CN204008065U - For demarcating the outdoor Calibration Field of the outer ginseng of panorama camera and linear array laser scanner - Google Patents
For demarcating the outdoor Calibration Field of the outer ginseng of panorama camera and linear array laser scanner Download PDFInfo
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- CN204008065U CN204008065U CN201420303942.2U CN201420303942U CN204008065U CN 204008065 U CN204008065 U CN 204008065U CN 201420303942 U CN201420303942 U CN 201420303942U CN 204008065 U CN204008065 U CN 204008065U
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Abstract
The utility model discloses a kind of for demarcating the outdoor Calibration Field of the outer ginseng of panorama camera and linear array laser scanner, comprise: groups of building, described groups of building comprise at least one buildings, the inner side of each buildings has a buildings facade, the buildings facade group that the common formation of at least one buildings has 360 degree can lay visual sign point, between buildings facade group, shape forms an annular place, and the floor interval between buildings is more than 20 meters; Several monumented points, described several monumented points are evenly located on described buildings facade group.Outdoor Calibration Field described in the utility model is large area with terrestrial coordinate, the data that get by relevant device inside can further be processed to resolve and obtain panorama camera and the linear array laser scanner outer ginseng with respect to POS system in calibration software, make the outer ginseng of demarcating reach centimetre-sized.Thereby the measurement that makes full-view image carry out monolithic becomes possibility, greatly expand the quantity of information of panorama streetscape.
Description
Technical field
The utility model is a kind of for demarcating the outdoor Calibration Field of the outer ginseng of panorama camera and linear array laser scanner, belongs to close-shot photography measure technique field.
Background technology
Along with the rise of traverse measurement technology, the development that traditional two dimensional surface map is more and more out of step with the times, becomes a kind of a kind of new data filling form on two dimensional surface map by the captured streetscape image of digital camera.And thisly intuitively provide the form when local image now also more and more abundanter by photograph.Being limited by traditional image can only provide field range limited information, therefore, goes to browse local information also have inborn advantage by full-view image.
And the some cloud with certain density that laser scanner provides also makes full-view image not only can go to browse local information, can also make these images itself obtain the depth information of certain limit, thereby by full-view image three-dimensional get up, possessed measurement function to a certain degree.
But by panorama camera and linear array laser scanner and POS system (Position and Orientation System) combined calibrating, be a very difficult job.Need special place to demarcate, normally carry out in the place that has high-precision electronic turntable, but the method be due to turret plant costliness, thus make transducer calibration become costliness and the cycle long.
Utility model content
The purpose of this utility model is to provide a kind of outdoor large Calibration Field with non-single, for demarcating panorama camera and the linear array laser scanner outer ginseng with respect to POS system.By gathering the sensor institute image data, can be by relevant special flow chart of data processing, clear out panorama camera and linear array laser scanner and come with respect to the outer ginseng of POS system, become a kind of possibility thereby make image that panorama camera gathers become a kind of directly image of single sheet measurement.
For achieving the above object, the utility model is achieved through the following technical solutions:
A kind of for demarcating the outdoor Calibration Field of the outer ginseng of panorama camera and linear array laser scanner, comprise: groups of building, described groups of building comprise at least one buildings, the inner side of each buildings has a buildings facade, the buildings facade group that the common formation of at least one buildings has 360 degree can lay visual sign point, between buildings facade group, shape forms an annular place, and the floor interval between buildings is more than 20 meters; Several monumented points, described several monumented points are evenly located on described buildings facade group.
Outdoor Calibration Field described in the utility model is large area and the three-dimensional scaling field that possesses loop configuration, described monumented point can be extracted and be obtained its image coordinate manually or automatically by software, described outdoor Calibration Field is large area with terrestrial coordinate, gather the data of this Calibration Field by relevant device, can further carry out the aftertreatment of data by special calibration software, so just can calculate panorama camera comes with respect to the outer ginseng of POS system, simultaneously combining in conjunction with window angle point and room angle point the panorama camera of having demarcated resolves, can obtain the outer ginseng of linear array laser scanner with respect to POS system, make so the outer ginseng of demarcating reach centimetre-sized.Thereby can realize the measured change of panorama camera in monolithic situation, be applicable to panorama camera that full-view image model is Sphere Measurement Model and the combined calibrating of linear array laser scanner, thereby greatly expand the quantity of information of streetscape data.Described monumented point can be easy to extract and identification on image.Described annular place refers to that surrounding all has buildings, possesses omnidirectional's 360 degree and can lay visual sign point in scope.Buildings facade group energy enough meets panorama camera and in groups of building, can shoot and meet the uncalibrated image that the some position of calibration request is evenly distributed.
Can also there is following additional technical feature according to of the present utility model for the outdoor Calibration Field of demarcating the outer ginseng of panorama camera and linear array laser scanner:
Preferably, on described buildings, each window angle, angle, room should be given prominence to, and easily on image, identify.
Preferably, described monumented point be the square aluminium flake length of side at 100-140 millimeter, on this aluminium flake, be printed on white circular pattern at the bottom of black, homocentric place is printed on black crosshair with this circular pattern, this round diameter is at 60-80 millimeter.As can be seen here, the pattern of described monumented point and crosshair have the feature of the extraction of being easy on image and identification.
Preferably, described monumented point is evenly laid on the facade of buildings with the spacing of 3-4 rice.
Preferably, described buildings is 4, and 4 buildingss are all around arranged, and the inner side of 4 buildingss is buildings facade, 4 described annular places of buildings facade composition.
Additional aspect of the present utility model and advantage in the following description part provide, and part will become obviously from the following description, or recognize by practice of the present utility model.
Brief description of the drawings
Fig. 1 is outdoor Calibration Field composition plan structure schematic diagram described in the utility model;
Fig. 2 is that outdoor Calibration Field composition described in the utility model is looked squarely structure expansion schematic diagram;
Fig. 3 is monumented point schematic diagram.
In figure: 1. a building; 2. No. two buildings; 3. No. three buildings; 4. No. four buildings; 5. monumented point; 6. aluminium flake; 7. white circular pattern 7 on aluminium flake; 8. concentric black crosshair in white circle marker; 9. road; 10. window.
Embodiment
Embodiment 1:
Selected certain office building-group is the Calibration Field that will set up, high approximately 20 meters of these buildings, this housing-group is made up of four single buildings, form, the inner side that between building 1, No. two buildings 2, No. three buildings 3 and 4,4 buildingss of No. four buildings is 9,4 buildingss of road has a buildings facade, 4 buildings facades are common forms the buildings facade group who has 360 degree and can lay visual sign point 5, and between buildings facade group, shape forms 1 and spends annular places.Selected wall facade, by loop configuration inner side, is laid the monumented point 5 of certain density, and described monumented point 5 is for mensuration artificial on full-view image or automated graphics identification and image coordinate.Building composition as shown in Figure 1, between building, spacing is greater than 30 meters, in the region of enclosing at these groups of building, can ensure that panorama camera can get the uncalibrated image being evenly distributed within the scope of horizontal 360-degree, its building elevation as shown in Figure 2, monumented point 5 is located at a side of window 10 on buildings, also can make linear array laser scanner can obtain abundant buildings angle point simultaneously and help the auxiliary POS system of follow-up full-view image to demarcate the outer ginseng of linear array laser scanner.Described monumented point 5 distributes and must be evenly distributed on each buildings, to ensure that the above full-view image can get the uncalibrated image being evenly distributed, also can make between multistation combined calibrating time, can fully eliminate the error of being introduced by POS system simultaneously, eliminate as much as possible the outer ginseng correlativity of sensor and POS system, ensured the accurate of calibrating parameters.
According to the actual functional capability of calibration software and performance requirement, entered repeatedly contrast repeatedly, select the mark of the concentric black crosshair of the printing embedded white of white circular pattern 7 in black matrix square as the monumented point 5 of this Calibration Field, its mark length of side is 120mm, embedded round diameter 80mm.Consider constructability stickup, selecting square is the shape of monumented point 5.In order to prevent the generation of corrosion condition, select aluminum material.In order to facilitate software to extract, inside is printed on white circular pattern 7.In order to be convenient for measuring an embedded concentric black crosshair 8 in circular pattern.Crosshair length is 50mm.Do not affect the automatic extraction of software through the such crosshair of experiment.The monumented point 5 finally completing as shown in Figure 3.
The laying of monumented point 5 and measurement:
The monumented point of making 5 is laid uniformly with these four buildings and leaned on the inside of a side of loop configuration with the spacing of 3-4 rice, laid altogether about 200 monumented points 5, the some position of Calibration Field requires to have terrestrial coordinate.Its measurement has been used total powerstation, measurement type GPS, three-dimensional laser scanner.Introduce and control from Xiang Gai place, a B level reference mark, use three-dimensional laser scanner to carry out 3-D scanning to buildings the inside, complete the scene rebuilding under this scanner coordinate system.Finally use total powerstation in this place, on GPS point or guiding point, to record the terrestrial coordinate of several monumented points by the mode of intersection measurement of many survey time, these coordinates are input in three-dimensional laser scanner software, just can have obtained the whole scene three-dimensional scenic under earth coordinates.Finally utilize the software of three-dimensional laser scanner to extract the circular central coordinate of each mark, obtain final achievement.Adopt LadyBug5 panorama camera, its picture is 8192*4096, SICK511-Pro molded line battle array laser scanner, line frequency 100Hz, scanning angle 90 is spent, and carries out experiment and obtains calibration result, and adopt the method validation of full-view image and the generating three-dimensional point cloud stack of linear array laser scanner institute, result shows, overall measurement accuracy is better than 15CM (nominal accuracy of POS system), fully shows that the outer ginseng between sensor and POS system has reached centimetre-sized.
Compare existing Calibration Field, the utility model has following advantage:
(1) existing Calibration Field relies on expensive turret plant, and cost is huge, and maintenance is also very loaded down with trivial details, is unfavorable for large-scale application and builds;
(2) this Calibration Field adopts three-dimensional laser scanner auxiliary, greatly shorten building time, simultaneously owing to having abandoned all monumented points 5 of traditional direct intersection measurement, greatly improve the reliability of measurement result, traditional introducing error producing due to artificial and instrument long working is farthest eliminated;
(3) conventional digital camera Calibration Field, due to the factor of camera imaging, often only has a face, and this Calibration Field possesses the characteristic that multiaspect 360 is spent, make can be convenient, flexible the uncalibrated image that obtains, also improved to greatest extent the reliability of demarcating simultaneously.
Claims (4)
1. for demarcating an outdoor Calibration Field for the outer ginseng of panorama camera and linear array laser scanner, it is characterized in that, comprising:
Groups of building, described groups of building comprise at least one buildings, the inner side of each buildings has a buildings facade, the buildings facade group that the common formation of at least one buildings has 360 degree can lay visual sign point, between buildings facade group, shape forms an annular place, and the floor interval between buildings is more than 20 meters;
Several monumented points, described several monumented points are evenly located on described buildings facade group.
2. according to claim 1 for demarcating the outdoor Calibration Field of the outer ginseng of panorama camera and linear array laser scanner, it is characterized in that, described monumented point is that square aluminium flake 6 length of sides are at 100-140 millimeter, on this aluminium flake 6, be printed on white circular pattern at the bottom of black, homocentric place is printed on black crosshair with this circular pattern, and this round diameter is at 60-80 millimeter.
3. outdoor Calibration Field of joining outward for demarcating panorama camera and linear array laser scanner according to claim 1, is characterized in that, described monumented point is evenly laid on the facade of buildings with the spacing of 3-4 rice.
4. according to claim 1 for demarcating the outdoor Calibration Field of the outer ginseng of panorama camera and linear array laser scanner, it is characterized in that, described buildings is 4, and 4 buildingss are all around arranged, the inner side of 4 buildingss is buildings facade, 4 described annular places of buildings facade composition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420303942.2U CN204008065U (en) | 2014-06-09 | 2014-06-09 | For demarcating the outdoor Calibration Field of the outer ginseng of panorama camera and linear array laser scanner |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420303942.2U CN204008065U (en) | 2014-06-09 | 2014-06-09 | For demarcating the outdoor Calibration Field of the outer ginseng of panorama camera and linear array laser scanner |
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| Publication Number | Publication Date |
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| CN204008065U true CN204008065U (en) | 2014-12-10 |
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| CN201420303942.2U Expired - Fee Related CN204008065U (en) | 2014-06-09 | 2014-06-09 | For demarcating the outdoor Calibration Field of the outer ginseng of panorama camera and linear array laser scanner |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105486289A (en) * | 2016-01-31 | 2016-04-13 | 山东科技大学 | Laser photography measuring system and camera calibration method |
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2014
- 2014-06-09 CN CN201420303942.2U patent/CN204008065U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105486289A (en) * | 2016-01-31 | 2016-04-13 | 山东科技大学 | Laser photography measuring system and camera calibration method |
| CN105486289B (en) * | 2016-01-31 | 2018-03-23 | 山东科技大学 | A kind of laser photography measuring system and camera calibration method |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141210 Termination date: 20190609 |
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| CF01 | Termination of patent right due to non-payment of annual fee |