CN105783881B - The method and apparatus of aerial triangulation - Google Patents
The method and apparatus of aerial triangulation Download PDFInfo
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- CN105783881B CN105783881B CN201610228288.7A CN201610228288A CN105783881B CN 105783881 B CN105783881 B CN 105783881B CN 201610228288 A CN201610228288 A CN 201610228288A CN 105783881 B CN105783881 B CN 105783881B
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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 a kind of method and apparatus of aerial triangulation.Wherein, this method comprises: obtaining multiple filmed images by video camera, and the first image to be processed is determined according to the tie point in multiple filmed images；The measurement parameter of the first image to be processed is calculated；Circulation obtains the second image to be processed in multiple filmed images, and the measurement parameter of the second image to be processed is calculated, until obtaining the measurement parameter of whole filmed images；Wherein, the second image to be processed is the image for not obtaining measurement parameter in multiple filmed images；The measurement parameter of obtained whole filmed images is converted to by coordinate to the measurement parameter under true environment.The technical issues of present invention is solved since existing image inclination angle is excessive, and relative orientation iteration is caused not restrain.
Description
Technical field
The present invention relates to aerial triangulation fields, in particular to a kind of method and apparatus of aerial triangulation.
Background technique
Aerial triangulation (Aerial Triangulation) is all photographed in photogrammetric middle determining photographing region
Element outside photo or digitized video foreign side, and the effective ways of pass point ground coordinate are photogrammetric data treatment processes
In indispensable job step.
It is measured in existing aerial survety using relative orientation method, but since multi-angle of view image inclination angle is excessive,
In the case where without extraneous offer camera exterior orientation initial value, it frequently can lead to iteration and do not restrain, to be unable to get image
Image pose parameter.
For above-mentioned problem, currently no effective solution has been proposed.
Summary of the invention
The embodiment of the invention provides a kind of method and apparatus of aerial triangulation, at least to solve due to existing image
The technical issues of inclination angle is excessive, and relative orientation iteration is caused not restrain.
According to an aspect of an embodiment of the present invention, a kind of method of aerial triangulation is provided, comprising: pass through camera shooting
Machine obtains multiple filmed images, and determines the first image to be processed according to the tie point in the multiple filmed image；It calculates
To the measurement parameter of the described first image to be processed；Circulation obtains the second image to be processed in the multiple filmed image, and
The measurement parameter of the described second image to be processed is calculated, until obtaining the measurement parameter of whole filmed images；Wherein, described
Second image to be processed is the image for not obtaining measurement parameter in the multiple filmed image；By obtained whole filmed images
Measurement parameter is converted to the measurement parameter under true environment by coordinate.
According to another aspect of an embodiment of the present invention, a kind of device of aerial triangulation is additionally provided, comprising: obtain single
Member obtains multiple filmed images by video camera, and determines that first is to be processed according to the tie point in the multiple filmed image
Image；First processing units, for the measurement parameter of the described first image to be processed to be calculated；The second processing unit is used for
Circulation obtains the second image to be processed in the multiple filmed image, and the measurement of the described second image to be processed is calculated
Parameter, until obtaining the measurement parameter of whole filmed images；Wherein, the described second image to be processed is the multiple filmed image
In do not obtain the image of measurement parameter；Gain of parameter unit, for the measurement parameter of obtained whole filmed images to be passed through seat
Mark is converted to the measurement parameter under true environment.
In embodiments of the present invention, multiple filmed images are obtained by video camera, and according in multiple filmed image
Tie point determines the first image to be processed；The measurement parameter of first image to be processed is calculated；Circulation obtains multiple bat
The second image to be processed in photogra, and the measurement parameter of second image to be processed is calculated, until obtaining whole bats
The measurement parameter of photogra；Wherein, which is the image for not obtaining measurement parameter in multiple filmed image；
The measurement parameter of obtained whole filmed images is converted to by coordinate to the measurement parameter under true environment.In this way, should
Technical method provides camera exterior orientation initial value without extraneous, iterates to calculate without traditional relative orientation, but utilizes more views
Geometrical principle simultaneously uses advanced image calculating order policies and optimization method, solves the relative pose parameter of all images
Cause relative orientation iteration not convergent to solve since existing image inclination angle is excessive with tie point relative position coordinates
Technical problem.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of flow diagram of optional aerial triangulation method according to an embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of optional aerial triangulation device according to an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
According to embodiments of the present invention, a kind of embodiment of the method for aerial triangulation is provided, it should be noted that attached
The step of process of figure illustrates can execute in a computer system such as a set of computer executable instructions, though also,
So logical order is shown in flow charts, but in some cases, it can be to be different from shown by sequence execution herein
Or the step of description.
Fig. 1 is a kind of method of aerial triangulation according to an embodiment of the present invention, as shown in Figure 1, this method includes such as
Lower step:
S101, multiple filmed images are obtained by video camera, and determine according to the tie point in multiple filmed image
One image to be processed.
In this step, after obtaining multiple shooting images, sparse matching is carried out to multiple shooting image and is connected
Point, and two filmed images are chosen according to the sequence of the quantity of obtained tie point from more to less, and determine this two shooting shadows
As being first image to be processed.
S102, the measurement parameter that first image to be processed is calculated.
In this step, essential matrix can be obtained using five-spot according to first image to be processed；Using adopting at random
Sample consistency algorithm (such as RANSAC iterative algorithm) is iterated obtained essential matrix, until obtaining the best sheet of consistency
Stromal matrix；The essential matrix best to the consistency carries out singular value decomposition and obtains the measurement to be optimized of first image to be processed
Parameter；Optimization is iterated to the measurement parameter to be optimized and obtains the measurement of first image to be processed；By handing over method before two panels
Obtain the relative position coordinates of the tie point.
In a kind of possible implementation of the present embodiment, it can use LM (Levenberg-Marquardt) optimization and calculate
Method is iterated optimization to obtained relative pose parameter, and excluding gross error point eliminates accidental error.
S103, circulation obtain the second image to be processed in multiple filmed image, and it is second to be processed that this is calculated
The measurement parameter of image, until obtaining the measurement parameter of whole filmed images.
Wherein, which is the image for not obtaining measurement parameter in multiple filmed image.
In this step, the number of the untreated image point Chong Die with tie point is counted, and it is default to determine that the number is greater than
The image of threshold value is second image to be processed；Wherein, which is that measurement parameter has not been obtained in the filmed image
Image；Straight linear is carried out using 6 methods according to second image to be processed to convert to obtain camera matrix；Using adopting at random
Sample consistency (such as RANSAC iterative algorithm) algorithm is iterated obtained camera matrix, until obtaining the best phase of consistency
Machine matrix；The camera matrix best to the consistency carries out singular value decomposition and obtains the measurement to be optimized of second image to be processed
Parameter；Optimization (such as LM optimization algorithm) is iterated to the measurement parameter to be optimized and obtains the second relative pose ginseng to be processed
Number, and forward intersection is carried out using known image, the relative position coordinates of new tie point are obtained, wherein the known image
For the image for having got measurement parameter；To increase the quantity of tie point；Obtaining the survey of the above-mentioned second image to be processed
After measuring parameter and the relative position coordinates of new tie point, continue to obtain according to the relative position coordinates of new tie point untreated
The number of the image point Chong Die with known tie point, and when the number of the reacquisition is greater than the preset threshold, it determines newly
Second image to be processed, and the measurement parameter of the second new image to be processed is calculated, until obtaining the survey for all shooting image
Measure parameter, wherein the known tie point is the tie point for having got relative position coordinates.
Wherein, above-mentioned preset threshold can be the 75% of the Maximum overlap number of filmed image and tie point.
S104, the measurement parameter of obtained whole filmed images is converted to by coordinate to measurement under true environment
Parameter.
Optionally, absolute orientation method is utilized according to externally input location data, the measurement of whole filmed images is joined
Several and the tie point in the whole filmed image relative position coordinates are transformed into true environment coordinate system and obtain imaging model；
The imaging model is converted into co-colouration effect by matrix operation；Every filmed image is obtained according to the co-colouration effect
Six elements of exterior orientation；Using bundle block adjustment method to six elements of exterior orientation of this every filmed image and each
Position coordinates of the tie point under the true environment coordinate system carry out compensating computation respectively, obtain the pose parameter under true environment
With actual coordinate of the tie point under true environment.
Illustratively, the survey by taking the figure of taking photo by plane near Switzerland's somewhere highway as an example to being obtained using the embodiment of the present invention
The accuracy of amount parameter is verified, and takes 70 pictures altogether, and photo size 4000*3000, focal length 5.08mm include 9
A control point.
Sparse matching result file is read, selecting most a pair of of the image of tie point is the 50th and the 51st, and obtains phase
LM optimization is carried out to pose parameter, and to obtained opposite seat parameter；Increase new image, respectively the 49th and the 52nd,
And the relative pose parameter of new image is solved, solved out 4 images are subjected to LM optimization, and constantly newly-increased shadow together
Picture simultaneously solves, and until the relative pose parametric solution of all images, utilizes GCP (Ground control point, ground control
Point) absolute orientation is done, the true elements of exterior orientation of video camera is obtained, and carry out flux of light method using the elements of exterior orientation acquired and put down
Difference finally obtains measurement parameter of the tie point under true environment, and measurement of the obtained tie point under true environment is joined
It is several to be checked by the coordinate at control point, final output test result are as follows:
Control point absolute fix precision/m
Wherein, above-mentioned X, Y, Z are the coordinate at control point, as can be seen from the above table, the survey obtained through the embodiment of the present invention
Therefore the middle error of amount result and control point coordinates, can be measured accurately all within 1 pixel using the present embodiment
Parameter.
Using the method for above-mentioned aerial triangulation, camera exterior orientation initial value is provided without extraneous, without traditional phase
Orientation is iterated to calculate, but utilizes multiple view geometry principle and uses advanced image and calculate order policies and optimization method,
The relative pose parameter and tie point relative position coordinates of all images are solved, to solve due to existing image inclination angle mistake
Greatly, the technical issues of causing relative orientation iteration not restrain.
Fig. 2 is a kind of device of aerial triangulation provided in an embodiment of the present invention, as shown in Fig. 2, the device includes:
Acquiring unit 201 obtains multiple filmed images by video camera, and according to the tie point in multiple filmed image
Determine the first image to be processed；
First processing units 202, for the measurement parameter of first image to be processed to be calculated；
The second processing unit 203 for recycling the second image to be processed obtained in multiple filmed image, and calculates
To the measurement parameter of second image to be processed, until obtaining the measurement parameter of whole filmed images；Wherein, this is second to be processed
Image is the image for not obtaining measurement parameter in multiple filmed image；
Gain of parameter unit 204, for being converted to the measurement parameter of obtained whole filmed images by coordinate
Measurement parameter under true environment.
Optionally, the acquiring unit 201 chooses two specifically for the sequence of the quantity according to the tie point from more to less
Filmed image, and determine that two filmed images are first image to be processed.
Optionally, first processing units 202, specifically for obtaining this using five-spot according to first image to be processed
Stromal matrix；Obtained essential matrix is iterated using stochastical sampling consistency algorithm, until obtaining the best sheet of consistency
Stromal matrix；The essential matrix best to the consistency carries out singular value decomposition and obtains the measurement to be optimized of first image to be processed
Parameter；Optimization is iterated to the measurement parameter to be optimized and obtains first measurement parameter to be processed；By handing over method before two panels
Obtain the relative position coordinates of the tie point.
Optionally, the second processing unit 203, for counting the number of the untreated image point Chong Die with tie point, and
The image for determining that the number is greater than preset threshold is second image to be processed；Wherein, which is the filmed image
In the image of measurement parameter has not been obtained；And straight linear is carried out using 6 methods according to second image to be processed and converts to obtain
Camera matrix；Obtained camera matrix is iterated using stochastical sampling consistency algorithm, until it is best to obtain consistency
Camera matrix；The camera matrix best to the consistency carries out singular value decomposition and obtains the survey to be optimized of second image to be processed
Measure parameter；Forward intersection is carried out using known image, obtains the relative position coordinates of new tie point, wherein the known image
For the image for having got measurement parameter；According to the relative position coordinates of new tie point continue to obtain untreated image with
Know the number of the point of tie point overlapping, and when the number of the reacquisition is greater than the preset threshold, determines new second wait locate
Image is managed, and calculates the measurement parameter of the second new image to be processed, until the measurement parameter for all shooting image is obtained,
In, which is the tie point for having got relative position coordinates.
Optionally, the gain of parameter unit 204 is specifically used for utilizing absolute orientation side according to externally input location data
The relative position coordinates of tie point in the measurement parameter of whole filmed images and the whole filmed image are transformed into really by method
Environment coordinate system simultaneously obtains imaging model, and the imaging model is converted into co-colouration effect by matrix operation；According to this
Co-colouration effect obtains the position coordinates of six elements of exterior orientation and each tie point of every filmed image；Using flux of light method
Block adjustment method is to six elements of exterior orientation of this every filmed image and each tie point under the true environment coordinate system
Position coordinates carry out compensating computation respectively, obtain pose parameter under true environment and reality of the tie point under true environment
Border coordinate.
Using the device of above-mentioned aerial triangulation, camera exterior orientation initial value is provided without extraneous, without traditional phase
Orientation is iterated to calculate, but utilizes multiple view geometry principle and uses advanced image and calculate order policies and optimization method,
The relative pose parameter and tie point relative position coordinates of all images are solved, to solve due to existing image inclination angle mistake
Greatly, the technical issues of causing relative orientation iteration not restrain.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (8)
1. a kind of method of aerial triangulation characterized by comprising
Multiple filmed images are obtained by video camera, and determine that first is to be processed according to the tie point in the multiple filmed image
Image；
The measurement parameter of the described first image to be processed is calculated；Specifically, five are utilized according to the described first image to be processed
Point method obtains essential matrix；Obtained essential matrix is iterated using stochastical sampling consistency algorithm, until obtaining consistent
The best essential matrix of property；The essential matrix best to the consistency carries out singular value decomposition and obtains the described first shadow to be processed
The measurement parameter to be optimized of picture；Optimization is iterated to the measurement parameter to be optimized and obtains the survey of the described first image to be processed
Measure parameter；By handing over method to obtain the relative position coordinates of the tie point before two panels；
Circulation obtains the second image to be processed in the multiple filmed image, and the described second image to be processed is calculated
Measurement parameter, until obtaining the measurement parameter of whole filmed images；Wherein, the described second image to be processed is the multiple shooting
The image of measurement parameter is not obtained in image；
The measurement parameter of obtained whole filmed images is converted to by coordinate to the measurement parameter under true environment.
2. the method according to claim 1, wherein described true according to the tie point in the multiple filmed image
Determining the first image to be processed includes:
Two filmed images are chosen according to the quantity sequence from more to less of the tie point, and determine two filmed images
For the described first image to be processed.
3. the method according to claim 1, wherein second obtained in the multiple filmed image is wait locate
Managing image includes:
The number of the untreated image point Chong Die with tie point is counted, and the image for determining that the number is greater than preset threshold is institute
State the second image to be processed；Wherein, the untreated image is the image that measurement parameter has not been obtained in the filmed image；
The circulation obtains the second image to be processed in the multiple filmed image, and the described second image to be processed is calculated
Measurement parameter, until obtaining the measurement parameters of whole filmed images and including:
Straight linear is carried out using 6 methods according to the described second image to be processed to convert to obtain camera matrix；
Obtained camera matrix is iterated using stochastical sampling consistency algorithm, until obtaining the best camera square of consistency
Battle array；
The camera matrix best to the consistency carries out singular value decomposition and obtains the survey to be optimized of the described second image to be processed
Measure parameter；
Optimization is iterated to the measurement parameter to be optimized and obtains the measurement parameter of the described second image to be processed；
Forward intersection is carried out using known image, obtains the relative position coordinates of new tie point, wherein the known image is
The image of measurement parameter is got；
Continue to obtain the number of the untreated image point Chong Die with known tie point according to the relative position coordinates of new tie point,
And when the number of reacquisition is greater than the preset threshold, the second new image to be processed is determined, and calculate described new the
The measurement parameter of two images to be processed, until obtaining the measurement parameter for all shooting image, wherein the known tie point is
Through getting the tie point of relative position coordinates.
4. method according to any one of claims 1 to 3, which is characterized in that the whole filmed images that will be obtained
The measurement parameter that measurement parameter is converted to by coordinate under true environment includes:
Absolute orientation method is utilized according to externally input location data, by the measurement parameter of whole filmed images and the whole
The relative position coordinates of tie point in filmed image are transformed into true environment coordinate system and obtain imaging model；
The imaging model is converted into co-colouration effect by matrix operation；
Six elements of exterior orientation of every filmed image are obtained according to the co-colouration effect；
Using bundle block adjustment method to six elements of exterior orientation of every filmed image and each tie point in institute
The position coordinates stated under true environment coordinate system carry out compensating computation respectively, obtain the pose parameter and the company under true environment
Actual coordinate of the contact under true environment.
5. a kind of device of aerial triangulation characterized by comprising
Acquiring unit obtains multiple filmed images by video camera, and is determined according to the tie point in the multiple filmed image
First image to be processed；
First processing units, for the measurement parameter of the described first image to be processed to be calculated；Specifically for according to described
One image to be processed obtains essential matrix using five-spot；Obtained essential matrix is carried out using stochastical sampling consistency algorithm
Iteration, until obtaining the best essential matrix of consistency；The essential matrix best to the consistency carries out singular value decomposition and obtains
To the measurement parameter to be optimized of the described first image to be processed；To the measurement parameter to be optimized be iterated optimization obtain it is described
First measurement parameter to be processed；By handing over method to obtain the relative position coordinates of the tie point before two panels；
For recycling the second image to be processed obtained in the multiple filmed image, and institute is calculated in the second processing unit
The measurement parameter of the second image to be processed is stated, until obtaining the measurement parameter of whole filmed images；Wherein, described second is to be processed
Image is the image for not obtaining measurement parameter in the multiple filmed image；
Gain of parameter unit, for being converted under true environment the measurement parameter of obtained whole filmed images by coordinate
Measurement parameter.
6. device according to claim 5, which is characterized in that the acquiring unit is specifically used for according to the tie point
Quantity sequence from more to less choose two filmed images, and determine that two filmed images are the described first shadow to be processed
Picture.
7. device according to claim 5, which is characterized in that described the second processing unit, for counting untreated image
The number of the point Chong Die with tie point, and the image for determining that the number is greater than preset threshold is the described second image to be processed；
Wherein, the untreated image is the image that measurement parameter has not been obtained in the filmed image；And according to described second wait locate
Reason image carries out straight linear using 6 methods and converts to obtain camera matrix；Using stochastical sampling consistency algorithm to obtained phase
Machine matrix is iterated, until obtaining the best camera matrix of consistency；The camera matrix best to the consistency carries out odd
Different value decomposes to obtain the measurement parameter to be optimized of the described second image to be processed；Forward intersection is carried out using known image, is obtained
The relative position coordinates of new tie point, wherein the known image is the image for having got measurement parameter；According to new
The relative position coordinates of tie point continue to obtain the number of the untreated image point Chong Die with known tie point, and are reacquiring
Number when being greater than the preset threshold, determine the second new image to be processed, and calculate the second new image to be processed
Measurement parameter, until obtaining the measurement parameters for all shooting images, wherein the known tie point be got it is opposite
The tie point of position coordinates.
8. according to the described in any item devices of claim 5 to 7, which is characterized in that the gain of parameter unit is specifically used for root
Absolute orientation method is utilized according to externally input location data, by the measurement parameter of whole filmed images and all shooting shadows
The relative position coordinates of tie point as in are transformed into true environment coordinate system and obtain imaging model, and by the imaging model
Co-colouration effect is converted by matrix operation；Six foreign sides of every filmed image are obtained according to the co-colouration effect
The position coordinates of bit element and each tie point；It is outer to six of every filmed image using bundle block adjustment method
The position coordinates of the element of orientation and each tie point under the true environment coordinate system carry out compensating computation respectively, obtain true
The actual coordinate of pose parameter and the tie point under true environment under environment.
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| CN106339603B (en) * | 2016-09-08 | 2019-03-19 | 武汉大学 | A kind of relative orientation method based on shaft angle vector |
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