counted in conjunction with basis matrix F Calculate essential matrix E are as follows:
E=K ' FK (2)
Singular value decomposition is carried out to essential matrix, is obtained:
E=UDV ' (3)
The kinematic parameter R and t of video camera are calculated using decomposition result are as follows:
R=UAN ', t=(0 0 1) ' (4)
Wherein
By camera motion and camera intrinsic parameter matrix, the projection matrix of the video camera of different location is formed:
If the corresponding object space point homogeneous coordinates of corresponding image points m and m ' are (Xw Yw Zw1), then meet:
Target point three-dimensional coordinate can be solved according to formula (6).
6. calculating image elements of exterior orientation initial value；
By the three-dimensional coordinate of target point and the corresponding image coordinate of every image, single image space based on collinear condition is utilized Resection method calculates the elements of exterior orientation value of photograph.Since basis matrix is asked in a poor invariant Solution come out, cause exterior orientation line element and actual value there are a ratio, the value that rescales by indium steel ruler physical length and The ratio between initial value obtains, and corrects exterior orientation line element.
7. adjustment of Free Networks calculates；
In the case where target point initial value and elements of exterior orientation initial value all determine, it is based on photogrammetric collinear condition side Journey establishes error equation as shown in formula (7), is finally solved by least square adjustment method.
Amount of distortion is indicated are as follows:
In formula, (x, y) is image coordinate；(X, Y, Z) is the corresponding object coordinates of picture point；(XS,YS,ZS) it is outside camera Orientation line element；(Rij, i, j=1,2,3) and it is the spin matrix that camera exterior orientation angle element is constituted；(f, x0, y0) it is in camera The element of orientation；(k1,2,3, p1,2) it is camera distortion parameter；r2=x2+y2。
Adjustment iteration convergence judgement: after each picture point establishes error equation, using with constraint condition most Small two, which multiply Indirect Adjustment Method, solves correction, and corrects physical coordinates initial value.
Given correction threshold value (according to required precision, threshold range may be set to 0.1mm), judges the size of corrected value, such as Fruit corrected value is less than given threshold value, stops calculating, obtains the high-precision coordinate of target point.
If corrected value is greater than threshold value, by the camera motion parameter after adjustment, target point is calculated according to step 6 again Three-dimensional coordinate repeats the compensating computation that step 7 carries out with constraint conditions, judges calculated corrected value size, Zhi Daoman again Foot limit is less than given threshold value.
8. result verification
For the correctness and feasibility for verifying the method for the present invention, using a digital camera to one group of target of indoor setting Point carries out location test, and the camera parameter for testing use is as shown in table 1.The indium steel ruler of selection is 2m long, through the specified quality of country It is examined and determine at inspection.
The camera parameter that the test of table 1 uses
Indium steel ruler is placed on and is measured in front of target, image is shot to target using above-mentioned camera, is clapped altogether from different location 9 width images are taken the photograph, using the Image measurement program voluntarily write, image coordinate of each target point on multiple images is obtained, presses According to workflow management target point three-dimensional coordinate of the present invention.The practical three dimensional space coordinate of target point is observed by high precision total station Obtain, but due to being any placement during the experiment, so its D coordinates value has changed, but between target point away from From not changing, to evaluate the precision that the method for the present invention determines target point, distance and reality between the point calculated using the present invention Border distance is compared, and the results are shown in Table 2.
2 the method for the present invention accuracy assessment of table
From table 2 it can be seen that it is very close using distance between being put determined by the method for the present invention and actual observation result, two Difference between person can be worth in grade from statistical result, distance difference maximum 1.7mm, distance difference root mean square 0.9mm, As a result consistent with traditional high precision total station observed result.This illustrate target point of the present invention determine method be it is correct, can Capable, traditional work method can be simplified.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description, And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.

Claims (6)

1. a kind of photogrammetric high-precision object localization method of distance restraint, which is characterized in that method includes the following steps:
Step 1, calibration of camera internal parameters；
Step 2, shooting include the target image of indium steel ruler；
Step 3, target point image coordinate measure: the target image of shooting being imported and measures software, treats the target of measurement, is obtained Its coordinate in image coordinate system using one jiao of image as origin, while measuring the two o'clock on indium steel ruler with certain distance, As picture point；
Step 4, the three-dimensional coordinate that target point is calculated using least square method, the physical coordinates initial value as target point；
Step 5, image elements of exterior orientation initial value obtain: after obtaining the three-dimensional coordinate of target point, making itself and picture point It corresponds to each other, the elements of exterior orientation of image, i.e. three location parameters, three appearances is then calculated according to monolithic resection method State parameter；
Step 6, the net adjusted data for calculating distance restraint: numbering the picture point coordinate of measurement in certain sequence, sits it with physics Mark corresponds；Then it is linearized by photogrammetric collinear condition model, establishes the error equation of adjustment；It is missed establishing When eikonal equation, for the two o'clock on indium steel ruler, distance restraint is introduced as adjustment constraint condition；
Step 7, the judgement of adjustment iteration convergence: after each picture point establishes error equation, using with constraint condition Least square Indirect Adjustment Method solves correction, and corrects physical coordinates initial value, repeats step 6 and step 7, sentences Disconnected calculated correction every time, until meeting poor demand limit；Obtain the high-precision coordinate of target point.
2. the photogrammetric high-precision object localization method of distance restraint according to claim 1, which is characterized in that step The method of calibration of camera internal parameters is carried out in 1 are as follows:
To selected camera, the shooting depth of field is adjusted in a manual mode, is then fixed constant；Selection high-precision interior three Calibration Field is tieed up, guarantees camera from the direction filmed image of Calibration Field front left, center, right three, mark point image on image is extracted and sits Mark, and calculate camera intrinsic parameter.
3. the photogrammetric high-precision object localization method of distance restraint according to claim 1, which is characterized in that step The method of target image of the shooting comprising indium steel ruler in 2 specifically:
Image Acquisition carried out to the target to be measured, indium steel ruler is placed in the designated position of target when acquisition, guarantees shooting Image both included the target to be measured, also include indium steel ruler；It will be from front, above, below, the left side, five, the right side when shooting Different directions are shot, it is ensured that measure target has overlapping on different images.
4. the photogrammetric high-precision object localization method of distance restraint according to claim 1, which is characterized in that step The acquisition methods of target point physical coordinates initial value in 4 are as follows:
The calculating of target point physical coordinates initial value uses motion structure algorithm, restores object dimensional geometric form from multiple image Shape；By the corresponding image points measured, in the case where differing an invariant, basis matrix is solved using least square, and right It carries out SVD and decomposes to obtain essential matrix, carries out singular value decomposition to essential matrix and calculates camera motion parameter, finally calculates The three-dimensional coordinate of target point out.
5. the photogrammetric high-precision object localization method of distance restraint according to claim 4, which is characterized in that step The method that image elements of exterior orientation initial value obtains in 5 are as follows:
By the three-dimensional coordinate of target point and the corresponding image coordinate of every image, single image space rear based on collinear condition is utilized Intersection method calculates the elements of exterior orientation value of photograph；Due to lacking an invariant when basis matrix solves, foreign side is caused There are certain proportion, the value that rescales is obtained by the ratio between physical length and the initial value on indium steel ruler for bit line element and actual value, and Exterior orientation line element is corrected.
6. the photogrammetric high-precision object localization method of distance restraint according to claim 1, which is characterized in that step The method of the net adjusted data of distance restraint is calculated in 6 are as follows:
In the case where target point initial value and elements of exterior orientation initial value all determine, it is based on photogrammetric collinearity condition equation, Error equation is established, is finally solved by least square adjustment method；
Based on photogrammetric collinearity condition equation are as follows:
Amount of distortion is indicated are as follows:
In formula, (x, y) is image coordinate；(X, Y, Z) is the corresponding object coordinates of picture point；(XS,YS,ZS) it is camera exterior orientation Line element；(Rij, i, j=1,2,3) and it is the spin matrix that camera exterior orientation angle element is constituted；(f, x0, y0) it is camera internal position Element；(k1,2,3, p1,2) it is camera distortion parameter；r2=x2+y2。
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