CN110360991A - A kind of photogrammetric survey method, device and storage medium - Google Patents
A kind of photogrammetric survey method, device and storage medium Download PDFInfo
- Publication number
- CN110360991A CN110360991A CN201910527499.4A CN201910527499A CN110360991A CN 110360991 A CN110360991 A CN 110360991A CN 201910527499 A CN201910527499 A CN 201910527499A CN 110360991 A CN110360991 A CN 110360991A
- Authority
- CN
- China
- Prior art keywords
- image
- point
- index point
- picture
- coordinate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
-
- 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
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to a kind of photogrammetric survey method, device and storage medium, method includes the following steps: that the multiple image for obtaining the object under test that camera is continuously shot, object under test surface programming have multiple index points；Picture point corresponding with index point in image is extracted, determines the picpointed coordinate of picture point in the picture, the matched method of transition is based on, determines picture point of any index point in all frame images；Choosing any one frame image is benchmark image, and the projection matrix of benchmark image is determined according to picpointed coordinate of the index point respectively in benchmark image and other images；The three-dimensional coordinate of index point is determined according to the picpointed coordinate of projection matrix and index point in benchmark image.Technical solution of the present invention does not need setting coded slice index point, homotopy mapping is achieved that by the matched method of transition, can reduce the workload of staff, and directly handle the picpointed coordinate of index point, calculation amount is small, can be improved measurement efficiency.
Description
Technical field
The present invention relates to photogrammetric technology field more particularly to a kind of photogrammetric survey methods, device and storage medium.
Background technique
Photogrammetric is the multiple image that object under test is continuously shot by camera, is obtained by image procossing and after calculating
The process of object under test surface tested point three-dimensional coordinate.At present when carrying out photogrammetric, in addition to needing to paste one in tested point
Outside fixed number amount index point, it is also necessary to a certain number of coded slice index points are set on object under test surface, for realizing several figures
Homotopy mapping as in, handle to image the three-dimensional coordinate of determining tested point after the completion of matching.But when measurement to
It is very big in the workload of object under test surface setting coded slice index point when survey object is larger, it is time-consuming and laborious, and pass through coding
Process is complicated when piece index point resolves tested point three-dimensional coordinate, and amount of calculation is big.
Summary of the invention
In view of the above shortcomings of the prior art, the present invention provides a kind of photogrammetric survey method, device and storage medium.
The technical scheme to solve the above technical problems is that
In a first aspect, described method includes following steps the present invention provides a kind of photogrammetric survey method:
The multiple image for the object under test that camera is continuously shot is obtained, the object under test surface programming there are multiple marks
Point.
Picture point corresponding with the index point in described image is extracted, determines that picture point of the picture point in described image is sat
Mark is based on the matched method of transition, determines the picture point of any index point in all frame described images.
Choosing any one frame described image is benchmark image, according to the index point respectively in the benchmark image and other
The picpointed coordinate in described image determines the projection matrix of the benchmark image.
The mark is determined according to the picpointed coordinate of the projection matrix and the index point in the benchmark image
The three-dimensional coordinate of will point.
Second aspect, the present invention provides a kind of photogrammetric apparatus, comprising:
Module is obtained, for obtaining the multiple image for the object under test that camera is continuously shot, the object under test surface is pre-
Equipped with multiple index points.
First processing module determines that the picture point exists for extracting picture point corresponding with the index point in described image
Picpointed coordinate in described image is based on the matched method of transition, determines any index point in all frame described images
The picture point.
Second processing module is benchmark image for choosing any one frame described image, is existed respectively according to the index point
The picpointed coordinate in the benchmark image and other described images determines the projection matrix of the benchmark image.
Computing module, for being sat according to the picture point of the projection matrix and the index point in the benchmark image
Mark determines the three-dimensional coordinate of the index point.
Third invention, the present invention provides a kind of photogrammetric apparatus, described device includes processor and memory.
The memory, for storing computer program.
The processor, for when loaded and executed, realizing photogrammetric survey method as described above.
Fourth aspect is stored with calculating the present invention provides a kind of computer readable storage medium on the storage medium
Machine program realizes photogrammetric survey method as described above when the computer program is executed by processor.
The beneficial effect of photogrammetric survey method of the invention, device and storage medium is: obtaining the packet that camera is continuously shot
The multiple image of multiple index points is included, all picture points in multiple image are extracted, and determines picture point of the picture point in correspondence image
Coordinate determines each index point corresponding all picture points in multiple image by the matched method of transition, realizes same place
Match.Projection matrix is determined according to picpointed coordinate of the index point in multiple image, is sat according to the picture point of projection matrix and index point
Mark just can determine the three-dimensional coordinate of index point.In technical solution of the present invention, setting coded slice index point is not needed, transition is passed through
Matched method achieves that homotopy mapping, can reduce the workload of staff, and to the picpointed coordinate of index point
It is directly handled, determines the three-dimensional coordinate of index point, calculation amount is small, can be improved measurement efficiency.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of photogrammetric survey method of the embodiment of the present invention；
Fig. 2 is the index point of the embodiment of the present invention and the correspondence diagram of picture point；
Fig. 3 is the reference image of the embodiment of the present invention to schematic diagram；
Fig. 4 is a kind of structural schematic diagram of photogrammetric apparatus of the embodiment of the present invention.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
As shown in Figure 1, a kind of photogrammetric survey method provided in an embodiment of the present invention, described method includes following steps:
110, the multiple image for the object under test that camera is continuously shot is obtained, the object under test surface programming there are multiple marks
Will point.
Specifically, multiple index points are set on object under test surface in advance, industrial camera can be used and shot, such as
CCD (charge coupled device, charge-coupled device) camera, industrial camera are a passes in NI Vision Builder for Automated Inspection
Key asembly, most essential function are exactly to convert optical signals into orderly electric signal.The mode being slowly continuously shot can be used
Multiple image is obtained, slow mobile industrial camera shoots object under test, and the amount of movement of industrial camera is less than between contiguous tokens point
The half of spacing.
120, picture point corresponding with the index point in described image is extracted, determines picture of the picture point in described image
Point coordinate, is based on the matched method of transition, determines the picture point of any index point in all frame described images.
Specifically, picture point all in all images is extracted, determines picpointed coordinate of the picture point in corresponding image, is used
The matched method of transition determines picture point of each index point in all images, i.e. realization homotopy mapping, can determine more
Corresponding relationship in frame image between picture point, and determine the picpointed coordinate of corresponding picture point.As shown in Fig. 2, P1、P2、P3、P4
And P5Respectively five index points on object under test surface, P1-1、P1-2And P1-3For index point P1It is corresponding in three frame images respectively
Picture point.
130, choosing any one frame described image is benchmark image, according to the index point respectively in the benchmark image and
The picpointed coordinate in other described images determines the projection matrix of the benchmark image.
Specifically, other images are image in addition to benchmark image in all images, projection matrix be benchmark image to
Survey the transformation matrix of object.
140, institute is determined according to the picpointed coordinate of the projection matrix and the index point in the benchmark image
State the three-dimensional coordinate of index point.
Specifically, it was known that the picture point in benchmark image of transformation matrix and index point of benchmark image to object under test is sat
Mark, so that it may know the three-dimensional coordinate of index point in space.
In the present embodiment, the multiple image including multiple index points that camera is continuously shot is obtained, is extracted in multiple image
All picture points, and determine that picpointed coordinate of the picture point in correspondence image determines each index point by the matched method of transition
Corresponding all picture points in multiple image realize homotopy mapping.It is true according to picpointed coordinate of the index point in multiple image
Determine projection matrix, just can determine the three-dimensional coordinate of index point according to the picpointed coordinate of projection matrix and index point.Skill of the invention
In art scheme, setting coded slice index point is not needed, homotopy mapping is achieved that by the matched method of transition, can be reduced
The workload of staff, and the picpointed coordinate of index point is directly handled, it determines the three-dimensional coordinate of index point, calculates
It measures small, can be improved measurement efficiency.
Specifically, the three-dimensional coordinate of index point is coordinate of the index point under world coordinate system, world coordinate system are as follows: in order to
The positional relationship between camera and object under test is described, needs to establish a coordinate system in three dimensions to define camera and each
The coordinate of a object, this coordinate system are commonly known as world coordinate system, use OwXwYwZwTo mark.The origin of world coordinate system
It can set according to actual needs.(X can be usedw,Yw,Zw) mark the coordinate of index point in three-dimensional space.
The picpointed coordinate of index point is coordinate of the picture point corresponding with index point under computer picture coordinate system, computer
Image coordinate system an are as follows: scene is imaged on CCD after pin-hole model projects in space, then collected to be stored as number
Image.It in order to facilitate description image, needs to define computer picture coordinate system, computer picture coordinate system can be marked with uov.Meter
The upper left corner of image is arranged in the origin of calculation machine image coordinate system, and picpointed coordinate is single with pixel in computer picture coordinate system
Position, the gray value of each pixel storage image.Computer picture coordinate system is coplanar with photo coordinate system, is only that origin defines
Difference.
It also needs to use camera coordinates system and photo coordinate system, camera coordinates system O in photogrammetriccXcYcZc, with camera light
The heart is origin, chooses camera optical axis as Zc, the X of camera coordinates systemcAxis and YcThe plane that axis is constituted with as plane it is parallel.
Photo coordinate system is to be defined as oxy with the plane as co-planar, coordinate system.The origin o of photo coordinate system
It is selected in optical axis and the intersection point as plane.The effective focal length f of camera defines optical center to the distance as plane, the x of photo coordinate system
Axis is consistent with camera imaging device pixel direction respectively with y-axis direction.
Preferably, picture point corresponding with the index point specifically comprises the following steps: in the extraction described image
The picture point in all frame described images is extracted by the method for Boundary Extraction, determines the initial seat of the picture point
Mark.
Specifically, the corresponding picture point of index point can be extracted by sequence of operations such as Boundary Extraction, ellipse fittings, determine picture
The picpointed coordinate of point.Extracting picture point by boundary detection is the prior art, and details are not described herein.
Distortion rectification is carried out to the initial coordinate, obtains the picpointed coordinate of the picture point.
Specifically, the imaging process of camera is that the object point in space is mapped to the process of picture point in two-dimensional surface, object point
Three-dimensional coordinate it is corresponding with the picpointed coordinate of picture point, distort since camera lens exist, picture point in the image obtained when taking pictures
Coordinate can be distorted, and can carry out distortion rectification to initial coordinate by the distortion parameter of predetermined camera.Camera it is abnormal
Variable element can be used existing camera calibration method and realize camera calibration, such as is existing by carrying out calibration acquisition to camera
Zhang Zhengyou calibration method, plane where the radial distortion parameter of camera lens and camera lens in imaging process can be obtained by camera calibration
With as there are the tangential distortion parameters caused by deviation for plane.
Preferably, the picture point of any index point of the determination in all described images specifically includes following step
It is rapid:
For any one of index point, first picture point of the index point in first frame image is determined, according to institute
It states the first picture point and determines the second picture point that the index point is in the second adjacent frame image of the first frame image, successively exist
It is matched in all frame described images, determines the picture point of the index point in all frame described images.
Specifically, the image shot for the first time when first frame image is continuously shot for camera, is superimposed upon one for multiple image
It rises, the picture point of each frame image can be indicated with different colors respectively, such as: the picture point in first frame image can use red table
Show, the index point available green in the second frame indicates, the image in third frame can be indicated with blue.Due to industrial camera frame per second
Height, and image is shot by the way of being slowly continuously shot, therefore, the corresponding picture of same index point in adjacent two field pictures
The distance between point is close.It when being matched to the picture point in multiple image, is matched using transition, is looked in the image of superposition
The second nearest picture point with the first picture point distance, then search with the second picture point apart from nearest third picture point, i.e., in the figure of superposition
As in, for a red picture point, search with the green picture point of red picture point distance recently, then search with the green picture point away from
From nearest blue picture point, successively the picture point in every frame image is matched, so that it may determine the correspondence of picture point in multiple image
Relationship, i.e. completion homotopy mapping.
Preferably, according to the index point, picture point in the benchmark image and other described images is sat respectively described
Before mark determines the step of projection matrix of the benchmark image, the method also includes following steps:
Combination of two is carried out to multiframe described image, is obtained multipair as right.
Specifically, combination of two is carried out to multiple image, every two image forms one as right.
The length that the length and preset threshold for comparing the baseline of the picture pair choose the baseline is greater than the preset threshold
The picture on the basis of as right, wherein the baseline be two frame described images photo centre line.
Specifically, the photo centre of a frame image is the optical center of camera when shooting the frame image, is phase strictly speaking
The image space node of machine camera lens, as shown in Fig. 2, S1, S2 and S3 are respectively the photo centre of three frame images, Tu Zhong photo centre in figure
S1 and picture point P1-1Line, photo centre S2 and picture point P1-2Line and photo centre S1 and picture point P1-3Line mutually give
The index point P of three-dimensional space1Place.The line of S1 and S2 is the baseline of the picture pair of corresponding two field pictures composition, the company of S2 and S3
Line is the baseline of the picture pair of corresponding two field pictures composition.Due to the corresponding picture point of index point same in adjacent two field pictures away from
It is close, it is unfavorable for subsequent calculating, is easy to produce biggish error, therefore, selects baseline length greater than preset threshold as right
On the basis of as right, same index point in the two field pictures of reference image pair picpointed coordinate distance it is bigger, be conducive to estimation essence
Matrix can reduce calculating error.
Preferably, described according to the index point picpointed coordinate in the benchmark image and other described images respectively
Determine that the projection matrix of the benchmark image specifically comprises the following steps:
The frame described image for choosing the reference image centering is the benchmark image, according to the index point respectively in institute
The internal reference matrix for stating the picpointed coordinate and the predetermined camera in two frame described images of reference image pair determines this
Stromal matrix.
Specifically, essential matrix is used to describe to close in the relative position of the moment camera of the two field pictures of shooting reference image pair
System, is determined, the first formula by the first formula are as follows:
mlKEKmr=0,
Wherein, as shown in Figure 3, it is assumed that reference image centering benchmark image is image1, and another image is image2, then mlFor
Picpointed coordinate of one index point in image1, mrFor picpointed coordinate of the index point in image2, K is the internal reference of camera
Matrix, E are essential matrix.
Wherein, the internal reference matrix K of camera can be determined in camera calibration, can be true using existing camera calibration method in advance
Determine the internal reference matrix K of camera, such as Zhang Zhengyou calibration method.
The essential matrix is decomposed, the elements of relative orientation of the reference image pair is obtained, according to the elements of relative orientation
Determine the projection matrix of the benchmark image.
Specifically, decomposition essential matrix, available elements of relative orientation of the reference image centering image2 with respect to image1,
Including three angle elements and three opposite line elements, wherein angle element describes image2 in the corresponding camera coordinates system of image1
Under posture, opposite line element describes coordinate of the photo centre of image2 under the computer picture coordinate system of image1, angle
Element can be combined into spin matrix, and spin matrix can indicate that line element can be combined into translation vector with R, and translation vector can
It is indicated with T, the internal reference matrix K of combining camera is obtained with projection matrix, and projection matrix can be indicated with P, true by the second formula
It is fixed, the second formula are as follows:
Preferably, the three of index point is determined according to the picpointed coordinate of projection matrix P and the index point in benchmark image
Tie up coordinate, wherein picpointed coordinate can be used (u, v) to indicate, (X can be used in the three-dimensional coordinate of index pointw,Yw,Zw) indicate, by third public affairs
Formula is determining, third formula are as follows:
Preferably, after the three-dimensional coordinate of the determination index point the step of, the method also includes walking as follows
It is rapid:
Other described images outside for the benchmark image are based on space resection's method, according to the index point
The picpointed coordinate of the three-dimensional coordinate and the index point in other described images determines the foreign side of other described images
Bit element.
Specifically, space resection is right in the picture with it using the coordinate of known markers point at least three spaces
The picpointed coordinate for three picture points answered, the method for determining an image elements of exterior orientation.Wherein, in the base for restoring elements of interior orientation
On plinth, photographic light flux is determined in the spatial position of photography moment and the parameter of posture, referred to as elements of exterior orientation, for characterizing photography
Light beam is in the spatial position of photography moment, including six parameters, wherein three are line elements, for describing the space of photo centre
Coordinate value, the other three is angle element, for describing the spatial attitude of image.
Preferably, in the three-dimensional coordinate and the index point according to the index point in other described images
Picpointed coordinate the step of determining the elements of exterior orientation of other described images after, the method also includes following steps:
The elements of exterior orientation of other described images is inputted into collinearity equation respectively, obtains multiple collinearity equations to be solved.
Specifically, collinearity equation is expression object point, picture point and projection centre (being usually optical center for image) three
Point is located at the relationship of straight line, and the three-dimensional coordinate of elements of exterior orientation and index point input collinearity equation is solved
Analysis.Collinearity equation is inputted respectively after handling the elements of exterior orientation of other images.Collinearity equation indicates by the 4th formula,
Four formula are as follows:
Wherein, x, y are the picpointed coordinates of index point.
x0、y0, f be image elements of interior orientation.
XS、YS、ZSIt is the exterior orientation line element of image.
XA、YA、ZAIt is the three-dimensional coordinate of index point.
ai、bi、ci(i=1,2,3) be image 3 exterior orientation angle elements composition 9 direction cosines.
Based on bundle adjustment, using the three-dimensional coordinate as initial value, successively all collinearity equations to be solved are carried out
Iterative calculation, obtains the optimal three-dimensional coordinate of the index point.
Specifically, bundle adjustment is to be total to using single image as unit by camera, picture point and its 3 points of corresponding index point
A kind of block adjustment that line principle carries out, the three-dimensional coordinate of elements of exterior orientation and index point is placed in an entirety and is carried out,
Using collinearity equation as mathematical model, the picpointed coordinate of picture point is the nonlinear function of unknown number, according to most after linearisation
Small square law is calculated, and on the basis of providing an approximation, successive iteration levels off to optimal value.
Successively each collinearity equation to be solved is solved, the three-dimensional coordinate of index point is inputted any one first and waits solving
Collinearity equation determines the improvement values of the three-dimensional coordinate of index point by least square method method, whole answer, then three-dimensional is sat
Target improvement values input another collinearity equation to be solved and are calculated, and are successively iterated calculating to needing to be solved collinearity equation,
It is achieved with the optimal three-dimensional coordinate of index point.
As shown in figure 4, a kind of photogrammetric apparatus provided in an embodiment of the present invention, comprising:
Module is obtained, for obtaining the multiple image for the object under test that camera is continuously shot, the object under test surface is pre-
Equipped with multiple index points.
First processing module determines that the picture point exists for extracting picture point corresponding with the index point in described image
Picpointed coordinate in described image is based on the matched method of transition, determines any index point in all frame described images
The picture point.
Second processing module is benchmark image for choosing any one frame described image, is existed respectively according to the index point
The picpointed coordinate in the benchmark image and other described images determines the projection matrix of the benchmark image.
Computing module, for being sat according to the picture point of the projection matrix and the index point in the benchmark image
Mark determines the three-dimensional coordinate of the index point.
Another embodiment of the present invention provides a kind of photogrammetric apparatus include processor and memory.The memory,
For storing computer program.The processor, for when loaded and executed, realizing that photography as described above is surveyed
Amount method.The device can be server etc..
It is stored with computer program on a kind of computer readable storage medium provided in an embodiment of the present invention, when the calculating
When machine program is executed by processor, photogrammetric survey method as described above is realized.
Storage medium mentioned above can be read-only memory, disk or CD etc..
In the description of the present invention, it is to be understood that, term " first ", " second " are used for description purposes only, and cannot
It is interpreted as indication or suggestion relative importance or implicitly indicates the quantity of indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can explicitly or implicitly include at least one of the features.In the description of the present invention, " multiple "
It is meant that at least two, such as two, three etc., unless otherwise specifically defined.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of photogrammetric survey method, which is characterized in that described method includes following steps:
The multiple image for the object under test that camera is continuously shot is obtained, the object under test surface programming there are multiple index points；
Picture point corresponding with the index point in described image is extracted, determines picpointed coordinate of the picture point in described image,
Based on the matched method of transition, the picture point of any index point in all frame described images is determined；
Choosing any one frame described image is benchmark image, according to the index point respectively in the benchmark image and other described
The picpointed coordinate in image determines the projection matrix of the benchmark image；
The index point is determined according to the picpointed coordinate of the projection matrix and the index point in the benchmark image
Three-dimensional coordinate.
2. photogrammetric survey method according to claim 1, which is characterized in that in the extraction described image with the mark
The corresponding picture point of point specifically comprises the following steps:
The picture point in all frame described images is extracted by the method for Boundary Extraction, determines the initial coordinate of the picture point；
Distortion rectification is carried out to the initial coordinate, obtains the picpointed coordinate of the picture point.
3. photogrammetric survey method according to claim 2, which is characterized in that any index point of determination is all
The picture point in described image specifically comprises the following steps:
For any one of index point, first picture point of the index point in first frame image is determined, according to described
One picture point determines second picture point of the index point in the second frame image adjacent with the first frame image, successively all
It is matched in frame described image, determines the picture point of the index point in all frame described images.
4. photogrammetric survey method according to claim 1, which is characterized in that it is described according to the index point respectively in institute
It is described before stating the step of picpointed coordinate in benchmark image and other described images determines the projection matrix of the benchmark image
Method further includes following steps:
Combination of two is carried out to multiframe described image, is obtained multipair as right；
The length and preset threshold for comparing the baseline of the picture pair, the length for choosing the baseline are greater than the institute of the preset threshold
Picture is stated on the basis of as right, wherein the baseline is the line of the photo centre of two frame described images.
5. photogrammetric survey method according to claim 4, which is characterized in that it is described according to the index point respectively described
Picpointed coordinate in benchmark image and other described images determines that the projection matrix of the benchmark image specifically comprises the following steps:
The frame described image for choosing the reference image centering is the benchmark image, according to the index point respectively in the base
The internal reference matrix of the picpointed coordinate and the predetermined camera in two frame described images of quasi- picture pair determines essential square
Battle array；
The essential matrix is decomposed, the elements of relative orientation of the reference image pair is obtained, is determined according to the elements of relative orientation
The projection matrix of the benchmark image.
6. photogrammetric survey method according to any one of claims 1 to 5, which is characterized in that in the determination mark
After the step of three-dimensional coordinate of point, the method also includes following steps:
Other described images outside for the benchmark image are based on space resection's method, according to the index point
The picpointed coordinate of three-dimensional coordinate and the index point in other described images determines foreign side's bit of other described images
Element.
7. photogrammetric survey method according to claim 6, which is characterized in that described according to described the three of the index point
Tie up the elements of exterior orientation that the picpointed coordinate of coordinate and the index point in other described images determines other described images
The step of after, the method also includes following steps:
The elements of exterior orientation of other described images is inputted into collinearity equation respectively, obtains multiple collinearity equations to be solved；
Based on bundle adjustment, using the three-dimensional coordinate as initial value, successively all collinearity equations to be solved are iterated
It calculates, obtains the optimal three-dimensional coordinate of the index point.
8. a kind of photogrammetric apparatus characterized by comprising
Module is obtained, for obtaining the multiple image for the object under test that camera is continuously shot, the object under test surface programming has
Multiple index points；
First processing module determines the picture point described for extracting picture point corresponding with the index point in described image
Picpointed coordinate in image is based on the matched method of transition, determines institute of any index point in all frame described images
State picture point；
Second processing module is benchmark image for choosing any one frame described image, according to the index point respectively described
The picpointed coordinate in benchmark image and other described images determines the projection matrix of the benchmark image；
Computing module, for true according to the picpointed coordinate of the projection matrix and the index point in the benchmark image
The three-dimensional coordinate of the fixed index point.
9. a kind of photogrammetric apparatus, which is characterized in that described device includes processor and memory；
The memory, for storing computer program；
The processor, for when loaded and executed, realizing photography as described in any one of claim 1 to 7
Measurement method.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer program on the storage medium, work as institute
When stating computer program and being executed by processor, photogrammetric survey method as described in any one of claim 1 to 7 is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910527499.4A CN110360991A (en) | 2019-06-18 | 2019-06-18 | A kind of photogrammetric survey method, device and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910527499.4A CN110360991A (en) | 2019-06-18 | 2019-06-18 | A kind of photogrammetric survey method, device and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110360991A true CN110360991A (en) | 2019-10-22 |
Family
ID=68216296
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910527499.4A Pending CN110360991A (en) | 2019-06-18 | 2019-06-18 | A kind of photogrammetric survey method, device and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110360991A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110176035A (en) * | 2019-05-08 | 2019-08-27 | 深圳市易尚展示股份有限公司 | Localization method, device, computer equipment and the storage medium of index point |
| CN110992429A (en) * | 2019-11-12 | 2020-04-10 | 武汉华中天经通视科技有限公司 | Single-scene large-view-field camera external parameter calibration method |
| CN111444595A (en) * | 2020-03-10 | 2020-07-24 | 中国环境科学研究院 | Sewage interception engineering environmental effect evaluation method and device based on SWMM and EFDC coupling model |
| CN112629431A (en) * | 2020-12-14 | 2021-04-09 | 深圳大学 | Civil structure deformation monitoring method and related equipment |
| CN112950717A (en) * | 2019-11-26 | 2021-06-11 | 华为技术有限公司 | Space calibration method and system |
| CN113686308A (en) * | 2021-07-21 | 2021-11-23 | 武汉中观自动化科技有限公司 | Wireless photogrammetry system and measurement method thereof |
| CN113963058A (en) * | 2021-09-07 | 2022-01-21 | 于留青 | On-line calibration method and device for CT (computed tomography) of preset track, electronic equipment and storage medium |
| CN114111624A (en) * | 2021-10-28 | 2022-03-01 | 武汉中观自动化科技有限公司 | Handheld three-dimensional scanning method with mark point projection device, equipment and medium |
| CN114782434A (en) * | 2022-06-20 | 2022-07-22 | 青岛大学附属医院 | Endoscope cooperative target positioning method and system |
| WO2023046211A1 (en) * | 2021-09-27 | 2023-03-30 | 天远三维（天津）科技有限公司 | Photogrammetry method, apparatus and device, and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1963390A (en) * | 2005-11-08 | 2007-05-16 | 李啸炜 | A precision and high efficiency three-dimensional measuring method |
| CN101299270A (en) * | 2008-05-27 | 2008-11-05 | 东南大学 | Multiple video cameras synchronous quick calibration method in three-dimensional scanning system |
| CN102889882A (en) * | 2012-09-03 | 2013-01-23 | 北京信息科技大学 | Three-dimensional reconstruction method based on bundle adjustment |
| CN103839277A (en) * | 2014-02-21 | 2014-06-04 | 北京理工大学 | Mobile augmented reality registration method of outdoor wide-range natural scene |
| CN103854283A (en) * | 2014-02-21 | 2014-06-11 | 北京理工大学 | Mobile augmented reality tracking registration method based on online study |
| CN104809719A (en) * | 2015-04-01 | 2015-07-29 | 华南理工大学 | Virtual view synthesis method based on homographic matrix partition |
| CN105447856A (en) * | 2015-11-17 | 2016-03-30 | 天津工业大学 | Marking point coupling method based on robot motion parameters and characteristic vectors |
| CN106296718A (en) * | 2016-09-22 | 2017-01-04 | 西北工业大学 | Camera array quick calibrating method based on stereoscopic vision navigation system |
-
2019
- 2019-06-18 CN CN201910527499.4A patent/CN110360991A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1963390A (en) * | 2005-11-08 | 2007-05-16 | 李啸炜 | A precision and high efficiency three-dimensional measuring method |
| CN101299270A (en) * | 2008-05-27 | 2008-11-05 | 东南大学 | Multiple video cameras synchronous quick calibration method in three-dimensional scanning system |
| CN102889882A (en) * | 2012-09-03 | 2013-01-23 | 北京信息科技大学 | Three-dimensional reconstruction method based on bundle adjustment |
| CN103839277A (en) * | 2014-02-21 | 2014-06-04 | 北京理工大学 | Mobile augmented reality registration method of outdoor wide-range natural scene |
| CN103854283A (en) * | 2014-02-21 | 2014-06-11 | 北京理工大学 | Mobile augmented reality tracking registration method based on online study |
| CN104809719A (en) * | 2015-04-01 | 2015-07-29 | 华南理工大学 | Virtual view synthesis method based on homographic matrix partition |
| CN105447856A (en) * | 2015-11-17 | 2016-03-30 | 天津工业大学 | Marking point coupling method based on robot motion parameters and characteristic vectors |
| CN106296718A (en) * | 2016-09-22 | 2017-01-04 | 西北工业大学 | Camera array quick calibrating method based on stereoscopic vision navigation system |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110176035A (en) * | 2019-05-08 | 2019-08-27 | 深圳市易尚展示股份有限公司 | Localization method, device, computer equipment and the storage medium of index point |
| CN110176035B (en) * | 2019-05-08 | 2021-09-28 | 深圳市易尚展示股份有限公司 | Method and device for positioning mark point, computer equipment and storage medium |
| CN110992429B (en) * | 2019-11-12 | 2022-04-22 | 武汉华中天经通视科技有限公司 | Single-scene large-view-field camera external parameter calibration method |
| CN110992429A (en) * | 2019-11-12 | 2020-04-10 | 武汉华中天经通视科技有限公司 | Single-scene large-view-field camera external parameter calibration method |
| CN112950717A (en) * | 2019-11-26 | 2021-06-11 | 华为技术有限公司 | Space calibration method and system |
| CN111444595A (en) * | 2020-03-10 | 2020-07-24 | 中国环境科学研究院 | Sewage interception engineering environmental effect evaluation method and device based on SWMM and EFDC coupling model |
| CN111444595B (en) * | 2020-03-10 | 2022-07-19 | 中国环境科学研究院 | Sewage interception engineering environmental effect evaluation method and device based on SWMM and EFDC coupling model |
| CN112629431A (en) * | 2020-12-14 | 2021-04-09 | 深圳大学 | Civil structure deformation monitoring method and related equipment |
| CN113686308A (en) * | 2021-07-21 | 2021-11-23 | 武汉中观自动化科技有限公司 | Wireless photogrammetry system and measurement method thereof |
| CN113963058A (en) * | 2021-09-07 | 2022-01-21 | 于留青 | On-line calibration method and device for CT (computed tomography) of preset track, electronic equipment and storage medium |
| CN113963058B (en) * | 2021-09-07 | 2022-11-29 | 于留青 | On-line calibration method and device for CT (computed tomography) of preset track, electronic equipment and storage medium |
| WO2023046211A1 (en) * | 2021-09-27 | 2023-03-30 | 天远三维（天津）科技有限公司 | Photogrammetry method, apparatus and device, and storage medium |
| CN114111624A (en) * | 2021-10-28 | 2022-03-01 | 武汉中观自动化科技有限公司 | Handheld three-dimensional scanning method with mark point projection device, equipment and medium |
| CN114782434A (en) * | 2022-06-20 | 2022-07-22 | 青岛大学附属医院 | Endoscope cooperative target positioning method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110360991A (en) | A kind of photogrammetric survey method, device and storage medium | |
| CN107194972B (en) | Camera calibration method and system | |
| CN109997170A (en) | For obtaining the device and method of range information from view | |
| CN108510551B (en) | Method and system for calibrating camera parameters under long-distance large-field-of-view condition | |
| CN109785379A (en) | The measurement method and measuring system of a kind of symmetric objects size and weight | |
| CN114004901B (en) | Multi-camera calibration method and device, terminal equipment and readable storage medium | |
| Henrique Brito et al. | Radial distortion self-calibration | |
| CN109211198B (en) | Intelligent target detection and measurement system and method based on trinocular vision | |
| CN107133986B (en) | A kind of camera calibration method based on two-dimensional calibrations object | |
| WO2023046211A1 (en) | Photogrammetry method, apparatus and device, and storage medium | |
| CN107084680A (en) | Target depth measuring method based on machine monocular vision | |
| CN114299156A (en) | Method for calibrating and unifying coordinates of multiple cameras in non-overlapping area | |
| CN112489137A (en) | RGBD camera calibration method and system | |
| Menna et al. | Mitigating image residuals systematic patterns in underwater photogrammetry | |
| CN116957987A (en) | Multi-eye polar line correction method, device, computer equipment and storage medium | |
| Mitchelson et al. | Wand-based multiple camera studio calibration | |
| CN110120012A (en) | The video-splicing method that sync key frame based on binocular camera extracts | |
| CN111681271B (en) | Multichannel multispectral camera registration method, system and medium | |
| Teixeira et al. | Epipolar based light field key-location detector | |
| CN111968182A (en) | Calibration method for binocular camera nonlinear model parameters | |
| RU2692970C2 (en) | Method of calibration of video sensors of the multispectral system of technical vision | |
| CN109377524A (en) | A kind of single image depth recovery method and system | |
| CN100468004C (en) | Calibrating matter automatic extracting method in camera calibration | |
| CN113029108B (en) | Automatic relative orientation method and system based on sequence sea surface images | |
| CN112819900A (en) | Method for calibrating internal azimuth, relative orientation and distortion coefficient of intelligent stereography |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191022 |