CN110879057A - Space measuring and calculating method based on laser and image - Google Patents
Space measuring and calculating method based on laser and image Download PDFInfo
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- CN110879057A CN110879057A CN201811029714.XA CN201811029714A CN110879057A CN 110879057 A CN110879057 A CN 110879057A CN 201811029714 A CN201811029714 A CN 201811029714A CN 110879057 A CN110879057 A CN 110879057A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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Abstract
The invention relates to security monitoring, intelligent building, surveying and mapping and the like, in particular to a space measuring and calculating method. A space measuring and calculating method based on laser and images comprises a laser and a camera carried on an aircraft, and comprises the following steps: the method comprises the following steps of debugging a camera, wherein the measurement of the field angle of the camera, the measurement of the vertical angle and the measurement of the diagonal field angle correspond to the same formula, and the field angle is generally called as V (arctan (X M/N/2/L) × 360/pi; in the actual measuring and calculating step, a laser emits a light pulse to a measured target, the light pulse is received by a laser module after being reflected by the measured target, the flight time T, 2d to cT can be obtained, a measured and calculated image is obtained by utilizing a camera, the distance between two points in the image is calculated, at the moment, d is known, Va and Ha are known, and as for the length Le of the actual object, Lh to 2 to tan (Ha/2) d to Reh/Rh, Lv to 2 to tan (Va/2) d to Rev/Rv,
the invention has the advantages of rapidness, simplicity, convenience, real time and accuracy.
Description
Technical Field
The invention relates to security monitoring, intelligent building, surveying and mapping and the like, in particular to a space measuring and calculating method.
Background
With the development of the unmanned aerial vehicle technology, various identification and mapping functions are integrated on the unmanned aerial vehicle. Generally, a laser, a camera, or the like is used to collect data, and spatial data is obtained through various calculation methods. But because unmanned aerial vehicle airspeed is high, the data of gathering are difficult to in time obtain data because the operation is complicated.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a space measuring and calculating method based on laser and images. The invention has the advantages of rapidness, simplicity, convenience, real time and accuracy.
The invention is realized in such a way, and the space measuring and calculating method based on the laser and the image is characterized by comprising a laser and a camera which are carried on an aircraft, and the method comprises the following steps:
the method comprises the following steps of camera debugging, camera angle measurement and calculation, wherein each camera can calculate a horizontal angle of view Ha, a vertical angle of view Va, a diagonal angle of view Da, a vertical angle of view and a diagonal angle of view under the current focal length, the measurement and calculation of the horizontal angle of view Ha, the vertical angle of view Va, the diagonal angle of view Da, the vertical angle and the diagonal angle of view correspond to the same formula, and the angle
V is arctan (X M/N/2/L) 360/pi, wherein
X is the resolution of the image, X is the horizontal resolution and the horizontal field of view is calculated, X is the vertical resolution and the vertical field of view is calculated,
l is the actual distance from the measured target to the lens, M is the actual distance between two points in the reference object, and N is the number of pixel points between the two points in the reference object in the image;
in the actual measuring and calculating step, the laser emits a light pulse to the measured target, the light pulse is reflected by the measured target and then received by the laser module, the flight time T can be obtained,
c, wherein d is the actual distance between the camera and the actual measured object, T is the flight time, and c is the speed of light;
meanwhile, a camera is used for shooting to obtain a measured image, the distance between two points in the measured image is measured, at the moment, d is known, Va and Ha are known, and as for the length Le of an actual object,
Lh＝2*tan(Ha/2)*d*Reh/Rh,
Lv＝2*tan(Va/2)*d*Rev/Rv,
Rh is the horizontal resolution of the image, Rv is the vertical resolution of the image, Reh is the horizontal pixel between two actual points in the image, Rev is the number of vertical pixels between two points in the image
Lh is the actual distance in the horizontal direction and Lv is the actual distance in the vertical direction.
The laser can emit light pulse, and after the light pulse is reflected by the target to be measured, the actual distance of the measured object can be accurately calculated through the light speed and the flight time. The actual length, width and height of various real objects in the current image can be accurately measured and calculated through the angle of view and the object distance of the image. The method can be used for remote monitoring and real-time measurement and calculation in the fields of construction sites, ports, airport shipping, railway traffic, mountain bridges and the like.
Drawings
Fig. 1 is a schematic diagram of the principle of the present invention.
Detailed Description
As shown in fig. 1, the space estimation method based on laser and image of the present invention is characterized in that it includes a laser and a camera 1 mounted on an aircraft, and includes the following steps:
the method comprises the following steps of camera debugging, camera angle measurement and calculation, wherein each camera can calculate a horizontal angle of view Ha, a vertical angle of view Va, a diagonal angle of view Da, a vertical angle of view and a diagonal angle of view under the current focal length, the measurement and calculation of the horizontal angle of view Ha, the vertical angle of view Va, the diagonal angle of view Da, the vertical angle and the diagonal angle of view correspond to the same formula, and the angle
V is arctan (X M/N/2/L) 360/pi, wherein
X is the resolution of the image, X is the horizontal resolution and the horizontal field of view is calculated, X is the vertical resolution and the vertical field of view is calculated,
l is the actual distance from the measured target to the lens, M is the actual distance between two points in the reference object, and N is the number of pixel points between the two points in the reference object in the image;
in the actual measuring and calculating step, the laser emits a light pulse to the measured target, the light pulse is reflected by the measured target and then received by the laser module, the flight time T can be obtained,
c, wherein d is the actual distance between the camera and the actual measured object, T is the flight time, and c is the speed of light;
meanwhile, a camera is used for shooting to obtain a measured image, the distance between two points in the measured image is measured, at the moment, d is known, Va and Ha are known, and as for the length Le of an actual object,
Lh＝2*tan(Ha/2)*d*Reh/Rh,
Lv＝2*tan(Va/2)*d*Rev/Rv,
Rh is the horizontal resolution of the image, Rv is the vertical resolution of the image, Reh is the horizontal pixel between two actual points in the image, Rev is the number Lh of the vertical pixels between two points in the image, which is the actual distance in the horizontal direction, and Lv is the actual distance in the vertical direction.
Claims (1)
1. A space measuring and calculating method based on laser and images is characterized by comprising a laser and a camera which are carried on an aircraft, and the method comprises the following steps:
the method comprises the following steps of camera debugging, camera angle measurement and calculation, wherein each camera can calculate a horizontal angle of view Ha, a vertical angle of view Va, a diagonal angle of view Da, a vertical angle of view and a diagonal angle of view under the current focal length, the measurement and calculation of the horizontal angle of view Ha, the vertical angle of view Va, the diagonal angle of view Da, the vertical angle and the diagonal angle of view correspond to the same formula, and the angle
V is arctan (X M/N/2/L) 360/pi, wherein
X is the resolution of the image, X is the horizontal resolution and the horizontal field of view is calculated, X is the vertical resolution and the vertical field of view is calculated,
l is the actual distance from the measured target to the lens, M is the actual distance between two points in the reference object, and N is the number of pixel points between the two points in the reference object in the image;
actually measuring and calculating, wherein the laser emits a light pulse to the measured target, the light pulse is received by a receiving module of the laser after being reflected by the measured object, the flight time T can be obtained,
c, wherein d is the actual distance between the camera and the actual measured object, T is the flight time, and c is the speed of light;
meanwhile, a camera is used for shooting to obtain a measured image, the distance between two points in the measured image is measured, at the moment, d is known, Va and Ha are known, and as for the length Le of an actual object,
Lh＝2*tan(Ha/2)*d*Reh/Rh,
Lv＝2*tan(Va/2)*d*Rev/Rv,
Rh is the horizontal resolution of the image, Rv is the vertical resolution of the image, Reh is the horizontal pixel between two actual points in the image, and Rev is the number of vertical pixels between two points in the image;
lh is the actual distance in the horizontal direction and Lv is the actual distance in the vertical direction.
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| CN201811029714.XA CN110879057B (en) | 2018-09-05 | 2018-09-05 | Space measuring and calculating method based on laser and image |
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| CN201811029714.XA CN110879057B (en) | 2018-09-05 | 2018-09-05 | Space measuring and calculating method based on laser and image |
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| CN110879057A true CN110879057A (en) | 2020-03-13 |
| CN110879057B CN110879057B (en) | 2021-06-22 |
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Citations (5)
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| US20080075326A1 (en) * | 2006-09-25 | 2008-03-27 | Kabushiki Kaisha Topcon | Surveying method, surveying system and surveying data processing program |
| CN102445183A (en) * | 2011-10-09 | 2012-05-09 | 福建汇川数码技术科技有限公司 | Apparatus of ranging laser point of remote ranging system and positioning method based on paralleling of laser and camera |
| CN102980517A (en) * | 2012-11-15 | 2013-03-20 | 天津市亚安科技股份有限公司 | Monitoring measurement method |
| CN103852060A (en) * | 2014-03-19 | 2014-06-11 | 哈尔滨工业大学 | Visible light image distance measuring method based on monocular vision |
| CN107247458A (en) * | 2017-05-24 | 2017-10-13 | 中国电子科技集团公司第二十八研究所 | UAV Video image object alignment system, localization method and cloud platform control method |
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2018
- 2018-09-05 CN CN201811029714.XA patent/CN110879057B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080075326A1 (en) * | 2006-09-25 | 2008-03-27 | Kabushiki Kaisha Topcon | Surveying method, surveying system and surveying data processing program |
| CN102445183A (en) * | 2011-10-09 | 2012-05-09 | 福建汇川数码技术科技有限公司 | Apparatus of ranging laser point of remote ranging system and positioning method based on paralleling of laser and camera |
| CN102980517A (en) * | 2012-11-15 | 2013-03-20 | 天津市亚安科技股份有限公司 | Monitoring measurement method |
| CN103852060A (en) * | 2014-03-19 | 2014-06-11 | 哈尔滨工业大学 | Visible light image distance measuring method based on monocular vision |
| CN107247458A (en) * | 2017-05-24 | 2017-10-13 | 中国电子科技集团公司第二十八研究所 | UAV Video image object alignment system, localization method and cloud platform control method |
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