CN105783881A - Aerial triangulation method and device - Google Patents
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- CN105783881A CN105783881A CN201610228288.7A CN201610228288A CN105783881A CN 105783881 A CN105783881 A CN 105783881A CN 201610228288 A CN201610228288 A CN 201610228288A CN 105783881 A CN105783881 A CN 105783881A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/30—Interpretation of pictures by triangulation
- G01C11/34—Aerial triangulation
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Abstract
The invention discloses an aerial triangulation method and device. The method includes the steps that a plurality of shot images are obtained by a camera, and a first image to be processed is determined according to connection points in the shot images; measurement parameters of the first image to be processed are calculated; second images to be processed in the shot images are obtained circularly, and measurement parameters of the second images to be processed are obtained through calculation till measurement parameters of all the shot images are obtained, wherein the second images to be processed are images, with measurement parameters not obtained, in the shot images; the obtained measurement parameters of all the shot images are converted into measurement parameters in the real environment through coordinate conversion. The method and device solve the technical problem that existing images are too large in dip angle and accordingly relative orientation iteration is non-convergent.
Description
Technical field
The present invention relates to aerial triangulation field, in particular to the method and apparatus of a kind of aerial triangulation.
Background technology
Aerial triangulation (AerialTriangulation) be photogrammetric in determine in photographing region all elements outside photography photos or digitized video foreign sides, and the effective ways of pass point geographical coordinates, it is indispensable job step in photogrammetric data processing procedure.
Existing aerial survety adopts the measurement of relative orientation method, but owing to various visual angles image inclination angle is excessive, when there is no extraneous offer camera exterior orientation initial value, frequently can lead to iteration and do not restrain, thus the image pose parameter of image cannot be obtained.
For above-mentioned problem, effective solution is not yet proposed at present.
Summary of the invention
The method and apparatus embodiments providing a kind of aerial triangulation, at least to solve owing to existing image inclination angle is excessive, causes the technical problem that relative orientation iteration does not restrain.
An aspect according to embodiments of the present invention, it is provided that a kind of method of aerial triangulation, including: obtain multiple filmed image by video camera, and determine the first pending image according to the junction point in the plurality of filmed image；Calculate the measurement parameter obtaining described first pending image；Circulation obtains the second pending image in the plurality of filmed image, and calculates the measurement parameter obtaining described second pending image, until obtaining the measurement parameter of whole filmed image；Wherein, described second pending image is the image not obtaining measuring parameter in the plurality of filmed image；The measurement parameter of the whole filmed images obtained is converted to by Coordinate Conversion the measurement parameter under true environment.
Another aspect according to embodiments of the present invention, additionally provides the device of a kind of aerial triangulation, including: acquiring unit, obtain multiple filmed image by video camera, and determine the first pending image according to the junction point in the plurality of filmed image；First processing unit, for calculating the measurement parameter obtaining described first pending image；Second processing unit, for circulating the second pending image obtained in the plurality of filmed image, and calculates the measurement parameter obtaining described second pending image, until obtaining the measurement parameter of whole filmed image；Wherein, described second pending image is the image not obtaining measuring parameter in the plurality of filmed image；Gain of parameter unit, for being converted to the measurement parameter under true environment by the measurement parameter of the whole filmed images obtained by Coordinate Conversion.
In embodiments of the present invention, obtain multiple filmed image by video camera, and determine the first pending image according to the junction point in the plurality of filmed image；Calculate the measurement parameter obtaining this first pending image；Circulation obtains the second pending image in the plurality of filmed image, and calculates the measurement parameter obtaining this second pending image, until obtaining the measurement parameter of whole filmed image；Wherein, this second pending image is the image not obtaining measuring parameter in the plurality of filmed image；The measurement parameter of the whole filmed images obtained is converted to by Coordinate Conversion the measurement parameter under true environment.So, this technical method provides camera exterior orientation initial value without the external world, without traditional relative orientation iterative computation, but utilize multiple view geometry principle and have employed image calculating order policies and the optimization method of advanced person, solve relative pose parameter and the junction point relative position coordinates of all images, thus solving owing to existing image inclination angle is excessive, cause the technical problem that relative orientation iteration does not restrain.
Accompanying drawing explanation
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, and the schematic description and description of the present invention is used for explaining the present invention, is not intended that inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the schematic flow sheet of a kind of optional aerial triangulation method according to embodiments of the present invention；
Fig. 2 is the structural representation of a kind of optional aerial triangulation device according to embodiments of the present invention.
Detailed description of the invention
In order to make those skilled in the art be more fully understood that the present invention program, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the embodiment of a present invention part, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, all should belong to the scope of protection of the invention.
It should be noted that term " first " in description and claims of this specification and above-mentioned accompanying drawing, " second " etc. are for distinguishing similar object, without being used for describing specific order or precedence.Should be appreciated that the data of so use can be exchanged in the appropriate case, in order to embodiments of the invention described herein can with except here diagram or describe those except order implement.In addition, term " includes " and " having " and their any deformation, it is intended to cover non-exclusive comprising, such as, contain series of steps or the process of unit, method, system, product or equipment be not necessarily limited to those steps or the unit clearly listed, but can include clearly not listing or for intrinsic other step of these processes, method, product or equipment or unit.
According to embodiments of the present invention, provide the embodiment of the method for a kind of aerial triangulation, it should be noted that, can perform in the computer system of such as one group of computer executable instructions in the step shown in the flow chart of accompanying drawing, and, although illustrate logical order in flow charts, but in some cases, it is possible to perform shown or described step with the order being different from herein.
Fig. 1 is the method for a kind of aerial triangulation according to embodiments of the present invention, as it is shown in figure 1, the method comprises the steps:
S101, obtained multiple filmed image by video camera, and determine the first pending image according to the junction point in the plurality of filmed image.
In this step, after obtaining multiple shooting image, the plurality of shooting image is carried out sparse coupling and obtains junction point, and choose two filmed images according to the quantity order from more to less of the junction point obtained, and determine that these two filmed images are this first pending image.
S102, calculate and obtain the measurement parameter of this first pending image.
In this step, it is possible to utilize five-spot to obtain essential matrix according to this first pending image；Utilize stochastical sampling consistency algorithm (such as RANSAC iterative algorithm) that the essential matrix obtained is iterated, until obtaining the essential matrix that concordance is best；The essential matrix that this concordance is best is carried out singular value decomposition and obtains the measurement parameter to be optimized of this first pending image；It is iterated optimizing the measurement obtaining this first pending image to this measurement parameter to be optimized；The relative position coordinates of this junction point is obtained by friendship method before two panels.
In a kind of possible implementation of the present embodiment, it is possible to use the relative pose parameter obtained is iterated optimizing by LM (Levenberg-Marquardt) optimized algorithm, excluding gross error point eliminates incidental error.
S103, circulation obtain the second pending image in the plurality of filmed image, and calculate the measurement parameter obtaining this second pending image, until obtaining the measurement parameter of whole filmed image.
Wherein, this second pending image is the image not obtaining measuring parameter in the plurality of filmed image.
In this step, add up the number of the untreated image point overlapping with junction point, and determine that this number is this second pending image more than the image of predetermined threshold value；Wherein, this untreated image is the image not getting in this filmed image and measuring parameter；Utilize 6 methods to carry out straight linear conversion according to this second pending image and obtain camera matrix；Utilize stochastical sampling concordance (such as RANSAC iterative algorithm) algorithm that the camera matrix obtained is iterated, until obtaining the camera matrix that concordance is best；The camera matrix that this concordance is best is carried out singular value decomposition and obtains the measurement parameter to be optimized of this second pending image；This measurement parameter to be optimized is iterated optimizes (such as LM optimized algorithm) and obtains this second pending relative pose parameter, and utilize known image to carry out forward intersection, obtain the relative position coordinates of new junction point, wherein, described known image is the image having got and having measured parameter；Thus increasing the quantity of junction point；After obtaining the above-mentioned measurement parameter of the second pending image and the relative position coordinates of new junction point, relative position coordinates according to new junction point continues to obtain the number of the untreated image point overlapping with known junction point, and when the number of this reacquisition is more than this predetermined threshold value, determine the pending image of new second, and calculate the measurement parameter of this second new pending image, until all being shot the measurement parameter of image, wherein, this known junction point is the junction point having got relative position coordinates.
Wherein, above-mentioned predetermined threshold value can be the 75% of the filmed image Maximum overlap number with junction point.
S104, the measurement parameter measurement parameter of the whole filmed images obtained is converted to by Coordinate Conversion under true environment.
Alternatively, the location data separate absolute orientation method according to externally input, the relative position coordinates of the junction point in the measurement parameter of whole filmed images and these whole filmed images is transformed into true environment coordinate system and obtains imaging model；This imaging model is converted to co-colouration effect by matrix operations；Six elements of exterior orientation of every filmed image are obtained according to this co-colouration effect；Adopt bundle block adjustment method that six elements of exterior orientation and each junction point position coordinates under this true environment coordinate system of this every filmed image are carried out compensating computation respectively, obtain the pose parameter under true environment and the junction point actual coordinate under true environment.
Illustratively, being verified for the accuracy of the figure measurement parameter to adopting the embodiment of the present invention to obtain of taking photo by plane near Switzerland's somewhere highway, photograph 70 pictures, photo size 4000*3000 altogether, focal length is 5.08mm, comprises 9 control point.
Reading sparse matching result file, selecting a pair maximum image of junction point is the 50th and the 51st, and obtains relative pose parameter, and the relative seat parameter obtained is carried out LM optimization；Increase new image, respectively the 49th and the 52nd, and solve the relative pose parameter of new image, solution 4 images out are carried out LM optimization together, and constantly increase image newly and solve, until the relative pose parametric solution of all images, utilize GCP (Groundcontrolpoint, ground control point) do absolute orientation, obtain the true elements of exterior orientation of video camera, and utilize the elements of exterior orientation tried to achieve to carry out bundle adjustment, finally give junction point measurement parameter under true environment, and the junction point obtained measurement parameter under true environment is checked by the coordinate at control point, final output test result is:
Control point absolute fix precision/m
Wherein, above-mentioned X, Y, Z are the coordinate at control point, and as can be seen from the above table, the measurement result obtained by the embodiment of the present invention and the middle error of control point coordinate are all within 1 pixel, therefore, adopt the present embodiment can be measured parameter accurately.
The method adopting above-mentioned aerial triangulation, camera exterior orientation initial value is provided without the external world, without traditional relative orientation iterative computation, but utilize multiple view geometry principle and have employed image calculating order policies and the optimization method of advanced person, solve relative pose parameter and the junction point relative position coordinates of all images, thus solving owing to existing image inclination angle is excessive, cause the technical problem that relative orientation iteration does not restrain.
The device of a kind of aerial triangulation that Fig. 2 provides for the embodiment of the present invention, as in figure 2 it is shown, this device includes:
Acquiring unit 201, obtains multiple filmed image by video camera, and determines the first pending image according to the junction point in the plurality of filmed image；
First processing unit 202, for calculating the measurement parameter obtaining this first pending image；
Second processing unit 203, for circulating the second pending image obtained in the plurality of filmed image, and calculates the measurement parameter obtaining this second pending image, until obtaining the measurement parameter of whole filmed image；Wherein, this second pending image is the image not obtaining measuring parameter in the plurality of filmed image；
Gain of parameter unit 204, for being converted to the measurement parameter under true environment by the measurement parameter of the whole filmed images obtained by Coordinate Conversion.
Alternatively, this acquiring unit 201, specifically for choosing two filmed images according to the quantity of this junction point order from more to less, and determine that these two filmed images are this first pending image.
Alternatively, this first processing unit 202, specifically for utilizing five-spot to obtain essential matrix according to this first pending image；Utilize stochastical sampling consistency algorithm that the essential matrix obtained is iterated, until obtaining the essential matrix that concordance is best；The essential matrix that this concordance is best is carried out singular value decomposition and obtains the measurement parameter to be optimized of this first pending image；It is iterated this measurement parameter to be optimized optimizing and obtains this first pending measurement parameter；The relative position coordinates of this junction point is obtained by friendship method before two panels.
Alternatively, this second processing unit 203, for adding up the number of the untreated image point overlapping with junction point, and determine that this number is this second pending image more than the image of predetermined threshold value；Wherein, this untreated image is the image not getting in this filmed image and measuring parameter；And according to this second pending image utilize 6 methods carry out straight linear conversion obtain camera matrix；Utilize stochastical sampling consistency algorithm that the camera matrix obtained is iterated, until obtaining the camera matrix that concordance is best；The camera matrix that this concordance is best is carried out singular value decomposition and obtains the measurement parameter to be optimized of this second pending image；Utilizing known image to carry out forward intersection, obtain the relative position coordinates of new junction point, wherein, this known image is the image having got and having measured parameter；Relative position coordinates according to new junction point continues to obtain the number of the untreated image point overlapping with known junction point, and when the number of this reacquisition is more than this predetermined threshold value, determine the pending image of new second, and calculate the measurement parameter of this second new pending image, until all being shot the measurement parameter of image, wherein, this known junction point is the junction point having got relative position coordinates.
Alternatively, this gain of parameter unit 204, specifically for the location data separate absolute orientation method according to externally input, the relative position coordinates of the junction point in the measurement parameter of whole filmed images and these whole filmed images is transformed into true environment coordinate system and obtains imaging model, and converts this imaging model to co-colouration effect by matrix operations；Six elements of exterior orientation of every filmed image and the position coordinates of each junction point is obtained according to this co-colouration effect；Adopt bundle block adjustment method that six elements of exterior orientation and each junction point position coordinates under this true environment coordinate system of this every filmed image are carried out compensating computation respectively, obtain the pose parameter under true environment and this junction point actual coordinate under true environment.
Adopt the device of above-mentioned aerial triangulation, camera exterior orientation initial value is provided without the external world, without traditional relative orientation iterative computation, but utilize multiple view geometry principle and have employed image calculating order policies and the optimization method of advanced person, solve relative pose parameter and the junction point relative position coordinates of all images, thus solving owing to existing image inclination angle is excessive, cause the technical problem that relative orientation iteration does not restrain.
The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
In the above embodiment of the present invention, the description of each embodiment is all emphasized particularly on different fields, certain embodiment there is no the part described in detail, it is possible to referring to the associated description of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents, can realize by another way.Wherein, device embodiment described above is merely schematic, the such as division of described unit, can be that a kind of logic function divides, actual can have other dividing mode when realizing, such as multiple unit or assembly can in conjunction with or be desirably integrated into another system, or some features can be ignored, or does not perform.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be through INDIRECT COUPLING or the communication connection of some interfaces, unit or module, it is possible to be electrical or other form.
The described unit illustrated as separating component can be or may not be physically separate, and the parts shown as unit can be or may not be physical location, namely may be located at a place, or can also be distributed on multiple unit.Some or all of unit therein can be selected according to the actual needs to realize the purpose of the present embodiment scheme.
It addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it is also possible to be that unit is individually physically present, it is also possible to two or more unit are integrated in a unit.Above-mentioned integrated unit both can adopt the form of hardware to realize, it would however also be possible to employ the form of SFU software functional unit realizes.
If described integrated unit is using the form realization of SFU software functional unit and as independent production marketing or use, it is possible to be stored in a computer read/write memory medium.Based on such understanding, part or all or part of of this technical scheme that prior art is contributed by technical scheme substantially in other words can embody with the form of software product, this computer software product is stored in a storage medium, including some instructions with so that a computer equipment (can for personal computer, server or the network equipment etc.) performs all or part of step of method described in each embodiment of the present invention.And aforesaid storage medium includes: USB flash disk, read only memory (ROM, Read-OnlyMemory), the various media that can store program code such as random access memory (RAM, RandomAccessMemory), portable hard drive, magnetic disc or CD.
The above is only the preferred embodiment of the present invention; it should be pointed out that, for those skilled in the art, under the premise without departing from the principles of the invention; can also making some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (10)
1. the method for an aerial triangulation, it is characterised in that including:
Obtain multiple filmed image by video camera, and determine the first pending image according to the junction point in the plurality of filmed image；
Calculate the measurement parameter obtaining described first pending image；
Circulation obtains the second pending image in the plurality of filmed image, and calculates the measurement parameter obtaining described second pending image, until obtaining the measurement parameter of whole filmed image；Wherein, described second pending image is the image not obtaining measuring parameter in the plurality of filmed image；
The measurement parameter of the whole filmed images obtained is converted to by Coordinate Conversion the measurement parameter under true environment.
2. method according to claim 1, it is characterised in that described determine that the first pending image includes according to the junction point in the plurality of filmed image:
Choose two filmed images according to the quantity order from more to less of described junction point, and determine that described two filmed images are described first pending image.
3. method according to claim 1, it is characterised in that described calculating obtains the measurement parameter of described first pending image and includes:
Five-spot is utilized to obtain essential matrix according to described first pending image；
Utilize stochastical sampling consistency algorithm that the essential matrix obtained is iterated, until obtaining the essential matrix that concordance is best；
The essential matrix that described concordance is best is carried out singular value decomposition and obtains the measurement parameter to be optimized of described first pending image；
It is iterated optimizing the measurement parameter obtaining described first pending image to described measurement parameter to be optimized；
The relative position coordinates of described junction point is obtained by friendship method before two panels.
4. method according to claim 1, it is characterised in that the second pending image in the plurality of filmed image of described acquisition includes:
Add up the number of the untreated image point overlapping with junction point, and determine that described number is described second pending image more than the image of predetermined threshold value；Wherein, described untreated image is the image not getting in described filmed image and measuring parameter；
Described circulation obtains the second pending image in the plurality of filmed image, calculates the measurement parameter obtaining described second pending image, until the measurement parameter obtaining whole filmed image includes:
Utilize 6 methods to carry out straight linear conversion according to described second pending image and obtain camera matrix；
Utilize stochastical sampling consistency algorithm that the camera matrix obtained is iterated, until obtaining the camera matrix that concordance is best；
The camera matrix that described concordance is best is carried out singular value decomposition and obtains the measurement parameter to be optimized of described second pending image；
It is iterated optimizing the measurement parameter obtaining described second pending image to described measurement parameter to be optimized；
Utilizing known image to carry out forward intersection, obtain the relative position coordinates of new junction point, wherein, described known image is the image having got and having measured parameter；
Relative position coordinates according to new junction point continues to obtain the number of the untreated image point overlapping with known junction point, and when the number of described reacquisition is more than described predetermined threshold value, determine the pending image of new second, and calculate the measurement parameter of described the second new pending image, until all being shot the measurement parameter of image, wherein, described known junction point is the junction point having got relative position coordinates.
5. the method according to any one of Claims 1-4, it is characterised in that described the measurement parameter that the measurement parameter of the whole filmed images obtained is converted under true environment by Coordinate Conversion is included:
Location data separate absolute orientation method according to externally input, is transformed into true environment coordinate system by the relative position coordinates of the junction point in the measurement parameter of whole filmed images and described whole filmed image and obtains imaging model；
Described imaging model is converted to co-colouration effect by matrix operations；
Six elements of exterior orientation of every filmed image are obtained according to described co-colouration effect；
Adopt bundle block adjustment method that six elements of exterior orientation and each junction point position coordinates under described true environment coordinate system of described every filmed image are carried out compensating computation respectively, obtain the pose parameter under true environment and described junction point actual coordinate under true environment.
6. the device of an aerial triangulation, it is characterised in that including:
Acquiring unit, obtains multiple filmed image by video camera, and determines the first pending image according to the junction point in the plurality of filmed image；
First processing unit, for calculating the measurement parameter obtaining described first pending image；
Second processing unit, for circulating the second pending image obtained in the plurality of filmed image, and calculates the measurement parameter obtaining described second pending image, until obtaining the measurement parameter of whole filmed image；Wherein, described second pending image is the image not obtaining measuring parameter in the plurality of filmed image；
Gain of parameter unit, for being converted to the measurement parameter under true environment by the measurement parameter of the whole filmed images obtained by Coordinate Conversion.
7. device according to claim 6, it is characterised in that described acquiring unit, specifically for choosing two filmed images according to the quantity of described junction point order from more to less, and determines that described two filmed images are described first pending image.
8. device according to claim 6, it is characterised in that described first processing unit, specifically for utilizing five-spot to obtain essential matrix according to described first pending image；Utilize stochastical sampling consistency algorithm that the essential matrix obtained is iterated, until obtaining the essential matrix that concordance is best；The essential matrix that described concordance is best is carried out singular value decomposition and obtains the measurement parameter to be optimized of described first pending image；It is iterated described measurement parameter to be optimized optimizing and obtains described first pending measurement parameter；The relative position coordinates of described junction point is obtained by friendship method before two panels.
9. device according to claim 6, it is characterised in that described second processing unit, for adding up the number of the untreated image point overlapping with junction point, and determines that described number is described second pending image more than the image of predetermined threshold value；Wherein, described untreated image is the image not getting in described filmed image and measuring parameter；And according to described second pending image utilize 6 methods carry out straight linear conversion obtain camera matrix；Utilize stochastical sampling consistency algorithm that the camera matrix obtained is iterated, until obtaining the camera matrix that concordance is best；The camera matrix that described concordance is best is carried out singular value decomposition and obtains the measurement parameter to be optimized of described second pending image；Utilizing known image to carry out forward intersection, obtain the relative position coordinates of new junction point, wherein, described known image is the image having got and having measured parameter；Relative position coordinates according to new junction point continues to obtain the number of the untreated image point overlapping with known junction point, and when the number of described reacquisition is more than described predetermined threshold value, determine the pending image of new second, and calculate the measurement parameter of described the second new pending image, until all being shot the measurement parameter of image, wherein, described known junction point is the junction point having got relative position coordinates.
10. the device according to any one of claim 6 to 9, it is characterized in that, described gain of parameter unit, specifically for the location data separate absolute orientation method according to externally input, the relative position coordinates of the junction point in the measurement parameter of whole filmed images and described whole filmed image is transformed into true environment coordinate system and obtains imaging model, and converts described imaging model to co-colouration effect by matrix operations；Six elements of exterior orientation of every filmed image and the position coordinates of each junction point is obtained according to described co-colouration effect；Adopt bundle block adjustment method that six elements of exterior orientation and each junction point position coordinates under described true environment coordinate system of described every filmed image are carried out compensating computation respectively, obtain the pose parameter under true environment and described junction point actual coordinate under true environment.
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