CN116342712A - Method, medium and equipment for calibrating on-orbit distortion coefficient of space camera based on vanishing point consistency - Google Patents
Method, medium and equipment for calibrating on-orbit distortion coefficient of space camera based on vanishing point consistency Download PDFInfo
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Abstract
The invention relates to a vanishing point consistency-based space camera on-orbit distortion coefficient calibration method, medium and equipment, which are used for solving the technical problems that a high-precision target is difficult to acquire, calibration instantaneity is poor and the like in the on-orbit calibration process of a camera distortion coefficient in a space environment. The method comprises the following steps: 1. acquiring an image of a solar sailboard on a target spacecraft at any position; 2. selecting a parallel line group at the position close to the distortion center of the image, extracting corner points close to the distortion center on the parallel line group, and solving the optimal vanishing point; 3. extracting corner points far from the distortion center on the same parallel line group, solving distortion vanishing points, and establishing a distortion coefficient solving objective function; 4. solving each distortion coefficient, judging whether iteration converges or not, and ending if the iteration converges; if the iteration is not converged, executing the step 5; 5. updating the corner points close to the distortion center and the corner points far from the distortion center until iteration converges, and completing the calibration of the on-orbit distortion coefficient.
Description
Technical Field
The invention relates to a calibration method for calibrating a distortion coefficient of a space camera, in particular to a calibration method, medium and equipment for calibrating an on-orbit distortion coefficient of the space camera based on vanishing point consistency.
Background
The accurate measurement of the relative position and the gesture (commonly called as gesture) of the space target is a key for finishing on-orbit maintenance and other heavy space tasks, and the gesture measurement method based on machine vision has the advantages of small volume, light weight, low cost and the like because of the relative simplicity and reliability of the system, and is widely applied to the field of the gesture measurement of the space target. And the on-orbit real-time calibration of the machine vision system is performed, so that accurate internal and external parameter information is obtained, and the on-orbit real-time calibration is a precondition of a pose measurement method based on machine vision. However, for some spatial applications requiring high precision, or spatial wide angle cameras, the commonly used pinhole model has not been able to accurately describe the camera imaging process, especially when the spatial camera needs to withstand the mechanical and thermal environments of severe spatial for a long period of time, and in-orbit calibration of its distortion coefficients must be considered. A great deal of research work is carried out in the field at home and abroad, however, the existing research and technology often needs to use a specific target (such as a checkerboard and the like) to calibrate the distortion coefficient of a camera, or needs to acquire a plurality of images of the target, but in a space environment, the target with high precision cannot be provided, and in addition, in consideration of instantaneity, a plurality of images of the target cannot be provided, so that the existing camera distortion coefficient calibration method cannot meet the requirement of on-orbit calibration of the distortion coefficient of the camera in space tasks in increasingly complex environments.
Disclosure of Invention
The invention provides a method, medium and equipment for calibrating on-orbit distortion coefficients of a space camera based on vanishing point consistency, aiming at solving the technical problems that the camera distortion coefficients are difficult to acquire and the calibration instantaneity is poor in the on-orbit calibration process of the camera distortion coefficients under the space environment.
The technical scheme provided by the invention is as follows:
the method for calibrating the on-orbit distortion coefficient of the space camera based on vanishing point consistency is characterized by comprising the following steps:
s1, acquiring an image of any position of a solar sailboard, wherein the solar sailboard is arranged on a target spacecraft;
s2, acquiring a distortion center on the image in the step S1, and selecting a parallel line group at a position close to the distortion center, wherein the parallel line group comprises at least three parallel lines;
extracting angular points on the parallel line groups, which are close to the distortion center, and solving the optimal vanishing points V ' (x ', y ') of the parallel line groups according to the co-point collineation constraint;
s3, extracting angular points far away from the distortion center on the same parallel line group in the step S2, and solving distortion vanishing points V * (x * ,y * ) And according to the vanishing point consistency constraint, establishing a distortion coefficient solving objective function, and the distortion coefficient solving objective function E (k) 1 ,k 2 ,k 3 ,p 1 ,p 2 ) The formula is as follows:
E(k 1 ,k 2 ,k 3 ,p 1 ,p 2 )＝||V * [x * (k 1 ,k 2 ,k 3 ,p 1 ,p 2 ),y * (k 1 ,k 2 ,k 3 ,p 1 ,p 2 )]-V′(x′,y′)||
wherein k is 1 ,k 2 ,k 3 ,p 1 ,p 2 To be optimized for the distortion coefficient, k 1 For first order radial distortion coefficient, k 2 Is the second order radial distortion coefficient, k 3 Is the third-order radial distortion coefficient, p 1 First order tangential distortion coefficient, p 2 Is a second order tangential distortion coefficient;
s4, solving each distortion coefficient k by adopting an LM optimization algorithm 1 ,k 2 ,k 3 ,p 1 ,p 2 Judging whether the iteration is converged or not, if the iteration is not converged, returning to the step S2, and updating the corner points close to the distortion center and the corner points far from the distortion center; and if the iteration converges, obtaining a final distortion coefficient, and finishing the calibration of the on-orbit distortion coefficient.
Further, in step S2, the solving of the optimal vanishing point V ' (x ', y ') of the parallel line group is specifically:
according to the angular points, which are close to the distortion center, on the parallel line group, N straight lines are obtained, N is more than or equal to 3, the straight lines are projections of the parallel line group, and the j-th straight line corresponds to a straight line equation and is expressed as follows:
L j :A j x+B j y+C j ＝0，j＝1,2…,N；
wherein A is j 、B j 、C j A constant in a straight line equation corresponding to the jth straight line;
intersection point coordinates D of any two of N straight lines pq (x pq ,y pq ) Expressed as:
wherein p is the equation of the straight line corresponding to the p-th straight line, q is the equation of the straight line corresponding to the q-th straight line, A p 、B p 、C p The p-th straight line corresponds to a constant in a straight line equation; a is that q 、B q 、C q The q-th straight line corresponds to a constant in a linear equation; (x) pq ，y pq ) The coordinates of the intersection point of any two of the N straight lines;
Arbitrarythe sum Ed of the distances from the intersection of two straight lines to all straight lines (V, L j ) At minimum, the corresponding V ' (x ', y ') is the optimal vanishing point; the sum of the distances from the intersection point of any two straight lines to all the straight lines is expressed as follows:
wherein, (x) V ,y V ) The vanishing point coordinates to be optimized.
Further, in step S2, the function Ed (V, L j ) The initial value is the barycenter coordinate of any two straight line intersection point set during optimization
Barycentric coordinates->
The calculation formula is as follows:
further, in step S2, the Harris corner detection method is used to extract the corner near the distortion center on the parallel line group.
Further, in step S2, the method further includes optimizing Harris corner detection errors to obtain an optimized linear equation; the method comprises the following steps:
defining that the number of angular points close to the distortion center is n, and the linear equation where the n angular points are positioned is L 0 ，A 0 、B 0 、C 0 Is a straight line equation L 0 N is more than or equal to 1 and is an integer;
optimizing n corner points to linear equation L 0 Is the sum of the distances of (2) as the objective function Ed 0 The corresponding linear equation when the objective function is minimum is an optimized linear equation;
objective function Ed 0 The formula is as follows:
wherein, (x) i ,y i ) I=1, 2, …, n for the coordinates of the ith corner point.
Further, in step S2, an objective function Ed 0 Corresponding straight line equation L 0 And (3) adopting constant coefficients corresponding to the linear equation where any two points in the n angular points are located.
Further, in step S3, the corner far from the distortion center on the same parallel line group in step S2 is extracted by using Harris corner detection method.
Further, in step S2, the corner on the parallel line group close to the distortion center is the corner with a distance of less than 512 pixels from the distortion center;
in step S3, the corner far from the distortion center on the parallel line group is the corner with the distance from the distortion center being equal to or greater than 512 pixels.
The present invention also provides a computer storage medium having a computer program stored thereon, characterized in that: and the computer program is executed by a processor to realize the step of the on-orbit distortion coefficient calibration method of the space camera based on vanishing point consistency.
The invention also provides a computer device comprising a processor, a memory connected to the processor and a computer program operable on the processor, characterized in that: and the processor realizes the step of the on-orbit distortion coefficient calibration method of the space camera based on vanishing point consistency when executing the computer program.
The invention has the beneficial effects that:
the method for calibrating the on-orbit distortion coefficient of the space camera based on vanishing point consistency provided by the invention is used for calibrating the on-orbit distortion coefficient of the lens of the space camera by using vanishing points obtained by single images of solar panels of a plurality of artificial spacecrafts; firstly, parallel lines are obtained by a parallel line extraction method based on collineation constraint, an optimal vanishing point is obtained by a common point constraint method, and a space camera distortion calibration function based on vanishing point consistency is established by utilizing the optimal vanishing point; then solving a distortion coefficient optimization function by using an LM optimization algorithm; the method has high accuracy, strong flexibility and good robustness, and can provide better technical support for on-orbit calibration of the camera distortion coefficient in space task.
Drawings
FIG. 1 is a flow chart of a calibration method of on-orbit distortion coefficients of a space camera based on vanishing point consistency;
fig. 2 is a schematic diagram of vanishing point imaging in an embodiment of the invention.
Detailed Description
Referring to fig. 1, the present embodiment provides a calibration method for on-orbit distortion coefficients of a space camera based on vanishing point consistency, the method includes the following steps:
s1, acquiring an image of any position of a solar panel, wherein the solar panel is arranged on a target spacecraft; in a space environment, a solar sailboard is a structure with more obvious geometric characteristics and is mainly provided with a rectangular structure and is fully distributed with mutually orthogonal ribs when the solar sailboard is designed in consideration of folding and unfolding operations and economy, and the angular point characteristics can be extracted through the solar sailboard.
S2, acquiring a distortion center on the image in the step S1, and selecting a parallel line group at a position close to the distortion center, wherein the parallel line group comprises at least three parallel lines; and extracting the corner points on the parallel line groups, which are close to the distortion center, and solving the optimal vanishing points V ' (x ', y ') of the parallel line groups according to the co-point co-linear constraint, wherein the corner points on the parallel line groups, which are close to the distortion center, are the corner points, which are less than 512 pixels away from the distortion center.
Referring to fig. 2, vanishing points refer to the projection of a group of straight lines parallel to each other in a three-dimensional world through a camera, and the intersection point on a two-dimensional imaging plane can be understood as the projection point of an infinity point in a world coordinate system on the two-dimensional imaging plane, wherein the space is parallel to the straight line l 1 ，l 2 And l 3 The projections onto the plane pi are respectively l 1 ′，l 2 ' and l 3 Three straight lines intersect with the vanishing point V along the extending direction; o point is space parallel straight line l 1 ，l 2 And l 3 Vanishing points perpendicular to the direction of extension. The positions of vanishing points are only related to the directions of the parallel lines in space, and ideally, vanishing points corresponding to the same set of parallel lines in space should be identical.
In the position of the image close to the distortion center, through the Harris corner detection method, a series of intersecting points of mutually orthogonal ribs can be detected on the solar sailboard, and in an ideal state, connecting lines of the intersecting points are parallel spatial parallel lines, but the points are not collinear in practice due to the existence of distortion and the existence of an algorithm error of corner detection. Since vanishing points are intersection points of parallel straight line projections, accurate estimation of the positions thereof requires strict spatial parallel straight line projections, and therefore, optimization processing is required to be performed on the connecting lines of the intersection points so as to alleviate errors caused by the above factors. First, the influence of distortion is avoided: according to the nonlinear imaging model of the camera, the distortion of the image at the distortion center is smaller, the distortion is gradually increased in the area far from the distortion center, and the distortion center is basically consistent with the imaging center of the image, so that the intersection point detected by the corner detection algorithm is selected near the imaging center and can be approximately regarded as a point which is not affected by the distortion; secondly, reducing the error of a Harris corner detection algorithm: the existence of Harris corner detection algorithm errors causes that points which are supposed to be collinear cannot be strictly collinear, the number of corners close to the distortion center is defined as n, and a linear equation where the n corners are located is L 0 ，A 0 、B 0 、C 0 Is a straight line equation L 0 N is more than or equal to 1 and is an integer; optimizing n corner points to linear equation L 0 Is the sum of the distances of (2) as the objective function Ed 0 The corresponding linear equation when the objective function is minimum is an optimized linear equation; objective function Ed 0 The formula is as follows:
wherein, (x) i ,y i ) I=1, 2, …, n for the coordinates of the ith corner; because the error of Harris angular point detection is limited, the degree of point deviation from a straight line is not great, so that the straight line equation parameter obtained by calculation between any two points can be used as an initial value in the optimization process, and the problem of result divergence caused by uncertainty of the initial value is avoided.
Through the steps, parallel line group projection lines close to the distortion center can be obtained, the influence caused by distortion and corner detection errors is reduced to the greatest extent, but because vanishing points are extremely sensitive to errors, the parallel line group projection lines which are supposed to intersect at one point in an imaging plane do not intersect at one point, and further optimization is needed for the situation.
According to the angular points, which are close to the distortion center, on the parallel line group, N straight lines are obtained, N is more than or equal to 3, the straight lines are projections of the parallel line group, and the j-th straight line corresponds to a straight line equation and is expressed as follows:
L j :A j x+B j y+C j ＝0，j＝1,2…,N；
in theory, N straight lines should intersect at a point, i.e. a vanishing point, and the distance from the vanishing point to all straight lines should also be zero, which can be expressed as:
wherein A is j 、B j 、C j A constant in a straight line equation corresponding to the jth straight line; intersection point coordinates D of any two of N straight lines pq (x pq ,y pq ) Expressed as:
wherein p is the equation of the straight line corresponding to the p-th straight line, q is the equation of the straight line corresponding to the q-th straight line, A p 、B p 、C p The p-th straight line corresponds to a constant in a straight line equation; a is that q 、B q 、C q The q-th straight line corresponds to a constant in a linear equation; the sum Ed (V, L) j ) At minimum, the corresponding V ' (x ', y ') is the optimal vanishing point; the sum of the distances from the intersection point of any two straight lines to all the straight lines is expressed as follows:
wherein, (x) V ,y V ) The vanishing point coordinates to be optimized; in order to avoid the problems of divergence and the like of the objective function in the optimization process, a reasonable initial value needs to be determined, and the centroid coordinates of any two straight line intersection point sets are used
Can represent the average level of the point-to-line distance, thus the function Ed (V, L j ) The initial value is the barycenter coordinate of the intersection point set of any two straight lines during optimization>
The calculation formula is as follows:
s3, extracting the corner points far from the distortion center on the same parallel line group in the step S2 by adopting a Harris corner point detection method, and solving a distortion vanishing point V * (x * ,y * ) Establishing a distortion coefficient solving objective function according to the vanishing point consistency constraint; specifically, the corner far from the distortion center on the parallel line group is the corner with the distance from the distortion center being more than or equal to 512 pixels.
Selecting angular points near the distortion center, acquiring parallel line characteristics by a parallel line extraction method based on collinear constraint, and solving optimal vanishing points based on the co-point constraint; while rootAccording to the nonlinear imaging model of the camera, the corner far from the distortion center position is seriously affected by distortion, and the distortion information contained in the vanishing point is obtained by using the corner far from the distortion center position. Therefore, the basic principle of the distortion correction algorithm based on consistency of vanishing points is to compare the vanishing points obtained according to the angular points far from the center of distortion with the optimal vanishing points obtained in step S2, and take the difference as an objective function to further realize the optimal solution of distortion coefficients, and solve the objective function E (k) 1 ,k 2 ,k 3 ,p 1 ,p 2 ) The formula is as follows:
E(k 1 ,k 2 ,k 3 ,p 1 ,p 2 )＝||V * [x * (k 1 ,k 2 ,k 3 ,p 1 ,p 2 ),y * (k 1 ,k 2 ,k 3 ,p 1 ,p 2 )]-V′(x′,y′)||
wherein k is 1 ,k 2 ,k 3 ,p 1 ,p 2 To be optimized for the distortion coefficient, k 1 For first order radial distortion coefficient, k 2 Is the second order radial distortion coefficient, k 3 Is the third-order radial distortion coefficient, p 1 First order tangential distortion coefficient, p 2 Is a second order tangential distortion coefficient; it should be noted that, because the second-order tangential distortion and the third-order radial distortion can well reflect the actual situation of the camera, considering too many distortion parameters can not improve the calibration accuracy, and the robustness of the calibration algorithm can be affected. Therefore, in the nonlinear imaging model in the present embodiment, the distortion factor considers only the second-order tangential distortion p 1 、p 2 And third order radial distortion k 1 、k 2 、k 3 。
S4, performing nonlinear optimization by using an LM (Levenberg-Marquardt) optimization algorithm, and solving each distortion coefficient k 1 ,k 2 ,k 3 ,p 1 ,p 2 Judging whether the iteration is converged or not, if the iteration is not converged, returning to the step S2, and updating the corner points close to the distortion center and the corner points far from the distortion center; if iteration converges, a final distortion coefficient is obtained, and the on-orbit distortion coefficient is completedAnd (5) calibrating.
The present embodiment also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the above-described method for calibrating an on-orbit distortion coefficient of a spatial camera based on vanishing point consistency. The computer readable storage medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer equipment comprises a processor, a memory connected with the processor and a computer program capable of running on the processor, wherein the processor realizes the above-mentioned on-orbit distortion coefficient calibration method of the space camera based on vanishing point consistency when executing the computer program; the computer device may be a computer, a notebook computer, a palm computer, various cloud servers, and the like, and the processor may be a general-purpose processor, a digital signal processor, an application specific integrated circuit, or other programmable logic devices, and the like.
Claims (10)
1. The method for calibrating the on-orbit distortion coefficient of the space camera based on vanishing point consistency is characterized by comprising the following steps:
s1, acquiring an image of any position of a solar sailboard, wherein the solar sailboard is arranged on a target spacecraft;
s2, acquiring a distortion center on the image in the step S1, and selecting a parallel line group at a position close to the distortion center, wherein the parallel line group comprises at least three parallel lines;
extracting angular points on the parallel line groups, which are close to the distortion center, and solving the optimal vanishing points V ' (x ', y ') of the parallel line groups according to the co-point collineation constraint;
s3, extracting angular points far away from the distortion center on the same parallel line group in the step S2, and solving distortion vanishing points V * (x * ,y * ) And according to the vanishing point consistency constraint, establishing a distortion coefficient solving objective function, and the distortion coefficient solving objective function E (k) 1 ,k 2 ,k 3 ,p 1 ,p 2 ) The formula is as follows:
E(k 1 ,k 2 ,k 3 ,p 1 ,p 2 )＝||V * [x * (k 1 ,k 2 ,k 3 ,p 1 ,p 2 ),y * (k 1 ,k 2 ,k 3 ,p 1 ,p 2 )]-V′(x′,y′)||
wherein k is 1 ,k 2 ,k 3 ,p 1 ,p 2 To be optimized for the distortion coefficient, k 1 For first order radial distortion coefficient, k 2 Is the second order radial distortion coefficient, k 3 Is the third-order radial distortion coefficient, p 1 First order tangential distortion coefficient, p 2 Is a second order tangential distortion coefficient;
s4, solving each distortion coefficient k by adopting an LM optimization algorithm 1 ,k 2 ,k 3 ,p 1 ,p 2 Judging whether iteration converges or not: if the iteration is not converged, returning to the step S2, and updating the corner points close to the distortion center and the corner points far from the distortion center; and if the iteration converges, obtaining a final distortion coefficient, and finishing the calibration of the on-orbit distortion coefficient.
2. The method for calibrating the on-orbit distortion coefficient of the space camera based on vanishing point consistency according to claim 1, wherein the method comprises the following steps:
in step S2, the solution of the optimal vanishing point V ' (x ', y ') of the parallel line group is specifically:
according to the angular points, which are close to the distortion center, on the parallel line group, N straight lines are obtained, N is more than or equal to 3, the straight lines are projections of the parallel line group, and the j-th straight line corresponds to a straight line equation and is expressed as follows:
L j :A j x+B j y+C j ＝0，j＝1,2…,N；
wherein A is j 、B j 、C j A constant in a straight line equation corresponding to the jth straight line;
intersection point coordinates D of any two of N straight lines pq (x pq ,y pq ) Expressed as:
wherein p is the equation of the straight line corresponding to the p-th straight line, q is the equation of the straight line corresponding to the q-th straight line, A p 、B p 、C p The p-th straight line corresponds to a constant in a straight line equation; a is that q 、B q 、C q The q-th straight line corresponds to a constant in a linear equation;
the sum Ed (V, L) j ) At minimum, the corresponding V ' (x ', y ') is the optimal vanishing point; the sum of the distances from the intersection point of any two straight lines to all the straight lines is expressed as follows:
wherein, (x) V ,y V ) The vanishing point coordinates to be optimized.
3. The method for calibrating the on-orbit distortion coefficient of the space camera based on vanishing point consistency according to claim 2, wherein the method comprises the following steps:
in step S2, the function Ed (V, L j ) The initial value is the barycenter coordinate of any two straight line intersection point set during optimization
Barycentric coordinates->
The calculation formula is as follows:
4. the method for calibrating the on-orbit distortion coefficient of the space camera based on vanishing point consistency according to claim 3, wherein the method comprises the following steps:
in step S2, extracting the corner points, close to the distortion center, on the parallel line groups and adopting a Harris corner point detection method.
5. The method for calibrating the on-orbit distortion coefficient of the space camera based on vanishing point consistency according to claim 4, wherein the method comprises the following steps:
in the step S2, the method further comprises the steps of optimizing Harris corner detection errors to obtain an optimized linear equation; the method comprises the following steps:
defining that the number of angular points close to the distortion center is n, and the linear equation where the n angular points are positioned is L 0 ，A 0 、B 0 、C 0 Is a straight line equation L 0 N is more than or equal to 1 and is an integer;
optimizing n corner points to linear equation L 0 Is the sum of the distances of (2) as the objective function Ed 0 The corresponding linear equation when the objective function is minimum is an optimized linear equation;
objective function Ed 0 The formula is as follows:
wherein, (x) i ,y i ) I=1, 2, …, n for the coordinates of the ith corner point.
6. The method for calibrating the on-orbit distortion coefficient of the space camera based on vanishing point consistency according to claim 5, wherein the method comprises the following steps:
in step S2, the objective function Ed 0 Corresponding to the straight line equation L 0 And adopting constant coefficients corresponding to the linear equation where any two points in the n angular points are located.
7. The method for calibrating the on-orbit distortion coefficient of the space camera based on vanishing point consistency according to claim 6, wherein the method comprises the following steps:
in the step S3, the Harris corner detection method is adopted for extracting the corner far from the distortion center on the same parallel line group in the step S2.
8. The method for calibrating the on-orbit distortion coefficient of the space camera based on vanishing point consistency according to any one of claims 1 to 7, wherein the method comprises the following steps:
in the step S2, the corner points on the parallel line groups, which are close to the distortion center, are corner points with the distance from the distortion center being less than 512 pixels;
in step S3, the corner far from the distortion center on the parallel line group is the corner with the distance from the distortion center being equal to or greater than 512 pixels.
9. A computer storage medium having a computer program stored thereon, characterized by: the computer program, when executed by a processor, implements the steps of the method for calibrating the on-orbit distortion coefficient of the space camera based on vanishing point consistency according to any one of claims 1-8.
10. A computer device comprising a processor, a memory coupled to the processor, and a computer program executable on the processor, characterized by: the processor, when executing the computer program, implements the method for calibrating the on-orbit distortion coefficient of the space camera based on vanishing point consistency according to any one of claims 1 to 8.
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