KR20140094211A - Method for 3D Location determination in single image using Rational Polynomial Coefficients information of stereo satellite images - Google Patents

Abstract

The present invention relates to a method for determining the 3D location of an object identified from a single image as a method applicable to various remote sensing single images such as aerial images or satellite images, in which exterior orientation parameters exist or exterior orientation parameters do not exist or are not known. According to the present invention, rational polynomial coefficients (RPCs) of a remote sensing image can be calculated by extracting a ground reference point from a 3D satellite image based on an accurate rational polynomial camera (RPC) model, and 3D location coordinates of an object identified from the remote sensing image can be calculated by using a multiple image RPC model consisting of the remote sensing single image and the RPC model-based 3D satellite image.

Description

[0001] The present invention relates to a three-dimensional positioning method in a single image using stereoscopic satellite image RPCs information,

The present invention relates to a method for determining a three-dimensional position of an object identified in a remote sensing image, and more particularly, to a method for determining a three- Dimensional positioning in a single image to determine a three-dimensional position of the facility using the three-dimensional positioning method.

The present invention also relates to a three-dimensional positioning method in a single image which can accurately measure the position of a new facility even when there is no external factor or RPCs (Rational Polynomial Coefficients) will be.

In addition, the present invention provides a three-dimensional positioning method in a single image that determines a three-dimensional position of a facility using a single image when a facility that has not been identified in a previously captured image is identified in a newly photographed image And a storage medium for storing program command codes to be executed.

Generally, there are two methods to accurately determine the location of a facility using a remote sensing image. One is to use DTED (Digital Terrain Elevation Data) and the other is to recognize two facial features And a method of using images.

The former is a method of finding a three-dimensional coordinate by a ray-tracing method using an external facial expression and DTED for one image.

On the other hand, the latter method is a method of finding three-dimensional coordinates by space-intersection using outer facial expressions for each of two stereo images.

In the case of using two images, a simple RPC (Rational Polynomial Camera) modeling method, which can replace the complicated strict modeling method using an external facial expression element, is recently used.

In the method of calculating the general three-dimensional position, when the single image and the DTED, which know the external facial expression element, are used, the positioning accuracy is not good due to the incorrect DTED if the DTED is used.

In addition, when two stereoscopic images having an external facial expression element are used, one image is additionally required, which increases the cost and complicates the process.

In addition, there is a disadvantage that it is not possible to apply the method of calculating the general three-dimensional position when the external facial expression element of the image is unknown.

1. Korean Patent Publication No. 10-2006-0127519 2. Korean Patent Publication No. 10-2011-0118914

A Rational Polynomial Camera (RPC) model, which extracts three-dimensional positions of an object easily and accurately at a low cost using an image even when there is no external facial expression element, has been proposed in order to solve the problem according to the background art. Dimensional positioning of an object from a single image using a three-dimensional satellite-based image.

In order to accomplish the above-mentioned object, the present invention provides a stereoscopic satellite image display method for determining a three-dimensional position of a facility using a single image when an unidentified facility is identified in a newly photographed image, It provides a method of three-dimensional positioning in a single image using RPCs (Rational Polynomial Coefficients) information.

The three-dimensional positioning method in the single image includes a step of extracting a stereoscopic satellite image coordinate corresponding to a ground reference point using the stereoscopic satellite image RPCs information having RPCs (Rational Polynomial Coefficients) Extraction step; A ground coordinate calculation step of calculating a ground coordinate of a ground reference point corresponding to an image coordinate extracted using an RPC model of a stereoscopic satellite image; A step of extracting a short image coordinate corresponding to the ground reference point from the short image; An RPCs coefficient calculation step of calculating a Rational Polynomial Coefficients (RPCs) coefficient of the single image using the calculated ground coordinates and the short axis coordinates; An object extracting step of selecting an object for measuring three-dimensional coordinates in the single image and extracting an image coordinate of the object; Extracting image coordinates from the stereoscopic image with respect to the object; Dimensional coordinates of the object using the multi-image RPC block model method using the image coordinates of the single image of the object, the RPCs coefficient of the single image, the image coordinates of the stereoscopic satellite image, and the RPCs coefficients of the stereoscopic satellite image. And a three-dimensional coordinate calculation step.

In this case, the step of extracting the stereoscopic satellite image coordinate may further include the step of selecting the ground reference point.

In this case, the ground reference point may be a predetermined value.

In addition, the stereoscopic satellite image may include a first stereoscopic satellite image, which is a left stereoscopic satellite image, and a second stereoscopic satellite image, which is a right stereoscopic satellite image.

The RPCs coefficients of the stereoscopic satellite image include RPCs coefficients of a first stereoscopic satellite image related to the first stereoscopic satellite image and RPCs coefficients of a second stereoscopic phase image related to the second stereoscopic phase image .

The ground coordinates calculation step may include: searching the terrestrial reference point on a stereoscopic satellite image; And calculating ground coordinates, which are three-dimensional absolute coordinates corresponding to the ground reference point, from the searched satellite image.

The terrestrial coordinates may be calculated by extracting stereoscopic satellite image coordinates of the same point corresponding to the ground reference point and using RPCs coefficients of the stereoscopic satellite image, respectively.

The RPCs calculating step may include: establishing a RPC model of a single image for the single image using the stereoscopic satellite image coordinates and the single image coordinates of the ground reference point; And calculating a Rational Polynomial Coefficients (RPCs) coefficient of the single image using the established single image RPC model.

In addition, the image coordinates of the object may include a short-axis image, which is an image coordinate of a single image, and a stereoscopic satellite image coordinate, which is an image coordinate of the stereoscopic satellite image.

The extraction of the image coordinates of the object may be performed by extracting the stereoscopic satellite image coordinates from the stereoscopic satellite image at the same point corresponding to the short image coordinates of the object extracted from the selected object.

The step of calculating the three-dimensional coordinates of the object includes a step of establishing an RPC model using the short-axis image coordinates of the object, the RPCs of the short-axis image, the image coordinates of the three-dimensional satellite image, and the RPCs coefficients of the three- .

Also, the single image may be a remote sensing unit image including at least one of an image with an external facial expression element, an image without an external facial expression element, an aerial image, and a satellite image.

Meanwhile, another embodiment of the present invention provides a storage medium for storing a program command code for executing a three-dimensional positioning method in a single image using the stereoscopic satellite image RPCs information described above.

According to the present invention, a ground reference point is extracted from an accurate RPC (Rational Polynomial Camera) model based on an accurate RPC (Rational Polynomial Camera) model in the case of any remote sensing image without an external facial expression element or a Rational Polynomial Coefficients Rational Polynomial Coefficients) and calculate the 3D positional coordinates of the object identified in the corresponding remote sensing image by using the multi-image RPC model composed of the corresponding remote sensing stage image and the RPC model based stereoscopic satellite image.

Further, as another effect of the present invention, since the RPC model that can be applied regardless of the characteristics of the sensor and the image is used, it is applicable to all the remote sensing images regardless of the existence of the external facial expression element and the RPCs coefficient It can be said that

Another advantage of the present invention is that three-dimensional coordinates can be calculated using only one image newly photographed for a new facility that does not appear in the previously captured stereoscopic image.

Further, another advantage of the present invention is that three-dimensional coordinates can be calculated without additional image capturing even for facilities identified only by IR (Infrared) images or SAR (Synthetic Aperture Radar) images.

As another effect of the present invention, it is possible to quickly and precisely calculate three-dimensional coordinates from various types of single images photographed in a non-approach area using the RPC model based on the non-access area, at no additional cost .

FIG. 1 is a flowchart illustrating a method for determining a three-dimensional position of an object from a single image using a Rational Polynomial Camera (RPC) model-based stereoscopic image according to an embodiment of the present invention.
FIG. 2 is a conceptual diagram for explaining a concept of calculating a Rational Polynomial Coefficients (RPCs) coefficient of a single image using ground coordinates calculated in a stereoscopic image according to an exemplary embodiment of the present invention.
3 is a conceptual diagram illustrating a concept of calculating three-dimensional absolute coordinates of an object from an RPC model-based stereoscopic satellite image according to an embodiment of the present invention.
4 is a conceptual diagram illustrating a concept of calculating three-dimensional absolute coordinates of an object using a multi-image RPC block modeling method from a single image and a stereoscopic satellite image according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Like reference numerals are used for similar elements in describing each drawing.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. The term "and / or" includes any combination of a plurality of related listed items or any of a plurality of related listed items.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Should not.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a three-dimensional positioning method in a single image using stereoscopic satellite image RPCs (Rational Polynomial Coefficients) information according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

In particular, an object to be subjected to calculation of three-dimensional coordinates, which is one optical image without external facial expressions and RPCs data, may be various terrains and / or artifacts. In an embodiment of the present invention, As an example of a building.

FIG. 1 is a flowchart illustrating a method for determining a three-dimensional position of an object from a single image using a Rational Polynomial Camera (RPC) model-based stereoscopic image according to an embodiment of the present invention.

Before describing FIG. 1, RPC model and RPCs (Rational Polynomial Coefficients) coefficients will be described.

In general, high-resolution satellite images such as GeoEye-1 and WorldView-2, which are supplied commercially, use the RPC model and provide RPCs coefficients with images.

The RPC (Rational Polynomial Camera) model is a special type of general sensor model of RFM (Rational Function Model) proposed by OGC (Open GIS Consortium). It has accuracy similar to the rigid model and is suitable for real time use.

The RPC model consists of the relationship between ground coordinates (latitude, longitude, height) and image coordinates (lines, samples). This RPC model is constructed for each of the lines and the samples in the ratio of two identical types of polynomials using the ground coordinates, and is implemented as Equation (1). Also, the RPCs coefficient is a coefficient used in the RPC model, which means in Equation (1).

Here, a is the coefficient of the fractional molecule, b is a measure of the fractional denominator representing the line, c is the modulus of the fractional numerator representing the sample (s), indicating the line (l) d is fractional showing a sample Respectively.

From here,

: 라인에 대한 분자, 분모 다항식

: A molecule for a line, a denominator polynomial

: 샘플에 대한 분자, 분모 다항식

: A numerator for a sample, a denominator polynomial

), 경도(λ), 높이(ｈ)를 수학식 2와 같이 -1과 1 사이의 범위로 정규화된 변수이다. Where U, V, and W are the geographical coordinates latitude (

), The hardness (?), And the height ( h ) are normalized to a range between -1 and 1 as shown in Equation (2).

l, s is a normalized variable in the range between -1 and 1 using the image coordinate line ( l ) and the sample ( s ) as follows.

The various variables shown here are as follows

: 위도의 오프셋,

: 위도의 스케일

: Offset of latitude,

: Scale of latitude

λ ₀ is the offset of the hardness, λ _S is the scale of the hardness

h ₀ is the offset of the ellipsoid, h _S is the scale of the ellipsoid

L ₀ is the offset of the line, L _S is the scale of the line

S ₀ is the offset of the sample, S _S is the scale of the sample

The values of these variables are calculated as shown in Equation (4).

In one embodiment of the present invention, the image coordinates of a single image are extracted from the ground reference point, and the ground coordinates of the ground reference point are calculated by Least Square Estimation (LSE) using the image coordinates of the satellite image and the RPCs coefficients of the satellite image (Steps S101, S102, S103, S104, and S105).

The RPC model equation (1) is transformed into an equation form as shown in Equation (5).

(5) is transformed as shown in Equation (6) by linearizing using the Taylor series.

Referring to the vector u of Equation (1) in Equation (6), each partial differential coefficient is expressed by Equation (7).

Equation (7) can be expressed as a vector matrix, so that an observation equation can be constructed as shown in Equation (8).

Equation (8) can be simplified to Equation (9).

By using Equation (9), dX is repeatedly calculated as shown in Equation (10) to calculate the RPCs coefficient of the single image (Steps S106 and S107).

Where c is a vector of initial values and errors.

At this time, if the A matrix is an ill-posed problem, the Tikhonov generalization method is applied as shown in Equation (11).

The Tikhonov generalization method is a method to improve the instability and convergence speed of the function by adding a positive definite normalization function to A'A as shown above.

In one embodiment of the present invention, the ground coordinates of the ground reference point used in Equation (1) are calculated from the RPC model based stereoscopic image. Since the general RPC model is an upward polynomial for calculating image coordinates using the ground coordinates, a downward polynomial is required to calculate the ground coordinates using the image coordinates extracted from the stereoscopic image.

However, since the RPC model does not directly support it, it is necessary to calculate the ground coordinates in an iterative manner using the inverse function of the upward polynomial.

This process can linearize the upward polynomial with Taylor's theorem for the terrestrial coordinates and calculate the terrestrial coordinates by iterative calculation with the initial value of the terrestrial coordinates. First, the polynomial of the RPC model is linearized with respect to the left and right images of the stereoscopic image as shown in Equation (12).

은 하나의 지상위치에 대한 좌측 위성영상의 정규화한 영상좌표이고,

은 우측 위성영상에서의 정규화한 영상좌표이다. 수학식 12는 수학식 13과 같이 방정식 형태로 변환할 수 있다.From here

Is a normalized image coordinate of the left satellite image with respect to one ground position,

Is the normalized image coordinate in the right satellite image. Equation (12) can be transformed into an equation form as shown in Equation (13).

Here, the molecular polynomial of the line ( 1 ) of the RPC model is p ₁ , the denominator polynomial is q ₁ , The molecular polynomial of the sample ( s ) is denoted by p ₂ , the denominator polynomial is denoted by q ₂ to simplify the notation and calculate the design matrix, the equation (13) is transformed as shown in equation (14).

The partial derivative used in Equation (14) is as shown in Equation (15).

,

,

,

,

,

,

,

,

,

,

,

들은 수학식 16과 같다.Here,

,

,

,

,

,

,

,

,

,

,

,

≪ / RTI >

)와 관측식 4개로 구성되어 있으므로 최소 제곱 추정법을 이용하여 지상좌표를 계산할 수 있다(단계 S105). The above equation (16) represents three unknowns

) And the observation formula, so that the ground coordinates can be calculated using the least squares estimation method (step S105).

The normalized three-dimensional ground coordinates ( U, V, W ) , which is unknown, can be obtained by constructing Equation (16) again as shown in Equation (17).

In the embodiment of the present invention, three-dimensional coordinates of an object identified in a single image are calculated using a multiple image block adjustment model composed of a remote sensing step image and two pieces of stereoscopic satellite images (step S109).

The multi-view RPC model equation can be constructed for the image i and the reference point j using Equation (18) using the relational expression of the image coordinates and the ground coordinates of each image for the object to calculate the three-dimensional coordinates.

At this time, the weighting factor for the checkpoint is 1.0 × 10 ⁺⁵ for checking the modeling accuracy, 1.0 × 10 ^{-4 for the} image coordinates, and 1.0 × 10 ^-5 for the ground reference point .

After simplifying the equation (1) by removing the image and reference point numbers, linearizing the linear equation using Taylor series is transformed as shown in equation (19).

The expression (19) can be expressed by a mathematical expression (20).

및

는 수학식 21과 같다.From here,

And

(21).

If the observation equation is constructed using Equation (20), Equation (22) is obtained.

Where W _P is the difference between the observed and corrected values of the measured image coordinates, W _A is the difference between the observed and corrected values for image coordinate adjustment, W _G is the observed value of the ground coordinates and the corrected value .

Equation (22) can be expressed in more detail by Equation (23).

, A _G 는 영상 i와 기준점 j의 경우에 대해

와 같다.In Expression (23), the correction for the image coordinate adjustment is denoted by () and the correction for the ground reference point is expressed by (...) in order to facilitate the representation of the large determinant. In other words, A _A is the difference between the image i and the reference point j

, A _G for the case of image i and reference point j

.

Assuming that the measured image coordinates, the image coordinate adjustments, and the weighted coefficient matrices for the ground coordinates are C _P , C _A , and C _G , respectively, the correction values of the respective parameters can be obtained as shown in Equation 24. Accordingly, the block adjustment modeling of the multiple images can be performed by setting the initial value for the parameter and repeating the calculation of Equation 24 (Step S109).

From here

And is expressed by the following equation (25).

The flow chart shown in FIG. 1 will be described as follows. Referring to FIG. 1, image coordinates of a position corresponding to a ground reference point in a newly shot single image are extracted (steps S101 and S103). Further, there is a process of selecting a ground reference point in a single image and extracting an image coordinate of the ground reference point.

The ground coordinates corresponding to the image coordinates of the extracted ground reference point are calculated using the RPC model based stereoscopic satellite image (steps S102, S104, and S105). In other words, it is required to search the selected ground reference point from the RPC model based 3D satellite image and to calculate the 3D ground coordinates corresponding to the ground reference point from the retrieved 3D satellite image.

At this time, the three-dimensional ground coordinate calculation is performed by extracting the image coordinates of the same point corresponding to the ground reference point in the stereoscopic satellite image and using the respective RPCs coefficients.

The RPC coefficients of the single image are generated using the image coordinates extracted from the single image and the ground coordinates calculated from the RPC model based stereo image with respect to the ground reference point (steps S106 and S107). In addition, the RPC model of the single image is constructed using the image coordinates of the single image and the ground coordinates calculated from the stereoscopic image, and the process of calculating the RPCs coefficient, which is the coefficient of the model, becomes available.

Extracts the image coordinates of the selected object and extracts the image coordinates of the object corresponding to the selected object from the single image in the RPC model based stereoscopic satellite image (Step S108). Of course, there is a process of selecting an object for measuring three-dimensional coordinates in a single image and extracting the image coordinates of the selected object.

The three-dimensional coordinates are calculated by the RPC block model adjustment method using the RPCs coefficients and the image coordinates of the single image and the stereoscopic satellite image (step S109). In addition, the image coordinates are extracted from the stereoscopic satellite image at the same point corresponding to the image coordinates extracted from the selected object.

FIG. 2 is a conceptual diagram for explaining a concept of calculating a Rational Polynomial Coefficients (RPCs) coefficient of a single image using ground coordinates calculated in a stereoscopic image according to an exemplary embodiment of the present invention.

2, the ground reference point ground coordinates 205 for the ground reference point are obtained from the stereo phase images 202-1 and 202-2 including the RPCs coefficient information. Of course, the ground reference point is a previously set stored value. The ground reference point ground coordinates 205 is a value corresponding to the height value H _i of the i point.

In other words, the stereoscopic phase image is composed of the first stereoscopic satellite image 202-1 and the second stereoscopic satellite image 202-2. When the first stereoscopic satellite image 202-1 is easily distinguished from the first stereoscopic satellite image 202-1, Satellite image (i.e., right image), and the second stereoscopic phase image 202-2 becomes a left stereoscopic satellite image (i.e., left image).

Of course, the first stereoscopic image coordinate 202-1 has the first stereoscopic image coordinate 204-1 and the second stereoscopic satellite image 202-2 has the second stereoscopic image coordinate 204-2 information .

The first RPCs coefficient 220-1 is included in the first stereoscopic satellite image 202-1 and the second RPCs coefficient 220-2 is provided in the second stereoscopic satellite image 202-2.

Accordingly, when the RPCs coefficients 220-1 and 220-2 and the stereoscopic satellite image coordinates 204-1 and 204-2 are extracted, the ground coordinates 205 of the ground reference point are calculated.

When the ground reference point ground coordinates 205 are calculated, the RPC model of the single image is established by using the ground reference point coordinates 205 and the short image coordinates 203 of the single image 201.

The established RPC model is used to calculate the third RPCs coefficient 207 for the single image 201.

Here, of course, the short-axis coordinate 203 becomes a coordinate value corresponding to the ground reference point coordinate 205 corresponding to the ground reference point.

Figures 3 and 4 show schematically the concept shown in Figure 2 for easy understanding. 3 and 4 will be described below.

3 is a conceptual diagram illustrating a concept of calculating three-dimensional ground coordinates from an RPC model-based stereoscopic satellite image according to an embodiment of the present invention. 3, the image coordinates 204-1 and 204-2 of the stereoscopic satellite images 202-1 and 202-2 and the RPCs coefficients 220-1 and 220-2 of the stereoscopic satellite images 202-1 and 202-2 -2) is used to calculate the three-dimensional absolute coordinate 305 of the object with respect to the ground surface 320.

Of course, the three-dimensional absolute coordinate 305 of the object has the same meaning as the ground reference point ground coordinate 205 shown in Fig.

Here, the three-dimensional absolute coordinate 305 of the object is located on the U, V, W ground 320. [

3, the three-dimensional absolute coordinates 305 of the object with respect to the ground surface 320 are calculated using the stereoscopic satellite image coordinates 204-1 and 204-2 and the RPCs coefficients 220-1 and 220-2. It is possible to calculate the RPCs coefficient (207 in FIG. 2) for the single image (201 in FIG. 2) by using it.

4 is a conceptual diagram illustrating a concept of calculating three-dimensional absolute coordinates using a multi-image RPC block modeling method from a single image and a stereoscopic satellite image according to an embodiment of the present invention. 4, the stereoscopic satellite image coordinates 204-1 and 204-2 of the stereoscopic satellite images 202-1 and 202-2 and the RPCs coefficients of the stereoscopic satellite images 202-1 and 202-2 Dimensional absolute coordinates 305 of the object from the image coordinates 203 of the single image 201 and the RPCs coefficients 207 by a block modeling method.

In particular, the method of three-dimensional positioning in a single image using stereoscopic satellite image RPCs information according to an embodiment of the present invention is implemented in the form of a program command code that can be executed through various computer means, .

The computer-readable storage medium may include program instructions, data files, data structures, and the like, alone or in combination.

The program instructions recorded on the medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software.

Examples of computer-readable storage media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magneto-optical media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like.

The medium may be a transmission medium such as an optical or metal line, a wave guide, or the like, including a carrier wave for transmitting a signal designating a program command, a data structure, or the like.

Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

In addition, one embodiment of the present invention may be implemented in hardware, software, or a combination thereof. (DSP), a programmable logic device (PLD), a field programmable gate array (FPGA), a processor, a controller, a microprocessor, and the like, which are designed to perform the above- , Other electronic units, or a combination thereof.

In a software implementation, it may be implemented as a module that performs the functions described above. The software may be stored in a memory unit and executed by a processor. The memory unit or processor may employ various means well known to those skilled in the art.

201: Single image
202-1, 202-2: stereoscopic satellite image
203: Single image coordinates
204-1 and 204-2: stereoscopic satellite image coordinates
220-1,220-2,207: Rational Polynomial Coefficients (RPCs)
205: ground reference point ground coordinates
305: Three-dimensional absolute coordinate of object
320: Floor

Claims (10)

A three-dimensional positioning method in a single image using stereoscopic satellite image RPC (Rational Polynomial Coefficients) information,
A stereoscopic satellite image coordinate extraction step of extracting a stereoscopic satellite image coordinate corresponding to a ground reference point using RPCs (Rational Polynomial Coefficients) information of a stereoscopic satellite image;
A ground coordinate calculation step of calculating a ground reference point ground coordinate corresponding to the image coordinate extracted using the RPC model of the stereoscopic satellite image;
A step of extracting a short image coordinate corresponding to the ground reference point from the short image;
A RPCs coefficient calculation step of calculating a Rational Polynomial Coefficients (RPCs) of the single image using the ground reference point ground coordinates and the single image coordinates;
An object extracting step of selecting an object for measuring three-dimensional coordinates in the single image and extracting an image coordinate of the object;
Extracting image coordinates from the stereoscopic image with respect to the object; And
An object 3 for calculating the three-dimensional coordinates of the object using the multi-image RPC block model method using the image coordinates of the single image of the object, the image coordinates of the stereoscopic satellite image, the RPCs coefficients of the single image, and the RPCs coefficients of the stereoscopic satellite image Dimensional coordinate calculation step;
Dimensional positioning in a single image using stereoscopic satellite image RPC (Rational Polynomial Camera) information.
The method according to claim 1,
In the stereoscopic satellite image coordinate extraction step,
Further comprising the step of selecting the ground reference point, wherein the ground reference point is a preset value.
The method according to claim 1,
Wherein the stereoscopic satellite image includes a first stereoscopic satellite image, which is a right stereoscopic satellite image, and a second stereoscopic satellite image, which is a left stereoscopic satellite image. The three-dimensional positioning method in a single image using stereoscopic satellite image RPCs information .
The method according to claim 1,
Wherein the ground reference point ground coordinates calculation step comprises:
Searching for a stereoscopic satellite image including the ground reference point; And
And calculating ground coordinates of the ground reference point, which is a three-dimensional absolute coordinate corresponding to the ground reference point, from the searched satellite image.
5. The method of claim 4,
Wherein the ground reference point ground coordinates are calculated by extracting stereoscopic satellite image coordinates of the same point corresponding to the ground reference point and using RPCs coefficients of the stereoscopic satellite image, A method for three-dimensional positioning in a mobile terminal.
The method according to claim 1,
The RPCs coefficient calculating step may include:
Establishing an RPC model of the single image for the single image using the ground reference point ground coordinates and the single image coordinates of the calculated ground reference point; And calculating RPCs (Rational Polynomial Coefficients) of the single image using the established single-image RPC model. The three-dimensional positioning method in a single image using stereoscopic satellite image RPCs information.
The method according to claim 1,
Wherein the image coordinates of the object include three-dimensional satellite image coordinates, which are image coordinates of a stereoscopic satellite image and short image coordinates, which are image coordinates of a single image. .
8. The method of claim 7,
Wherein the extraction of the image coordinates of the object is performed by extracting the stereoscopic satellite image coordinates of the object from the stereoscopic satellite image at the same point corresponding to the short image coordinates of the object extracted from the selected object. Three - Dimensional Positioning Method in Single Images Using.
The method according to claim 1,
Wherein the object three-dimensional coordinate calculation step comprises:
The method comprising: establishing an RPC model using image coordinates of a single image of the object, image coordinates of a stereoscopic image, RPCs of a single image, and RPCs coefficients of a stereoscopic satellite image, Three - Dimensional Positioning Method in Single Images Using.
The method according to claim 1,
Wherein the single image is a remote sensing unit image including at least one of an image with an external facial expression element, an image without an external facial expression element, an aerial image, and a satellite image. In the single image using the stereoscopic satellite image RPCs information, Three dimensional positioning method.

Images