DD286864A5 - DEVICE FOR DETERMINING 3-DIMENSIONAL COORDINATES FROM A STEREO LEVEL OF PETROLEUM - Google Patents

Abstract

The invention relates to a device for determining three-dimensional coordinates from a stereo image pair. The two image carriers are connected to each other by means of a rail so that they can be moved against each other only parallel to the rail, in addition the image carriers are freely displaceable together on a base. Furthermore, a stereo viewing optics is provided for the images mounted on the image cart. Each image cart has a coordinate measuring device which determines the position in a fixed table coordination system. From these table coordinates can be calculated in a connected computer, the image and from there the terrain coordinates. Fig. 1 {photogrammetry; evaluation; digitization; Freihandfuehrung; Calculator; Koordinatenmessung}

Description

X ₁ '= (Xbi - x _ml ) -coses + (y _bl - y _mi ) · sin as - x «

y. ' = - (Xbi - Xmi) · sinae + (y _bi - y _m i) · cos »- γ« (ί = I, r)

where x _b "y _b j are the coordinates of the intersection points of the optical axes of the viewing optics through the pad, x _mi , y _mi the measured coordinates, x", yn are the coordinates of the measuring devices in the image coordinate system and aa is the edging of the rail that follow the formula

ae =

b jrechnet, and that from these image coordinates in a known manner, the spatial coordinates of the set point are calculated.

4. An apparatus for determining three-dimensional coordinates according to claim 1, characterized in that the coordinate measuring determine the coordinates in a common coordinate system.

5. A device for determining three-dimensional coordinates according to claim 1, characterized in that the coordinate measuring determine the coordinates in each case a local coordinate system, which are linked together via a pre-orientation.

6. An apparatus for determining three-dimensional coordinates according to claim 1, characterized in that are used as coordinate measuring per se known Zeichnungsdigitalisiereinrichtungen.

For this 1 page drawings

Field of application of the invention

The invention is applicable in the field of photogrammetry, especially for the analytical determination of three-dimensional terrain coordinates from stereo image pairs.

Characteristic of the prior art

Conventional stereo comparators (eg DICOMETERI) contain two image carriages for the two stereo images, which are mounted on cross slides, which are equipped with measuring devices, eg spindles with rotary encoders or incremental reflected light or transmitted light measuring systems, with the aid of which the image coordinates With known orientation of the images, the terrain coordinates (eg in the state coordinate system) can be calculated in a connected computer.

In a second embodiment, the viewing optics may be movable and attached to their measuring means for determining coordinates.

These cross slides are generally moved by hand wheels and Fußscheiber over spindles, so that the measuring process hands and feet must be moved constantly defined. That is quite exhausting. Therefore, there is a tendency to use freehand guides, that is, both image carriages are moved freely by hands. It turns out, however, that in cross slide systems because of the different masses of the x and y wagons different forces to move in

Both directions must be applied, which has a negative impact on the operability and thus on the setting accuracy.

US Pat. No. 4,697,346 therefore proposes a solution with an image carrier on which both stereo images are mounted. On this image carrier 3 linear measuring systems (2 y-, 1 x -direction) are attached, and it is virtually free to move. With these measuring systems, the position of a point in the left aerial photograph and the joint cant are measured. The position of the homologous point in the right aerial image is determined by a relative to the left lens sliding optics. By measuring this displacement in conjunction with the measured edging, the image coordinates in both images can be determined and thus the terrain coordinates can be determined in a conventional manner in a computer

 Disadvantages of this solution are:

- Measurement in two levels, thus error 1st order by violation of Abbe comparator principle

- By binding to the linear measuring systems, the full free mobility is not given.

Object of the invention

It is the object of the invention to simplify the construction and operability of photogrammetric Auswörtgeräten.

Explanation of the essence of the invention

The invention has for its object to provide a simple means for measuring image coordinates in conjunction with freely movable image carriers.

According to the invention, this object is achieved by a device for determining three-dimensional coordinates from a pair of stereo images, consisting of a substantially fixed viewing optics for the left and right image, zwoi image carriage and a base and a computer, achieved in that the two image carriage connected by a rail in that one of the image carriages can be displaced along the rail relative to the other image carriage, that both image carriages are freely displaceable together on the support and that each image carriage is fixedly connected to a coordinate measuring device which determines the position coordinates in a substantially fixed coordinate system and that these coordinate measuring devices are connected in a manner known per se with the computer.

Advantageously, the pad may be formed as a luminous surface.

The image coordinate X ₁ ', y, in the left and x,', y, 'in the right image according to the formulas

X ₁ '= (x _bi - x _mi ) · cos »+ (y _bi -y _mi ) · sin83 -x

Vi = - (Xw - Xmi) · sinae + (y _bi - y _m; ) coses - y * (i = I. r)

determined, wherein x _bl y _b i dor optical axes of the viewing optics through the underlay, Xm the coordinates of the intersection points;> ymi the measured coordinates x _w, y _w 'are the coordinates of the measuring devices in the image coordinate system and ae the lateral tilt of the rail is that following the formula

Xfiw XmJ

is calculated. From these image coordinates, the spatial coordinates of the »inserted point will be calculated in a known manner.

In principle, it does not matter whether the coordinate measuring devices determine the coordinates in a common coordinate system or in a respective local coordinate system, which are linked together via a preorientation.

The coordinate measurement can be carried out via suitable known ancestors, for. B. can be used as coordinate measuring per se known Zeichnungsdigitalisiereinrichtungen.

The advantages of the invention are due to the fact that the image carrier are completely free to slide on the surface and in any Lago accurate coordinate measurement is possible. To set a certain point in the two images, the y-parallax is first put away by edges of the rail and thus the two image carrier, then by moving the image carrier against each other and the x-parallax is eliminated.

In this case, the displacement of the image carriage against each other to increase the Feinfühligkoit by means of a spindle o.a.

will be realized.

embodiment

1 shows schematically two image carriers 1, 2, which are connected to each other via a rail 3 so that they can be mutually displaced in one direction (parallel to the rail 3). For this purpose, the rail 3 is fixedly mounted on the one image carrier 1, while the second image carrier 2 by means of guides 4, 5 along the rail 3 is movable. Both image carrier 1, 2 can be moved freely together on a base 6. For this purpose, 1.2 balls or sliding elements are attached to the underside of the image carrier (not shown here). On the image carriers, photographic images, z. As aerial photos are attached. At both image carriers 1,2 each have a coordinate measuring 7.8 attached. Furthermore, a stereoscopic Betraclitungseinheit is present, of which in Figure 1, only the puncture points 9, 10 of the optical axes through the pad 6 and the image carrier 1, 2 are indicated. The Koo'f'inatenmoßeinrichlungen 7, 8 may be attached to any position of the image carrier 1, 2, their coordinates x "', /"' in the local coordinate system of the image carrier are constant and

must be known (in Figure 1 and 2 is χ »'= O for simplicity). Furthermore, the coordinates x _b are known _; , y _bl (i = I, r for left, right) of the puncture points 9, 10 of the optical axes of the viewing optics in the fixed coordinate system of the table 6, eg, as a table. With the current coordinates x _m i, y _m i measured in this coordinate system the image coordinates x _w , y «of the homologous points in the two images are calculated according to the formulas

x, '= (χ «-« mi) · cosaa + (y ", - y _m ,) · sinaa - x _w '

yi = - (Xw - Xmi) · Sinaa + _(b y - y _m) coses - y ^ (ί = I, r)

5)

Xmr XmI

the edging of the rail 3 with respect to the Tischke jrdinatensystems is.

These calculations are performed in a connected computer, which then uses these image coordinates according to the in

the photogrammetric usual formulas, eg. B. country coordinates calculated.

In Figure 2, the geometric relationships and sizes for a picture carrier are shown once more clearly. Din invention is not exhausted in the illustrated Ausführungsbeisp'dl. So can the shift of the image carrier

against each other also realized by acting between the image carrier spindle with a small wheel for operation

become. As coordinate measuring devices are e.g. large digitizer trays, as they are used for coordinate input to graphic

Computer systems are common, applicable.

Claims (3)

1. A device for determining three-dimensional coordinates from a pair of stereo images, consisting of a substantially fixed viewing optics for the left and right image, two image carriage and a base and a computer, characterized in that the two image carriage are connected by a rail that the one of the image carriages can be displaced along the rail relative to the other image carriage, that both image carriages are freely displaceable together on the support and that each image carriage is fixedly connected to a coordinate measuring device which determines the position coordinates in a substantially fixed coordinate system and that these coordinate measuring devices connected in a known per se with the computer. 2. Apparatus for determining three-dimensional coordinates according to claim 1, characterized in that the pad is designed as l.euchtfläche. 3. A device for determining three-dimensional coordinates according to claim 1, characterized in that the image coordinates xi, yi in the left and x '" y _f ' in the right image according to the formulas