CN113686313B - Real-time measurement method and system for coal rock geological image - Google Patents
Real-time measurement method and system for coal rock geological image Download PDFInfo
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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
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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
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- G06T7/50—Depth or shape recovery
- G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
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Abstract
The invention belongs to the technical field of geological logging, and particularly relates to a real-time measurement method and system for coal and rock geological images, which comprise front-end acquisition equipment and an image logging platform, wherein the image logging platform comprises an image extraction module, a parameter setting module, a relative orientation module, an absolute orientation module, a epipolar image generation module, an image dense matching module and a three-dimensional image logging module, the acquisition of underground coal mine images is completed by the front-end acquisition equipment, the automatic processing of the images is realized by the cooperation of the modules in the image logging platform, the corresponding three-dimensional images are automatically obtained, the artificial operation is subtracted, and the problem of poor real-time measurement of the coal and rock geological images is solved.
Description
Technical Field
The invention belongs to the technical field of geological logging, and particularly relates to a method and a system for measuring coal rock geological images in real time.
Background
The geological logging work is an important basic technical work for supporting the safe and efficient production of coal mines, timely, accurately and objectively records the geological phenomenon continuously disclosed in the mining engineering, screens and processes useful geological information, researches geological conditions and change rules thereof, provides scientific and reliable geological information for the safe production of the coal mines, and is the fundamental requirement of modern coal mines on geological work.
In the process of performing geological logging, the traditional manual operation module is replaced by geological logging digitization, so that the underground coal mine information of the whole geological logging process is more accurate and visual, and meanwhile, the obtained proportion is more accurate.
However, when the existing geological logging system is used for carrying out geological logging under the coal mine, the time for completing the data processing process after shooting under the coal mine at the front end is long, the data is required to be manually recorded in several steps, and meanwhile, the starting of each step is required to be manually carried out, so that the whole processing process is long, and the real situation under the coal mine cannot be reacted at the first time.
Based on the above, a method and a system for measuring the geological image of the coal and rock in real time are needed to solve the problem of poor real-time property in the measurement of the geological image of the coal and rock.
Disclosure of Invention
The invention aims to provide a method and a system for measuring coal rock geological images in real time, which are used for solving the problem of poor real-time performance in measuring the coal rock geological images.
In order to achieve the above object, the present invention provides a real-time measurement system for geological images of coal and rock, comprising:
front-end acquisition equipment and an image cataloging platform;
the front-end acquisition equipment comprises a microcontroller, two cameras which are arranged in parallel, a laser transmitter arranged at the middle position of the two cameras, and a vertical semitransparent plate arranged between the laser transmitter and the coal wall; the microcontroller is used for controlling the two cameras to adjust the shooting angle and shooting distance of the coal wall and generating corresponding coal wall parameters, wherein the coal wall parameters comprise left-right movement displacement, forward-backward movement displacement, up-down rotation angle, laser azimuth angle and plumb line length;
the laser starting point A of the laser transmitter irradiates the vertical semitransparent plate and the coal wall respectively, and the irradiation points are B and C respectively; the irradiation angle of the laser emitter is consistent with the shooting angle of the camera;
the microcontroller is also used for calculating coordinates of the point B after the parameters of the coal wall are determined;
the image cataloging platform comprises an image extraction module, a parameter setting module, a relative orientation module, an absolute orientation module, a epipolar image generation module, an image dense matching module and a stereoscopic image cataloging module;
the image extraction module is used for extracting the current original images of the two cameras respectively;
the parameter setting module is used for automatically generating corresponding camera parameters according to the models of the two cameras, and carrying out distortion correction on the current original images obtained by the two cameras respectively to obtain corrected images;
the system is also used for automatically recording the corresponding laser azimuth angle and plumb line length;
the relative orientation module is used for automatically extracting homonymous points B and C in the two photos by utilizing an algorithm according to the corrected image obtained in the camera parameter setting step to obtain the relative coordinates of each image point;
the absolute orientation module is used for automatically finding the upper end point and the lower end point of the B, C points and the plumb lines in the image through an image recognition algorithm, inputting the calculated coordinates of the points B, and then calling the recorded laser azimuth angle and the plumb line length in the parameter setting module to obtain the absolute coordinates of each image point;
the epipolar line image generation module: according to the absolute coordinates of each image point obtained in the step of shooting absolute orientation, matching of homonymous points is converted from two-dimensional searching to one-dimensional searching by utilizing a epipolar theory, and epipolar images are formed;
the image density matching module is used for performing image dense matching according to the obtained epipolar line images and obtaining corresponding parallax images;
and the stereoscopic image recording module is used for calculating a corresponding depth value according to the obtained parallax image and calculating three-dimensional coordinates so as to form a three-dimensional stereoscopic image.
The principle and effect of this scheme are: the method comprises the steps of acquiring images of a coal wall through two cameras at the front end, extracting corresponding current image information by using an image cataloging platform after determining shooting positions, automatically correcting distortion of the current image information, finding out relative coordinates and absolute coordinates of each image point by only filling in corresponding camera models, and carrying out three-dimensional correction on the images according to the information, and then automatically generating a corresponding three-dimensional stereogram. According to the method and the device, automation of coal rock geological stereoscopic image recording is achieved through each module of the image recording platform, manual numerical input and starting of a process are not needed, the time for the whole stereoscopic image recording is shorter, the time for obtaining the three-dimensional stereoscopic image is faster, the real situation of a coal mine underground can be known at the first time, and therefore the problem of poor real-time performance during coal rock geological image measurement is solved.
Further, the device also comprises a section generating module for automatically generating a corresponding two-dimensional section according to the three-dimensional perspective view. The generation of the two-dimensional sectional view can enable a worker to more intuitively know the whole coal mine well, and is convenient for the worker to observe.
Further, the camera parameters include distortion correction parameters, internal azimuth elements, and pixels.
The setting of the distortion correction parameters completes the distortion correction of the pair.
Further, the distance between the point A and the point B and the length of the vertical semitransparent plate are both constant.
The overall calculation is made more convenient by the constant setting of these values.
The invention also provides a real-time measurement method of the coal rock geological image, which comprises the following steps:
front end acquisition: the microcontroller controls the two cameras of the front-end acquisition equipment to adjust shooting angles and shooting distances, and confirmation of the measurement positions is completed, namely coal wall parameters for measuring the angles of the current positions are confirmed; meanwhile, real-time video monitoring is carried out after the measuring position is determined, wherein the coal wall parameters comprise left-right movement displacement, front-back movement displacement, up-down rotation angle, laser azimuth angle and plumb line length; meanwhile, the microcontroller is also used for calculating the coordinates of the point B irradiated by the laser transmitter on the vertical transparent plate after the coal wall parameters are determined;
an image extraction step: extracting current original images of the two cameras;
setting camera parameters: according to the model numbers of the two cameras, corresponding camera parameters are automatically generated, and distortion correction is carried out on the pair of cameras to obtain a corrected image;
entering parameters of a shooting station: automatically inputting the corresponding laser azimuth angle and plumb line length;
a camera shooting relative orientation step: according to the corrected image obtained in the camera parameter setting step, homonymous points B and C in the two pictures are automatically extracted by utilizing an algorithm, and the relative coordinates of each image point are obtained;
an absolute orientation step of photographing: automatically finding the upper end point and the lower end point of B, C points and plumb lines in an image through an image recognition algorithm, simultaneously inputting calculated coordinates of the points B, and then calling the recorded laser azimuth angle and plumb line length in the recording step of the shooting parameters to obtain absolute coordinates of each image point;
generating a epipolar line image: according to the absolute coordinates of each image point obtained in the step of shooting absolute orientation, matching of homonymous points is converted from two-dimensional searching to one-dimensional searching by utilizing a epipolar theory, and epipolar images are formed;
and (3) image dense matching: performing image dense matching according to the obtained epipolar line images, and obtaining corresponding parallax images;
a step of three-dimensional image recording: and calculating a corresponding depth value according to the obtained parallax image and calculating three-dimensional coordinates, so as to form a three-dimensional stereogram.
The principle and effect of this scheme are: the method comprises the steps of shooting a coal wall by using two cameras of front-end acquisition equipment to acquire images of the coal wall, automatically correcting distortion of the current images according to the types of different cameras, automatically carrying out relative orientation and absolute orientation of each image point after correction, and automatically generating a three-dimensional stereogram after three-dimensional stereogram by using nuclear line image generation and density matching to enable the orientations to be more accurate. According to the method, after the image of the coal wall is acquired, various processing is automatically carried out on the image to obtain the corresponding three-dimensional stereogram, all steps are automatically carried out, manual operation is reduced, meanwhile, the generation speed of the coal-rock geological image is also increased, and therefore the problem that the real-time performance is poor when the coal-rock geological image is measured is solved.
Further, the method also comprises a section generating step: and calculating according to the three-dimensional stereogram to obtain a corresponding two-dimensional profile.
By two-dimension of the three-dimensional stereogram, the staff can have overall knowledge of coal and rock geology at the first time.
Further, the camera parameters include distortion correction parameters, internal azimuth elements and pixels, and each camera model has corresponding camera parameters.
And the distortion correction of the image pair is realized through the setting of distortion correction parameters.
Drawings
FIG. 1 is a logic block diagram of a real-time measurement system for geologic images of coal and rock according to an embodiment of the invention.
Detailed Description
The following is a further detailed description of the embodiments:
example 1
An embodiment is basically as shown in fig. 1, and the present embodiment provides a real-time measurement system for geological images of coal and rock, which includes a front-end acquisition device and an image recording platform.
The front-end acquisition equipment comprises a microcontroller, two cameras which are arranged in parallel, a laser transmitter which is arranged at the middle position of the two cameras, and a vertical semitransparent plate which is arranged right in front of the laser transmitter. The microcontroller is used for controlling the shooting angles and shooting distances of the two cameras to be adjusted, and corresponding coal wall parameters are generated. The coal wall parameters include left-right displacement, forward-backward displacement, up-down rotation angle, laser azimuth angle and plumb line length. The irradiation angle of the laser transmitter is consistent with the shooting angle of the camera, the point A of the laser starting point of the laser transmitter irradiates the corresponding vertical semitransparent plate and the coal wall respectively, the irradiation point is the point B and the point C respectively, the distance between the point A and the point B is constant, and the length of the vertical transparent plate is also a constant value.
After the shooting positions and angles of the two cameras are determined, the coal wall parameters are determined, and then the microcontroller calculates the coordinates of the point B irradiated by the laser transmitter on the vertical transparent plate.
In the embodiment, the two cameras display monitoring videos with two visual angles at ordinary times, wherein the left-right movement displacement is Deltax, the front-back movement displacement is Deltay, the up-down rotation angle is alpha, the laser azimuth angle is beta, the plumb line length is the length of a vertical semitransparent plate, and n is shown in the specification; the distance between A and B is m.
The image cataloging platform comprises an image extraction module, a parameter setting module, a relative orientation module, an absolute orientation module, a epipolar image generation module, an image dense matching module and a stereoscopic image cataloging module.
And the image extraction module is used for extracting the current original images of the two cameras respectively. In this embodiment, the image extraction module automatically establishes a working area according to the coal wall parameters generated by the microcontroller after receiving the signal of the completion of the adjustment of the microcontroller, and then extracts the current original images of the two cameras. In this embodiment, the working area includes Δx, Δy, α, β at that time. In this embodiment, the extracted current original image is automatically numbered according to the name, position and date of the roadway.
And the parameter setting module is used for automatically generating corresponding camera parameters according to the models of the two cameras, and carrying out distortion correction on the current original images obtained by the two cameras respectively to obtain corrected images. By selecting the models of the two cameras, corresponding camera parameters are automatically matched, wherein the camera parameters comprise distortion correction parameters, internal azimuth elements and pixels. The setting of the distortion correction parameters will make distortion correction on the current original image to obtain the corrected image.
And the device is also used for automatically recording the corresponding laser azimuth angle and plumb line length.
And the relative orientation module is used for automatically extracting homonymous points B and C in the two photos by utilizing an algorithm according to the corrected image obtained in the camera parameter setting step to obtain the relative coordinates of each image point. The algorithm used in this embodiment is SIFT. In this embodiment, the relative orientation is the relative azimuth element of the solution pair; extracting homonymous points, namely points of the same object on two photos, wherein the points form lines to obtain homonymous projection rays, the homonymous projection rays are intersected in pairs in respective nuclear planes, namely the homonymous projection rays and a base line are supposed to be coplanar, and a coplanar condition equation is obtained under the condition; solving the equation to obtain the relative position change parameters of the two photos, namely external azimuth elements; then, the coordinates of the corresponding model points can be calculated by using the image coordinates of the inner azimuth element, the outer azimuth element and the homonymous image points (homonymous points automatically extracted by using the SIFT algorithm) of the two photos, and the relative coordinates of each image point are obtained.
And the absolute orientation module is used for automatically finding the upper end point and the lower end point of the B, C points and the plumb lines in the image through an image recognition algorithm, inputting the calculated coordinates of the points B, and then calling the recorded laser azimuth angle and the plumb line length in the parameter setting module to obtain the absolute coordinates of each image point. In this embodiment, absolute coordinates of each image point can be obtained by absolute orientation, the upper and lower end points of B, C points and plumb lines in the image are found, the calculated coordinates of the point B are input, the azimuth angle β of the laser is called to obtain the azimuth angle BC, the directions of the x and y axes, that is, the east and north directions in the geodetic coordinate system, the direction of the plumb line is determined to be the upper direction, the length n of the plumb line can be determined to be a scale, for example, the plumb line=2 meters is obtained by the original relative orientation, n=1 meter is input in the parameter setting module, and the distance of the whole model is reduced to 1/2 in equal proportion. And inputting a real absolute coordinate point after the coordinate system and the real distance between the image points exist, so that the three-dimensional coordinate points of the objects corresponding to all the image points can be obtained.
The epipolar line image generation module: and according to the absolute coordinates of each image point obtained in the image capturing absolute orientation step, converting matching of homonymous points from two-dimensional searching to one-dimensional searching by using a epipolar theory, and forming epipolar images. And the same name points in the images are transversely aligned through the generation of the epipolar line images.
And the image density matching module is used for carrying out image dense matching according to the obtained epipolar line images and obtaining corresponding parallax images. In this embodiment, the calculation of the disparity map is performed by using the BM stereo matching algorithm.
And the stereoscopic image recording module is used for calculating a corresponding depth value according to the obtained parallax image and calculating three-dimensional coordinates so as to form a three-dimensional stereoscopic image.
And the section drawing generation module is used for automatically generating a corresponding two-dimensional section drawing according to the three-dimensional perspective drawing.
The shooting angles and shooting distances of the two cameras are adjusted through the microcontroller, and at the moment, laser points of the laser transmitter, which irradiate the vertical transparent plate and the coal wall, are respectively a point B and a point C; because the distance from the point B to the emitting point of the laser emitter is a constant value, the corresponding left-right movement displacement, front-back movement displacement, up-down rotation angle and laser azimuth angle are also known according to the adjustment of the microcontroller, and the coordinates of the point B are calculated by the microcontroller under the assumption that the one-to-one correspondence is delta x, delta y, alpha and beta.
When determining that image measurement is to be carried out, automatically establishing working areas (delta x, delta y, alpha, beta) through coal wall parameters generated by a microcontroller, extracting respective current original images of two cameras, and selecting the model of the camera after extracting so as to match the corresponding camera parameters to complete distortion correction of the current original images and obtain corrected images. The laser azimuth angle and plumb line length in the coal wall parameters are then entered into the system.
After the above is completed, the relative orientation and the absolute orientation of the image are sequentially carried out, so that the coordinates of each image point in the image are determined. And simultaneously, the three-dimensional correction of the whole image is completed through the matching of the epipolar image and the image density, a corresponding parallax image is obtained, a basis is provided for the calculation of the three-dimensional coordinates, a three-dimensional image is finally formed, and a corresponding two-dimensional section image is obtained according to the three-dimensional image.
The embodiment also provides a real-time measurement method for the geological image of the coal rock, which comprises the following steps:
front end acquisition: the microcontroller controls the two cameras of the front-end acquisition equipment to adjust shooting angles and shooting distances, and confirmation of the measurement positions is completed, namely coal wall parameters for measuring the angles of the current positions are confirmed; and meanwhile, real-time video monitoring is carried out after the measuring position is determined, and the coal wall parameters comprise left-right movement displacement, front-back movement displacement, up-down rotation angle, laser azimuth angle and plumb line length. At the same time, the microcontroller is also used for calculating the coordinates of the point B irradiated by the laser transmitter on the vertical transparent plate after the coal wall parameters are determined.
An image extraction step: and automatically establishing a working area according to the coal wall parameters obtained from the measuring positions, and then extracting the current original images of the two cameras.
Setting camera parameters: and automatically generating corresponding camera parameters according to the models of the two cameras, and correcting the distortion of the image pair to obtain a corrected image. After the model of the camera is selected, camera parameters matched with the model of the camera are automatically generated, wherein the camera parameters comprise distortion correction parameters, internal azimuth elements and pixels. Wherein the distortion correction parameters are used to complete the distortion correction of the current original image.
Entering parameters of a shooting station: and automatically recording the corresponding laser azimuth angle and plumb line length.
A camera shooting relative orientation step: and according to the corrected image obtained in the camera parameter setting step, automatically extracting homonymous points B and C in the two pictures by using a SIFT algorithm, and obtaining the relative coordinates of each image point. In the step, homonymous points are extracted, namely points of the same object on two photos, the points form lines to obtain homonymous projection rays, the homonymous projection rays are intersected in pairs in respective nuclear planes, namely the homonymous projection rays and a base line are supposed to be coplanar, and a coplanar condition equation is obtained under the condition; solving the equation to obtain the relative position change parameters of the two photos, namely external azimuth elements; then, the coordinates of the corresponding model points can be calculated by using the image coordinates of the inner azimuth element, the outer azimuth element and the homonymous image points (homonymous points automatically extracted by using the SIFT algorithm) of the two photos, and the relative coordinates of each image point are obtained. Wherein the internal orientation element is invoked from the camera parameters in the camera parameter setting step.
An absolute orientation step of photographing: and automatically finding the upper and lower end points of B, C points and plumb lines in the image through an image recognition algorithm, simultaneously inputting the calculated coordinates of the point B, and then calling the recorded laser azimuth angle and plumb line length in the recording step of the shooting parameters to obtain the absolute coordinates of each image point.
Generating a epipolar line image: and according to the absolute coordinates of each image point obtained in the image capturing absolute orientation step, converting matching of homonymous points from two-dimensional searching to one-dimensional searching by using a epipolar theory, and forming epipolar images.
And (3) image dense matching: and performing image dense matching according to the obtained epipolar line images, and obtaining a corresponding parallax image.
A step of three-dimensional image recording: and calculating a corresponding depth value according to the obtained parallax image and calculating three-dimensional coordinates, so as to form a three-dimensional stereogram.
A section generating step: and calculating according to the three-dimensional stereogram to obtain a corresponding two-dimensional profile.
The foregoing is merely an embodiment of the present invention, the present invention is not limited to the field of this embodiment, and the specific structures and features well known in the schemes are not described in any way herein, so that those skilled in the art will know all the prior art in the field before the application date or priority date, and will have the capability of applying the conventional experimental means before the date, and those skilled in the art may, in light of the teaching of this application, complete and implement this scheme in combination with their own capabilities, and some typical known structures or known methods should not be an obstacle for those skilled in the art to practice this application. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present invention, and these should also be considered as the scope of the present invention, which does not affect the effect of the implementation of the present invention and the utility of the patent. The protection scope of the present application shall be subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.
Claims (7)
1. The utility model provides a coal petrography geology image real-time measurement system which characterized in that includes:
front-end acquisition equipment and an image cataloging platform;
the front-end acquisition equipment comprises a microcontroller, two cameras which are arranged in parallel, a laser transmitter arranged at the middle position of the two cameras, and a vertical semitransparent plate arranged between the laser transmitter and the coal wall; the microcontroller is used for controlling the shooting angles and shooting distances of the two cameras and generating corresponding coal wall parameters, wherein the coal wall parameters comprise left-right movement displacement, front-back movement displacement, up-down rotation angle, laser azimuth angle and plumb line length;
the laser starting point A of the laser transmitter irradiates the vertical semitransparent plate and the coal wall respectively, and the irradiation points are B and C respectively; the irradiation angle of the laser transmitter is consistent with the shooting angle of the camera;
the microcontroller is also used for calculating coordinates of the point B after the parameters of the coal wall are determined;
the image cataloging platform comprises an image extraction module, a parameter setting module, a relative orientation module, an absolute orientation module, a epipolar image generation module, an image dense matching module and a stereoscopic image cataloging module;
the image extraction module is used for extracting the current original images of the two cameras respectively;
the parameter setting module is used for automatically generating corresponding camera parameters according to the models of the two cameras, and carrying out distortion correction on the current original images obtained by the two cameras respectively to obtain corrected images;
the system is also used for automatically recording the corresponding laser azimuth angle and plumb line length;
the relative orientation module is used for automatically extracting homonymous points B and C in the two pictures by utilizing an algorithm according to the obtained correction image to obtain the relative coordinates of each image point;
the absolute orientation module is used for automatically finding the upper end point and the lower end point of the B, C points and the plumb lines in the image through an image recognition algorithm, inputting the calculated coordinates of the points B, and then calling the recorded laser azimuth angle and the plumb line length in the parameter setting module to obtain the absolute coordinates of each image point;
the epipolar line image generation module: according to the obtained absolute coordinates of each image point, matching of homonymous points is converted from two-dimensional searching to one-dimensional searching by using a epipolar theory, and epipolar images are formed;
the image density matching module is used for performing image dense matching according to the obtained epipolar line images and obtaining corresponding parallax images;
and the stereoscopic image recording module is used for calculating a corresponding depth value according to the obtained parallax image and calculating three-dimensional coordinates so as to form a three-dimensional stereoscopic image.
2. The coal petrography geological imaging real-time measurement system of claim 1, wherein: the system also comprises a section drawing generation module which is used for automatically generating a corresponding two-dimensional section drawing according to the three-dimensional stereogram.
3. The coal petrography geological imaging real-time measurement system of claim 2, wherein: the camera parameters include distortion correction parameters, internal azimuth elements and pixels.
4. The coal petrography geological image real-time measurement system according to claim 3, wherein: the distance between the point A and the point B and the length of the vertical semitransparent plate are constant.
5. A method for measuring the geological image of coal and rock in real time, which uses the system for measuring the geological image of the coal and rock according to any one of the claims 1 to 4, and is characterized by comprising the following steps:
front end acquisition: the microcontroller controls the two cameras of the front-end acquisition equipment to adjust shooting angles and shooting distances, and confirmation of the measurement positions is completed, namely coal wall parameters for measuring the angles of the current positions are confirmed; meanwhile, real-time video monitoring is carried out after the measuring position is determined, wherein the coal wall parameters comprise left-right movement displacement, front-back movement displacement, up-down rotation angle, laser azimuth angle and plumb line length; meanwhile, after the microcontroller determines the parameters of the coal wall, the microcontroller calculates the coordinates of the point B irradiated by the laser transmitter on the vertical transparent plate;
an image extraction step: extracting current original images of the two cameras;
setting camera parameters: according to the model numbers of the two cameras, corresponding camera parameters are automatically generated, and distortion correction is carried out on the pair of cameras to obtain a corrected image;
entering parameters of a shooting station: automatically inputting the corresponding laser azimuth angle and plumb line length;
a camera shooting relative orientation step: according to the corrected image obtained in the camera parameter setting step, homonymous points B and C in the two pictures are automatically extracted by utilizing an algorithm, and the relative coordinates of each image point are obtained;
an absolute orientation step of photographing: automatically finding the upper end point and the lower end point of B, C points and plumb lines in an image through an image recognition algorithm, simultaneously inputting calculated coordinates of the points B, and then calling the recorded laser azimuth angle and plumb line length in the recording step of the shooting parameters to obtain absolute coordinates of each image point;
generating a epipolar line image: according to the absolute coordinates of each image point obtained in the step of shooting absolute orientation, matching of homonymous points is converted from two-dimensional searching to one-dimensional searching by utilizing a epipolar theory, and epipolar images are formed;
and (3) image dense matching: performing image dense matching according to the obtained epipolar line images, and obtaining corresponding parallax images;
a step of three-dimensional image recording: and calculating a corresponding depth value according to the obtained parallax image and calculating three-dimensional coordinates, so as to form a three-dimensional stereogram.
6. The method for measuring the geologic image of coal and rock according to claim 5, wherein:
the method further comprises the step of generating the sectional view: and calculating according to the three-dimensional stereogram to obtain a corresponding two-dimensional profile.
7. The method for measuring the geologic image of coal and rock according to claim 6, wherein: the camera parameters comprise distortion correction parameters, internal azimuth elements and pixels, and each camera model is provided with corresponding camera parameters.
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| CN202111004451.9A CN113686313B (en) | 2021-08-30 | 2021-08-30 | Real-time measurement method and system for coal rock geological image |
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| CN202111004451.9A CN113686313B (en) | 2021-08-30 | 2021-08-30 | Real-time measurement method and system for coal rock geological image |
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| JP2012058076A (en) * | 2010-09-09 | 2012-03-22 | 3D Media Co Ltd | Three-dimensional measurement device and three-dimensional measurement method |
| CN103093388A (en) * | 2013-02-01 | 2013-05-08 | 河海大学 | Photography geological record system based on tunnel face |
| CN109375275A (en) * | 2018-09-03 | 2019-02-22 | 山东大学 | Suitable for constructing tunnel phase advance geologic prediction data collection system and method |
| CN110319816A (en) * | 2018-03-29 | 2019-10-11 | 上海勘测设计研究院有限公司 | Geological record system based on photogrammetric technology and edit and record method |
| CN112066951A (en) * | 2020-09-11 | 2020-12-11 | 中煤科工集团重庆研究院有限公司 | Geological recording system based on photogrammetry technology |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2012058076A (en) * | 2010-09-09 | 2012-03-22 | 3D Media Co Ltd | Three-dimensional measurement device and three-dimensional measurement method |
| CN103093388A (en) * | 2013-02-01 | 2013-05-08 | 河海大学 | Photography geological record system based on tunnel face |
| CN110319816A (en) * | 2018-03-29 | 2019-10-11 | 上海勘测设计研究院有限公司 | Geological record system based on photogrammetric technology and edit and record method |
| CN109375275A (en) * | 2018-09-03 | 2019-02-22 | 山东大学 | Suitable for constructing tunnel phase advance geologic prediction data collection system and method |
| CN112066951A (en) * | 2020-09-11 | 2020-12-11 | 中煤科工集团重庆研究院有限公司 | Geological recording system based on photogrammetry technology |
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