CN210321726U - Close-range photogrammetric survey device for real-time area calculation - Google Patents
Close-range photogrammetric survey device for real-time area calculation Download PDFInfo
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- CN210321726U CN210321726U CN201921240299.2U CN201921240299U CN210321726U CN 210321726 U CN210321726 U CN 210321726U CN 201921240299 U CN201921240299 U CN 201921240299U CN 210321726 U CN210321726 U CN 210321726U
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Abstract
The utility model discloses a close-range photogrammetry device of real-time area measurement, including personal digital assistant PDA, laser rangefinder, high definition digtal camera. The laser ranging device is used for measuring the distance from the shooting center of the camera to a target point, and the high-definition camera is used for acquiring a measured area image. The PDA is used for controlling the laser ranging device and the high-definition camera, and collecting, processing, displaying, storing and the like distance data and image data. The utility model discloses can be used for the measurement such as the small size landmass under the majority occasion, need not the contact region that awaits measuring, easy operation is convenient, and work efficiency is high, and intensity of labour is little.
Description
Technical Field
The utility model relates to a photogrammetry technical field does not pay attention to the absolute position and the position of model after establishing three-dimensional model, only resumes the true proportion of model, and is heavily being the length of side and the area of solving the model, specifically is a close-range photogrammetry device of real-time area measurement.
Background
In recent years, with the progress of laser ranging technology and photogrammetry technology, the distance measurement main optical axis of the laser ranging device is overlapped with the shooting main optical axis of the high-definition camera, and the distance from the shooting center to the target point can be obtained.
Breakthrough in microelectronic and semiconductor technologies, rapid development of ultra-large scale integrated circuits and digital sensor technologies, integration of laser rangefinders and high-definition cameras into PDA (personal digital assistant), and design of a set of operating system to complete photogrammetry.
In the traditional tape measure distance measurement, each edge needs to be manually measured and recorded, and the area can be calculated at last, so that the working efficiency is low; the laser range finder can accurately and quickly measure the distance, but the distance can be measured only by reflecting ranging laser back to the laser range finder by a reflector during measurement, so that the laser range finder is difficult to measure the area of a more zigzag plane figure.
The traditional tape-measure distance measurement measures the area conditions of a plurality of damaged road surfaces of a long-distance highway, so that a measurer is in a hard measuring environment for a long time and is unfavorable for the physical and mental health of the measurer; the area to be measured is difficult to reach to the building outer wall that damages, tall and big ancient building etc. its area of volume of wanting to get, and traditional measuring mode can not be fine guarantee surveyor's personal safety, also is not favorable to the protection of building.
Therefore, in order to solve the above problems, a close-range photogrammetry apparatus with real-time area measurement is needed, which can solve the area measurement problem in most cases by one person and can not touch the region to be measured. The field operation only needs to find a proper angle to shoot two images and measure two-section distance, the data can be processed instantly by using the program written in the PDA on the spot, and the data can also be brought back to the room for unified processing, so that the working efficiency is high, and the measuring cost is low.
Disclosure of Invention
An object of the utility model is to design a close-range photogrammetry device of real-time area measurement, it can solve not direct measurement area such as tape measure, laser range finder and the problem that measurement of efficiency is low. The utility model discloses need not to contact the region of awaiting measuring, can improve surveyor's security and travelling comfort, under the prerequisite that satisfies measurement accuracy, improve area measurement's work efficiency.
In order to achieve the above object, the present invention integrates a laser ranging device and a high definition camera in a Personal Digital Assistant (PDA) and is located at the front end of the PDA to form a close-range photogrammetric device with real-time area calculation.
A close-range photogrammetry device capable of calculating area in real time is characterized in that cross photography is used, a single camera is used for the cross photography to photograph targets at two photographing stations respectively, main optical axes on the two photographing stations are intersected at the same target point, and when the included angle of the two main optical axes is a right angle, point position accuracy is optimal.
According to the scheme, the distance measuring main optical axis of the laser distance measuring device is overlapped with the shooting main optical axis of the high-definition camera, and the distance from the center target point to the laser distance measuring device is measured by the laser distance measuring device and converted into the distance from the center target point to the shooting center of the high-definition camera.
According to the method, 6 pairs of homonymous points are selected from two (or more) shot images, relative orientation is carried out, a relative orientation three-dimensional model is established, and then a scale factor of the model is calculated according to the distance between two sections of target points and a shooting center, so that the real size of the model is restored.
The utility model has the advantages that: the utility model discloses a close-range photogrammetry device of real-time area measurement combines laser rangefinder technique and close-range photogrammetry technique, realizes the contactless rapid survey to the regional area that awaits measuring. For the condition that the area of a plurality of damaged road surfaces of a long-distance highway needs to be counted, the device can reduce the working time of a measurer in a hard environment and improve the working efficiency. To getting the building outer wall area of damage of volume, the device can contactless rapid survey region area to be measured, better guarantee surveyor's personal safety.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic diagram of a spatial front intersection of a stereo pair.
Fig. 3 is the operation schematic diagram of the utility model discloses measure damaged road surface area.
FIG. 4 is a schematic diagram of the calculation of model point photogrammetry coordinates.
FIG. 5 is a flow chart of an edge detection method.
FIG. 6 is a graph of the effect of edge detection.
In fig. 1: 1-personal digital assistant PDA; 2-a laser ranging device; 3-a high-definition camera; 4-a capacitive touch screen; 5-operating the keys.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1, the utility model discloses a close-range photogrammetry device that real-time area measured calculates, through integrating laser rangefinder 2, high definition digtal camera 3 into in personal digital assistant PDA1 to be located positive front end in personal digital assistant PDA1, the range finding primary optical axis of laser rangefinder 2 with high definition digtal camera 3's photographic primary optical axis coincidence group becomes a close-range photogrammetry device that real-time area measured calculates. The capacitive touch screen 4 and the operation keys 5 are designed on the device, so that various command operations can be conveniently completed.
As shown in fig. 2, this figure is a schematic diagram of the spatial front intersection of a stereo pair. At S1The position of the camera is taken an image, calledFor left photograph at S2One image is taken, called the right photograph, and two images are called a stereo pair. With stereopair, many pairs of homonymous points (points resulting from the intersection of two homonymous rays) can be chosen, and fig. 2 shows only the intersection parts of homonymous points. The object space coordinate of the point is determined by the internal and external orientation elements of the left and right two pictures of the stereopair and the image coordinate measured value of the left and right two same-name picture points, which is called the space front intersection of the stereopair.
Examples
As shown in fig. 3, the polygon M is a damaged road surface shape of a certain road section. To measure the area of the polygon M, a suitable central target point, such as point A, is selected, the distance measuring cross cursor of the device is aligned with point A, and a picture S is taken1And measuring the distance D1(ii) a Likewise, the picture S is taken at another position2Measuring the distance D2And when the included angle of the two main optical axes at the two positions is a right angle, the point position precision is optimal. At this time, the image data and distance data acquisition is completed.
The PDA processes the collected image data and the distance data from the shooting center to the target point. Firstly, selecting 6 evenly distributed end points (including point A) of a left image polygon M in the PDA, selecting corresponding homonymous points corresponding to the left image in a right image, resolving relative orientation elements after point selection is completed, and establishing a three-dimensional model. Secondly, the distance data D1、D2And inputting the model scaling factor into the PDA to solve the scaling factor of the model, and restoring the true scale of the model. And thirdly, the remaining vertexes of the polygon M can be determined manually to form a complete outline of the polygon M, the point selection mode is also to select the homonymous points of the left image and the right image, and the outline information of the polygon M can be automatically acquired through an edge detection technology. And finally, calculating the area of the polygon M through the three-dimensional outline model of the polygon M and the real scale of the model.
The utility model discloses can be at the polygonal area of the less scope of on-the-spot real-time measurement, the device easy operation is convenient, can be quick calculate polygonal area, the practicality is strong.
The main solution process of the data is as follows:
camera calibration
Before the high-definition camera is used for close-range photogrammetry, strict calibration needs to be carried out on the high-definition camera so as to recover the relative geometric relationship between the photography center and the photo.
The main content of calibrating the camera is to obtain the basic information, lens distortion parameters and internal orientation element (x) of the camera0，y0F), etc.
The high-definition camera is calibrated by adopting a Zhangyingyou plane target parameter calibration method.
Relative orientation of images
The utility model discloses an analytic method is directional relatively, and its principle is when following two camera stations and ingesting the stereoscopic image to same object to the time, and all same-name rays of overlap portion are all to crossing in an object point in the image pair, and this is exactly the internal geometric relation of stereoscopic image pair, and the same-name ray is to crossing, and every is same-name ray and photographic base line coplane promptly. Let S1、S2Is the center of the left and right photographs, a1、a2Is a pair of homologous points, the coplanar condition of the relative orientation is the photographic baseline b ═ S1S2) With a pair of rays of the same name R1＝S1a1、R2＝S2a2Is equal to zero, i.e. b (R)1×R2)＝0。
In conventional relative orientation solution, the baseline component B is often referred toxIt is proposed that By、BzExpressed by 2 small angles mu, v, plus 3 rotation angles of the right photo relative to the left photo, 5 relative orientation elements are mu, v,
ω，κ。
the utility model discloses utilize baseline component and direction cosine to be the method of resolving of parameter, this paper will directly solve Bx，By，BzThese 3 baseline components are not referenced again by the angles μ, v.
Now, taking the image space coordinate system of the left photo as the image space auxiliary coordinate system, the relative orientation elements of the left and right photos after solving are:
left panel 1:
and (3) right sheet 2:
……
calculation of model point coordinates
After the relative orientation element is solved by using 6 pairs of homonymous image points, the establishment of a stereoscopic model is meant. The model scale is arbitrary and the origin of the coordinate system is the stereopair left camera. The coordinates of each model point in the established model can be solved according to a stereo pair front intersection method. According to the formula of front intersection, each pair of coordinates of the image points with the same name is provided, and the coordinates of the model point corresponding to the image point can be calculated.
As shown in the calculation of model point photogrammetry coordinates of FIG. 4, photogrammetry coordinates P-X are establishedPYPZPThe system is parallel to the coordinate axes of the auxiliary coordinate system in image space, and the origin P is at Z1At the intersection of the axis and the ground, and with S1Is mf. Here, m is a picture scale, and f is a camera main pitch. S1In P-XPYPZPThe photogrammetric coordinates in (1) are (0, 0, mf). According to the formula of space forward intersection:
in the formula, BX，BY，BZIs the photographic baseline component.
In P-XPYPZPMiddle, left sheet:
and (3) right sheet:
photogrammetric coordinates of an arbitrary point a are available:
wherein:
in the formula, bx，by，bzIs the model baseline component.
A model scaling factor lambda is calculated.
And calculating the coordinates of the model point corresponding to the image point by utilizing a photogrammetric coordinate calculation formula according to a pair of image point coordinates with the same name of the central target point provided by the two images.
Known in P-XPYPZPMiddle left sheet S1And the right sheet S2The coordinates of the model point of the central target point are known, and a three-dimensional coordinate distance formula is utilized
Solving the model distance from the center to the center target point of the two-segment photography, and setting the model distance as d1And d2。
The real distance from the center to the center target point of the two-segment photography is D1And D2The solving formula of the model scaling factor lambda is as follows:
and self-defining the absolute orientation of the three-dimensional model.
The basic relationship for absolute orientation is:
in the formula (X)tP,YtP,ZtP) The geophotogrammetry coordinates for the model points, λ being the model scaling factor, ai，bi，ci(i ═ 1,2,3) is the cosine of the direction of 3 rotation angles Φ, Ω, K in the coordinate axis system, (X ═ Xp,Yp,Zp) And the coordinate is the photogrammetric coordinate of the same model point, and the delta X, the delta Y and the delta Z are the translation amount of the coordinate origin.
Self-defining the absolute orientation of the three-dimensional model, and only carrying out scaling change on the three-dimensional model established by the relative orientation, wherein the orientation of the coordinate origin and the coordinate axis of the original model is unchanged, namely:
the self-defined absolute orientation relation is as follows:
after the self-defined absolute orientation is completed, the three-dimensional model recovers the real proportion size, corresponding ground photogrammetry coordinates are established, each point in the model has corresponding coordinates, and the side length and the area of the model are calculated by utilizing the coordinates.
For the image with the obvious edge of the measured area, the method of automatically acquiring the edge of the measured area can be adopted, and the speed of selecting the edge of the measured area is improved.
Edge detection technique
Edge detection is a fundamental problem in image processing and computer vision, and aims to identify points with obvious brightness change in digital images, and image edges contain attributes such as image positions and outlines.
A flow chart of the edge detection method is shown in fig. 5.
Determining a threshold value: and selecting a threshold according to the calculation result of the edge algorithm, wherein the size of the threshold can directly influence the detection result of the final picture. For example, when the threshold is too small, the more lines detected in the picture, the more noise will be disturbed.
And (3) filtering treatment: the operator for edge detection by using the derivative of the function image is interfered by noise, and needs to be smoothed by a filter, so that the detection result is more ideal.
Edge enhancement: and the intensity near each image is determined, so that the detection result is more accurate. Edge enhancement is performed by calculating the magnitude of the gradient.
Detecting edges: some larger image points are not necessarily edges and edge points need to be determined. And determining a threshold in the picture gradient is one detection method.
Positioning the edge: when analyzing the edge position, the position needs to be estimated by the sub-pixel resolution.
As shown in fig. 6, (a) is a captured original image of the road surface, and (b) is an image of the edge of the area to be detected.
And acquiring the edge of the measuring area, namely recovering the shape of the closed graph of the measuring area, and finally calculating the area of the closed graph of the measuring area because the real proportion of the closed graph of the measuring area is also recovered.
Claims (2)
1. A close-range photogrammetry device with real-time area measurement is characterized by comprising a Personal Digital Assistant (PDA), a laser ranging device and a high-definition camera, wherein the ranging main optical axis of the laser ranging device is superposed with the photography main optical axis of the high-definition camera, and the laser ranging device and the high-definition camera are positioned at the front end in the PDA.
2. The close-range photogrammetry apparatus as claimed in claim 1, wherein the PDA is designed with operation buttons and a capacitive touch screen, the touch screen can complete all operation instructions and display images captured by the high definition camera, and a digital cross cursor is arranged at the center of the display screen for aiming at the target point.
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Granted publication date: 20200414 Termination date: 20210802 |