CN106767895A - The system and method for solving camera elements of exterior orientation using index point orientation - Google Patents
The system and method for solving camera elements of exterior orientation using index point orientation Download PDFInfo
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Abstract
The invention discloses the method and system that camera elements of exterior orientation is solved using index point orientation, including：Camera three diverse locations in three-dimensional scaling controlling filed are taken pictures, and obtain at least three images；Measure the position coordinates of auxiliary sign point when obtaining camera positioned at three diverse locations thereon；Calculation processing apparatus are according to the corresponding image points and the coordinate pair camera calibration at corresponding control point at least three images, obtain camera parameter of the camera in three diverse locations, using camera index point in three diverse locations position coordinates and camera first position camera parameter, recover camera parameter of the camera in the second place and the 3rd position, camera parameter using the camera after recovery in the second place and the 3rd position carries out the coordinate that forward intersection obtains control point, evaluation intersection precision.The present invention can indoors carry out the solution of camera elements of exterior orientation and intersection accuracy evaluation, can be used to the elements of exterior orientation of the outer camera of recovery room and estimate intersection precision, instruct engineering construction.
Description
Technical field
The present invention relates to photogrammetric field, and in particular to one kind solves phase using index point orientation
The system and method for machine elements of exterior orientation.
Background technology
, it is necessary to know in advance when camera is laid in outdoor use come the monitoring for carrying out the flying objects such as unmanned plane
The parameter such as the position of road camera and attitude, can typically be demarcated using outdoor Calibration Field is set up
The method for recovering the pose of camera, field cloth control clicks through the side that rower recovers the pose of camera surely
Method etc., these methods are all taken pictures with camera, using photogrammetric survey method, recover the position of camera
And attitude.In the domain of outdoor cell, when carrying out the positioning of aerial target, outdoor environment is relative
Complexity, and be easily interfered and destroy, thus camera can not set up it is too low.Due to
It is the aerial targets such as the unmanned plane of monitoring airflight, camera must be installed into the elevation angle.In outdoor
The method that controlling filed carries out demarcating the pose for recovering camera is set up, generally, in order to enter to camera
Row is accurate to be demarcated, and controlling filed imaging in the camera is, it is necessary to be full of whole camera fields of view.
Camera sets up high, under conditions of the elevation angle, in order to be full of whole camera fields of view, the height of controlling filed
Degree and width can all seem abnormal big.And for each camera sets up a controlling filed, and
Measurement, measurement error increase are controlled to each controlling filed.Field cloth control clicks through rower and determines
The method for recovering the pose of camera, sets up high in camera, same to meet under conditions of the elevation angle
Face complexity problem, and control point must run within aerial camera the visual field it can be seen that ground
Side, laying needs guarantee as far as possible to look after the edge of camera fields of view, can just ensure camera mark
Fixed precision and quality.
In sum, it is how simple when outdoor surveillance flying object is carried out by photogrammetric survey method
Elements of exterior orientation in single easy external non-Calibration Field of recovery room, and measured by camera shooting
Precision and quality when carrying out the monitoring of the flying objects such as unmanned plane are made and reasonably being estimated as one
Individual problem demanding prompt solution.
The content of the invention
The present invention is in order to solve the above-mentioned technical problem, there is provided one kind solves phase using index point orientation
The method and system of machine elements of exterior orientation, the present invention program can effectively verify camera parameter in advance
The precision that (such as elements of exterior orientation) is demarcated, can be applied to the demarcation measurement of outdoor camera afterwards,
The precision and quality of crossing location are carried out to estimate outdoor mounted camera, the implementation of engineering is instructed.
On the one hand, the embodiment of the present invention provides a kind of using index point orientation solution camera exterior orientation
The method of element, comprises the following steps：
Step one, three using same camera in predetermined indoor three-dimensional scaling controlling filed not
Same position is taken pictures to the three-dimensional scaling controlling filed respectively, obtains at least three images；
Wherein, at least three images include corresponding image points corresponding with control point, the control point
It is pre-set in the three-dimensional scaling controlling filed；
Step 2, measured respectively with total powerstation and obtain the camera positioned at three different positions
The position coordinates of auxiliary sign point when putting on the camera case；
Step 3, corresponding image points and the corresponding institute obtained on simultaneously at least three images according to
Stating the coordinate at control point carries out the demarcation of the camera, respectively obtains the camera at described three
Camera parameter during different position；Wherein described camera parameter includes elements of exterior orientation；
Step 4, using the first position in three different positions as calibration field calibration
Camera position, regards second, third position in three different positions as non-three-dimensional mark
Determine the camera position in controlling filed, the camera measured respectively using the total powerstation is in institute
The position coordinates and the camera of auxiliary sign point during three different positions are stated first
The camera parameter of position, recovers camera parameter of the camera in the second place and the 3rd position,
Camera parameter using the camera after recovery in the second place and the 3rd position carries out front
Intersection, obtains the position coordinates at the control point.
In one embodiment, in the step one, same camera is in three different positions
Put when being taken pictures to three-dimensional scaling controlling filed, the photo shot at each position is no less than 1
.
In one embodiment, obtained in the step 3 and at least three images according to
Corresponding image points and the coordinate at the corresponding control point carry out the demarcation of the camera, specifically
For：According to corresponding image points and the coordinate at corresponding control point at least three images, profit
The demarcation of the camera is carried out with three-dimensional DLT- bundle adjustments.
In one embodiment, in the step 4, measured respectively using the total powerstation
The camera position coordinates of the auxiliary sign point and institute at three different positions
Camera parameter of the camera in first position is stated, recovers the camera in the second place and the 3rd position
Camera parameter, specially：Calculate the auxiliary at the first position on the camera case
The coordinate of index point and the auxiliary sign point in the second place on the camera case it
Between the first transformation parameter, using first transformation parameter and the camera at described first
The elements of exterior orientation put, tries to achieve elements of exterior orientation of the camera in the second place；Calculate in institute
State auxiliary sign point during first position on the camera case with three position when institute
The second transformation parameter between the coordinate of the auxiliary sign point on camera case is stated, using described
Two transformation parameters and the camera try to achieve the camera in the elements of exterior orientation of the first position
In the elements of exterior orientation of the 3rd position.
In one embodiment, in the step 4, using the camera after recovery second
The camera parameter of position and the 3rd position carries out forward intersection, and the position for obtaining the control point is sat
Mark, specifically includes：
According to the camera the second place elements of exterior orientation, the camera in the 3rd position
The coordinate of the corresponding image points obtained in elements of exterior orientation and the step 3 and first position
Camera parameter, intersection obtains the rendezvous position at the control point, by the intersection position at the control point
Put coordinate to compare with the known control point coordinates, judge trueness error；Wherein described first
Camera parameter at position is elements of interior orientation and distortion factor.
On the other hand, the embodiment of the present invention provides a kind of using index point orientation solution camera foreign side
The system of bit element, including：
Camera, for three different positions in predetermined indoor three-dimensional scaling controlling filed point
It is other that the three-dimensional scaling controlling filed is taken pictures, obtain at least three images；Wherein, it is described
At least three images include corresponding image points corresponding with control point, and the control point is pre-set in
In the three-dimensional scaling controlling filed；
Total powerstation, when obtaining the camera positioned at three different positions for measuring respectively
The position coordinates of the auxiliary sign point on the camera case；And
Calculation processing apparatus, are connected with the camera, total powerstation, for obtaining simultaneously according to described
The coordinate of corresponding image points and the corresponding control point at least three images carries out the phase
The demarcation of machine, respectively obtains camera parameter of the camera at three different positions；
Wherein described camera parameter includes elements of exterior orientation；Afterwards by three different positions
First position as calibration field calibration camera position, by three different positions
2nd, the 3rd position regards the camera position in non-three-dimensional scaling controlling filed as, using the total powerstation
The camera for measuring respectively auxiliary sign point at three different positions
Position coordinates and the camera recover the camera in second in the camera parameter of first position
The camera parameter with the 3rd position is put, using the camera after recovery in the second place and the 3rd
The camera parameter of position carries out forward intersection, obtains the position coordinates at the control point.
In one embodiment, the camera in three different positions to three-dimensional scaling control
When field processed is taken pictures, the photo shot at each position is no less than 1.
In one embodiment, the calculation processing apparatus are specifically at least three according to
The coordinate of corresponding image points and corresponding control point on image, using three-dimensional DLT- bundle adjustments
Carry out the demarcation of the camera.
In one embodiment, the calculation processing apparatus are specifically included：
First calculates treatment subelement, for calculating the camera case at the first position
On auxiliary sign point and the auxiliary sign point in the second place on the camera case
Coordinate between the first transformation parameter, using first transformation parameter and the camera in institute
The elements of exterior orientation of first position is stated, elements of exterior orientation of the camera in the second place is tried to achieve；
Second calculates treatment subelement, for calculating the camera case at the first position
On auxiliary sign point and the auxiliary sign point at three position on the camera case
Coordinate between the second transformation parameter, using second transformation parameter and the camera in institute
The elements of exterior orientation of first position is stated, elements of exterior orientation of the camera in the 3rd position is tried to achieve.
The calculation processing apparatus also include：3rd calculates treatment subelement, for according to described
Camera the elements of exterior orientation of the second place, the camera the 3rd position elements of exterior orientation and
The coordinate of the corresponding image points that the calculation processing apparatus are obtained and the camera parameter of first position,
Intersection obtains the rendezvous position at the control point, by the rendezvous position coordinate at the control point and
The control point coordinates known compares, and judges trueness error；The phase of wherein described first position
Machine parameter is elements of interior orientation and distortion factor.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention carries out demarcating the camera for obtaining camera ginseng by three-dimensional scaling controlling filed indoors
Number, the camera measured respectively using the total powerstation is at three different positions
The position coordinates and the camera of the auxiliary sign point recover in the camera parameter of first position
The camera the second place and the 3rd position camera parameter, using the camera after recovery
Camera parameter in the second place and the 3rd position carries out forward intersection, obtains the control point
Position coordinates.The present invention program can effectively verify that camera parameter (such as elements of exterior orientation) is marked in advance
Fixed precision, can be applied to the demarcation measurement of outdoor afterwards, be carried out with estimating outdoor mounted camera
The precision and quality of crossing location, instruct the implementation of engineering so that by photogrammetric survey method
When carrying out outdoor surveillance flying object, it is ensured that carry out the flying objects such as unmanned plane by camera shooting measurement
Monitoring when precision and quality.
Brief description of the drawings
Utilization index point orientations of the Fig. 1 shown in the embodiment of the present invention solves camera foreign side bit
The schematic diagram of the system of element；
Fig. 2 is camera and 6 index point positions signals in a specific embodiment of the invention
Figure；
Fig. 3 is the indoor three-dimensional scaling controlling filed and camera in a specific embodiment of the invention
Position view；
Fig. 4 is that the simulation exterior space and camera position in a specific embodiment of the invention are shown
It is intended to；
Fig. 5 is by DLT- bundle adjustments gained elements of exterior orientation intersection acquired results and control
The differential of point coordinates is intended to, and wherein a is distributed for XZ (plane) error, and b is Y (depth)
Deflection error is distributed, and c is distributed for error in point measurement；
Fig. 6 be by index point auxiliary directional calculate gained elements of exterior orientation intersection acquired results with
The differential of point coordinates is controlled to be intended to, wherein d is distributed for XZ (plane) error, e is Y (deep
Degree) deflection error distribution, f is error in point measurement distribution；
Fig. 7 is camera calibration flow chart in a specific embodiment of the invention.
Specific embodiment
Principle of the invention and feature are described below in conjunction with accompanying drawing, example is served only for
The present invention is explained, the scope of the present invention is not intended to limit.
As shown in figure 1, the utilization index point orientation shown in the embodiment of the present invention solves camera
The system of elements of exterior orientation, mainly includes camera 101, total powerstation 102 and calculation processing apparatus
103.The camera 101 is used for three differences in predetermined indoor three-dimensional scaling controlling filed
Position the three-dimensional scaling controlling filed (calling controlling filed in the following text) is taken pictures respectively, obtain extremely
Few three images；Wherein, at least three images include picture of the same name corresponding with control point
Point, the control point is pre-set in the three-dimensional scaling controlling filed；The total powerstation 102
Phase when obtaining the camera 101 positioned at three different positions for measuring respectively
The position coordinates of the auxiliary sign point on machine shell；The calculation processing apparatus 103 with it is described
Camera 101, total powerstation 102 connect (can be wired connection or wireless communication connection),
For obtaining corresponding image points and the corresponding control on simultaneously at least three images according to
The coordinate of point carries out the demarcation of the camera, respectively obtains the camera 101 at described three
Camera parameter during different position；Wherein described camera parameter includes elements of exterior orientation；It
Afterwards using the first position in three different positions as the phase seat in the plane of calibration field calibration
Put, regard second, third position in three different positions as non-three-dimensional scaling control
Camera position in field processed, the camera measured respectively using the total powerstation is described
The position coordinates and the camera of the auxiliary sign point are at first during three different positions
The camera parameter put, recovers camera parameter of the camera in the second place and the 3rd position,
Camera parameter using the camera after recovery in the second place and the 3rd position carries out front
Intersection, obtains the rendezvous position coordinate at the control point.
The present invention carries out demarcating the camera for obtaining camera ginseng by three-dimensional scaling controlling filed indoors
Number, the camera measured respectively using the total powerstation is at three different positions
The position coordinates and the camera of the auxiliary sign point recover in the camera parameter of first position
The camera the second place and the 3rd position camera parameter, using the camera after recovery
Camera parameter in the second place and the 3rd position carries out forward intersection, obtains the control point
Position coordinates.The present invention program can effectively verify that camera parameter (such as elements of exterior orientation) is marked in advance
Fixed precision, can be applied to the demarcation measurement of outdoor, it is possible to estimate outdoor mounted camera afterwards
The precision and quality of crossing location are carried out, the implementation of engineering is instructed so that by photogrammetric
When method carries out outdoor surveillance flying object, it is ensured that carry out unmanned plane etc. by camera shooting measurement and fly
Precision and quality during the monitoring of row thing.
In one embodiment, the camera 101 is marked in three different positions to three-dimensional
When determining controlling filed and being taken pictures, the photo shot at each position is no less than 1, this implementation
Can only shoot a photo at each position in example, can be shot in other embodiment 2 or with
On, from wherein one shooting most clear photograph when using, it is ensured that calculate the accuracy for the treatment of.
In one embodiment, the calculation processing apparatus 103 (such as computer or computer number
According to, image calculating treatmenting equipment) specifically for the picture of the same name at least three images according to
Point and the coordinate at corresponding control point, the camera is carried out using three-dimensional DLT- bundle adjustments
Demarcate.
In one embodiment, the calculation processing apparatus 103 specifically include the first calculating treatment
Subelement and second calculates treatment subelement (not shown)；Described first calculates treatment subelement,
For calculate the auxiliary sign point at the first position on the camera case with described
The first conversion ginseng between the coordinate of the auxiliary sign point during second place on the camera case
Number, using first transformation parameter and the camera the first position foreign side's bit
Element, tries to achieve elements of exterior orientation of the camera in the second place；Described second calculates treatment son list
Unit, for calculate auxiliary sign point at the first position on the camera case with institute
State the second conversion between the coordinate of auxiliary sign point during three positions on the camera case
Parameter, using second transformation parameter and the camera the first position foreign side's bit
Element, tries to achieve elements of exterior orientation of the camera in the 3rd position.
The calculation processing apparatus also include that the 3rd calculates treatment subelement, for according to the phase
Elements of exterior orientation, camera elements of exterior orientation and institute in threeth position of the machine in the second place
The coordinate of the corresponding image points that calculation processing apparatus are obtained and the camera parameter of first position are stated, is handed over
The rendezvous position at the control point can be obtained, by the rendezvous position coordinate at the control point with it is known
The control point coordinates compare, judge trueness error；The camera of wherein described first position
Parameter is elements of interior orientation and distortion factor.
Specifically, with reference to referring to Fig. 2-4, being specifically described as follows to the system shown in the present embodiment：
(1) a shell is designed to camera 101, as shown in Fig. 2 sticking 6 on shell
Individual auxiliary sign point (calling index point in the following text), that is, put 1, point 2, point 3, point 4, point 5 and point
6.Referring to Fig. 3, Three dimensions control field carries out the three-dimensional DLT- fluxs of light method of camera parameter and puts down indoors
Difference is calculated demarcates, and obtains the camera parameter (elements of exterior orientation of the camera at first position 8ω κ XS YS ZSWith elements of interior orientation x0 y0With distortion factor K1 K2 P1 P2), and utilize total powerstation
The measurement of index point is carried out, the coordinate for obtaining index point at first position 8 is (Xi Yi Zi)。
Setting height(from bottom) and the elevation angle of the camera in controlling filed are general to be designed according to scene, than
As there is 200m in the place to be monitored apart from camera horizontal range, the height of monitoring is 30-50m
At this time when camera is selected, this should be able to be covered high
Degree, (30+50)/2=40, atan (40/200) are radian, and conversion is angled, exactly to be adopted
Angle.The setting of height typically could be arranged to facilitating erection and maintenance to be advisable
1.4-1.5m, just people's standing is convenient installs.Angle sets bad, and monitoring is less than being monitored
Place, height sets the construction and maintenance that deleterious effect is subsequent chamber external standard timing.The two
While influence be, total powerstation observe when, it is necessary to see the index point of camera case.The present embodiment
In indoor three-dimensional scaling controlling filed and the auxiliary sign point on camera case quantity and cloth
Put and be prior art, specifically refer to paper《The photogrammetric Three dimensions control of computer vision
Design》(《Agricultural mechanical journal》, Wang Feng unit's Sun Zhuanzhi Mondays ring, in September, 1998,
The 3rd phase of volume 29), no longer describe in detail.
(2) position of the camera in controlling filed is changed, at the second place 9, outside measurement camera
Coordinate (the X of the index point on shelli′Yi′Zi'), try to achieve on the camera case measured at first position 8
Index point (Xi Yi Zi) to the index point (X on camera case at the second place 9i′Yi′Zi') coordinate
Between transformation parameter (R12, T12), using transformation parameter (R12, T12) and camera at first position 8
Elements of exterior orientationω κ XS YS ZS, try to achieve elements of exterior orientation of the camera at the second place 9
(ω2′κ2′XS2′YS2′ZS2′).Similarly, elements of exterior orientation of the camera at the 3rd position 10 is tried to achieve
(ω3′κ3′XS3′YS3′ZS3′)。
(3) image obtained during to camera at the position 10 of the second place 9 and the 3rd carries out feature
Extract, image point position of the control point on image in Three dimensions control is extracted, then using upper one
The second place 9 recovered in step (2), the elements of exterior orientation of the camera at the 3rd position 10 and
The coordinate of the corresponding image points that the calculation processing apparatus are obtained and the camera parameter of first position
(elements of interior orientation and distortion factor) carries out forward intersection, obtains control point rendezvous position.Profit
It is compared with the control point position coordinates of the control point position obtained by intersection and reality, carries out essence
Degree analysis.
In the case of simulating indoors, the coordinate for obtaining control point can be intersected out, thus
Can be made comparisons with known control point coordinates, carry out precision analysis.Precision analysis indoors,
Be in order to predict outdoor using the method carry out demarcate test when the precision to be reached so as to
In the feasibility of verification method, further such that carrying out outdoor surveillance by photogrammetric survey method
During flying object, it is ensured that the essence during monitoring of the flying objects such as unmanned plane is carried out by camera shooting measurement
Degree and quality.
It is specific again below to introduce：
First, the demarcation of camera and the measurement of camera case index point：
Picpointed coordinate of the same control point in multiple images is extracted using the method for feature extraction,
Because the Three dimensions control for using is demarcated, therefore the picpointed coordinate for extracting can be compiled
Number, numbering identical point forms of the same name between different photographs (i.e. the image comprising control point)
Picture point.
Because the intrinsic parameter of camera is all unknown, and there is radial direction, tangential and Affine distortion,
In order to ensure the effect of imaging and the precision of imaging, it is necessary to calibration is carried out to camera, phase is solved
The internal and external orientation of machine and the distortion parameter of camera.The calibration of camera is according to known object space point
And the relation between corresponding picture point on image sets up model, the geometry and optics of camera are calculated
Parameter, so as to recover correct beam shape during photography.In photogrammetric, based on conllinear side
The bundle adjustment model of journey is a kind of nonlinear scaling method, it is necessary to be linearized, because
This needs to provide the initial value of parameter, to ensure the convergence of iteration.Therefore using using three-dimensional
DLT methods obtain elements of exterior orientation as the initial value of bundle adjustment, are then brought into flux of light method
Enter the resolving of line parameter in adjustment.
The model of three-dimensional DLT is as follows：
Expansion can be able to IiIt is the equation of unknown number：
Equation AL=W is constituted, using least square method, can be in the hope of the matrix of unknown number
L=(ATA)-1(ATW), elements of exterior orientation is then calculated：
Tan (κ)=l2/l10
In formula (1) (2) (3) (4), XYZ is control point coordinates, and xy is the seat on image
Mark, XYZ is the corresponding actual three-dimensional coordinate point of point xy on image
XS YS ZSIt is exterior orientation line element, l1 l2 l3 l4 l5 l6 l7 l8 l9 l10 l11It is for required solution
Number, angle element φ ω κ are exterior orientation angle element.
Can be in the hope of the initial value of elements of exterior orientation.Three-dimensional DLT models are not due to needing camera
Elements of interior orientation, therefore have great importance in the demarcation of non-metric camera, solution asks 11
Individual parameter, it at least needs 6 flat high points, and it is same that all flat high points should be avoided to be located at
In one plane.
The elements of exterior orientation that three-dimensional DLT methods are obtained calculates Chinese and foreign as bundle adjustment
The initial value of bit element, after carrying out compensating computation using bundle adjustment, can be more accurate
Reduction beam shape, obtains the internal and external orientation of camera.Usual camera lens exist abnormal
Become, significantly distortion can influence the stated accuracy of camera, therefore be needed in adjustment when demarcating
Distortion correction parameter is included in model.
Add the flux of light method model of distortion correction parameter：
Wherein fx fyIt is respectively the focal length of xy both directions, x0 y0 fx fyIt is elements of interior orientation.
XS YS ZSIt is exterior orientation line element, a1 b1 c1 a2 b2 c2 a3 b3 c3It is by exterior orientation angle element institute
The direction cosines Δ x Δs y of composition is distortion correction.
Spin matrix uses Y-X-Z corner systems
Wherein：
b1=cos ω sin κ
b2=cos ω cos κ
b3=-sin ω
Calibration model is：
Wherein K1 K2It is radial distortion parameter, P1 P2It is tangential distortion parameter, (x, y) is pixel
Coordinate, (x0 y0) it is principal point coordinate, r2=(x-x0)2+(y-y0)2Line is entered to collinearity equation
Property exhibition, obtaining error equation is：
Wherein：
Formula (6) can be written as v=B δXThe form of-l, is a kind of indirect adjustment model, can be with
Method according to indirect adjustment is solved.
2nd, the elements of exterior orientation of camera is obtained：
Camera is after the non-Calibration Field such as outdoor is installed, it is contemplated that the setting height(from bottom) and peace of camera
The factors such as dress angle, in the visual range of camera, the equipment that installation carries out camera calibration is very tired
Difficulty, thus employs the method being oriented using auxiliary sign point, and the model of orientation is：
Wherein,
(Xi Yi Zi) it is the coordinate that the index point on total station survey camera case is utilized in Calibration Field,
(Xi′Yi′Zi') it is the seat that the index point on total station survey camera case is utilized in non-Calibration Field
Mark, model is rigid body translation model, therefore, the zooming parameter λ of transformation matrix is 1.Wherein
(ai bi ci) it is exterior orientation angle elementωt κtThe direction cosines for being constituted,ωt κt ΔX ΔY ΔZ
It is the orientation element for needing to solve.Solving model at least needs two flat control point high and one
Vertical control point, and three control points can not be point-blank.
Using the spin matrix and translation matrix of gained to the elements of exterior orientation of the camera in Calibration Field
Enter line translation, obtain the elements of exterior orientation in non-Calibration Field camera.Assuming that same camera is
The elements of exterior orientation of one position isωκXS YS ZS, in second elements of exterior orientation of position
Forω′κ′XS′YS′ZS', then the transformation relation between them is expressed as：
3rd, forward intersection and precision analysis are carried out using corresponding image points：
Using corresponding image points, the intrinsic parameter and distortion parameter of camera.And recovered by formula (9)
Elements of exterior orientation carries out forward intersection, solves object space point coordinates.Model is with reference to formula (4) and public affairs
Formula (5), formula is as follows after expansion：
(x-x0-Δx)[a3(X-XS)+b3(Y-YS)+c3(Z-ZS)]=
-fx[a1(X-XS)+b1(Y-YS)+c1(Z-ZS)] (10)
(y-y0-Δy)a3(X-XS)+b3(Y-YS)+c3(Z-ZS)=
-fy[a2(X-XS)+b2(Y-YS)+c2(Z-ZS)]
Wherein：
l1=fa1+(x-x0-Δx)a3, l2=fb1+(x-x0-Δx)b3, l3=fc1+(x-x0-Δx)c3
lx=fa1Xs+fb1Ys+fc1Zs+(x-x0-Δx)a3Xs+(x-x0-Δx)b3Ys+(x-x0-Δx)c3Zs,
l4=fa2+(y-y0-Δy)a3, l5=fb2+(y-y0-Δy)b3, l5=fc2+(y-y0-Δy)c3,
Ly=fa2Xs+fb2Ys+fc2Zs+(y-y0-Δy)a3Xs+(y-y0-Δy)b3Ys+(y-y0-Δy)c3Zs,
Wherein fx fyIt is respectively x, the focal length of y both directions, x0 y0 fx fyIt is elements of interior orientation.
XS YS ZSIt is exterior orientation line element, a1 b1 c1 a2 b2 c2 a3 b3 c3It is to be made up of exterior orientation angle element
Direction cosines Δ x Δs y be distortion correction, xy be the picture point on image coordinate .XYZ for figure
As the upper corresponding actual three-dimensional coordinate points of picture point xy.
For corresponding image points, four equations can be listed, solve tri- unknown numbers of XYZ, by
It is linear in equation group, therefore initial value need not be provided for equation.Obtained using intersection
Control point and actual control point coordinates, try to achieve the error in model.
4th, experiment and analysis：
Scene is using Germany basler cameras in a detailed embodiment, the camera lens of 5mm,
6 retroreflective sheetings are pasted as auxiliary sign point in the periphery of camera, for carrying out total powerstation sight
Survey.Method of the experiment using being simulated in three-dimensional scaling controlling filed, respectively puts camera first
On 3 positions (8,9,10) in controlling filed, enter according to three-dimensional DLT- bundle adjustments
Rower is determined, and obtains camera parameter of the camera on 3 positions.Then, the He of the second place 9 is allowed
The analogue camera of 3rd position 10 non-Calibration Field situation, using auxiliary sign point directional recovery
The parameter of camera.In an experiment, same camera is allowed in controlling filed 3 different positions
Controlling filed is taken pictures, and it is anti-to 6 on the camera case on each position with total powerstation
Light matrix is measured, and Calibration Field is taken pictures respectively at position 8,9,10, in place
Put and extract control point on the image that camera is obtained at 9 and position 10, obtain same place 128,
The inside and outside bit element and distortion factor of camera are solved using three-dimensional DLT- bundle adjustments, so
After carry out forward intersection and obtain controlling point coordinates, itself and known control point coordinate difference such as Fig. 5
Shown, error is 2.1038mm.Total station survey data are processed, is obtained outside camera
Six positions of point enclosed.Try to achieve 6 conversion of point at 6 points and position 9 at position 8
Parameter (R12, T12), try to achieve 6 transformation parameters of point at 6 points and position 10 at position 8
(R13, T13), the elements of exterior orientation of camera at position 9 and position 10 is tried to achieve using formula (9)
(ω2′κ2′XS2′YS2′ZS2') and (ω3′κ3′XS3′YS3′ZS3'), obtain object space point using forward intersection and sit
Mark, compares with control point given value, distribution of the difference such as Fig. 6, in this way middle mistake
Difference is 20.5813mm.Experiment shows：In the case where base-height ratio is 1: 3, using auxiliary
The point precision that index point orientation is obtained is in 20mm or so, and it is extensive that this method can be very good simulation
Attitude of the complex phase machine in non-Calibration Field, can effectively verify the precision that camera parameter is demarcated in advance,
When the demarcation for being applied to outdoor afterwards is measured so that carrying out outdoor prison by photogrammetric survey method
During depending on flying object, it is ensured that when carrying out the monitoring of the flying objects such as unmanned plane by camera shooting measurement
Precision and quality.The present invention program can effectively verify camera parameter (such as elements of exterior orientation) in advance
The precision of demarcation, can be applied to the demarcation measurement of outdoor afterwards, be entered with estimating outdoor mounted camera
The precision and quality of row crossing location, instruct the implementation of engineering so that by photogrammetric side
When method carries out outdoor surveillance flying object, it is ensured that carry out unmanned plane etc. by camera shooting measurement and fly
Precision and quality during the monitoring of thing.
Based on same design, the embodiment of the present invention also provides a kind of using index point orientation solution phase
The method of machine elements of exterior orientation, the method is asked with the utilization index point orientation shown in above-described embodiment
The system of camera elements of exterior orientation is solved for carrier is performed, following steps are specifically included：
S101, three differences using same camera in predetermined indoor three-dimensional scaling controlling filed
Position the three-dimensional scaling controlling filed is taken pictures respectively, obtain at least three images；Its
In, at least three images include corresponding image points corresponding with control point, and the control point is pre-
First it is set in the three-dimensional scaling controlling filed；
S102, measured respectively with total powerstation and obtain the camera positioned at three different positions
The position coordinates of the auxiliary sign point on Shi Suoshu camera cases；
S103, obtain and the corresponding image points according at least three images and corresponding described
The coordinate at control point carries out the demarcation of the camera, respectively obtains the camera at described three not
With position when camera parameter；Wherein described camera parameter includes elements of exterior orientation；
S104, using the first position in three different positions as calibration field calibration phase
Seat in the plane is put, and regards second, third position in three different positions as non-three-dimensional scaling
Camera position in controlling filed, the camera measured respectively using the total powerstation is described
The position coordinates and the camera of the auxiliary sign point are at first during three different positions
The camera parameter put, recovers camera parameter of the camera in the second place and the 3rd position, profit
Camera parameter with the camera after recovery in the second place and the 3rd position carries out front friendship
Meeting, obtains the position coordinates at the control point.
Specifically, same camera is carried out in three different positions to three-dimensional scaling controlling filed
When taking pictures, the photo shot at each position is no less than 1.Obtained simultaneously in the step 3
Entered according to the corresponding image points and the coordinate at the corresponding control point at least three images
The demarcation of the row camera, specially：According to the corresponding image points at least three images and
The coordinate at corresponding control point, the mark of the camera is carried out using three-dimensional DLT- bundle adjustments
It is fixed.The camera measured respectively using the total powerstation is in three different positions
When putting the position coordinates and the camera of the auxiliary sign point first position camera parameter,
Recover camera parameter of the camera in the second place and the 3rd position, specially：Calculate in institute
State auxiliary sign point during first position on the camera case with second place when institute
The first transformation parameter between the coordinate of the auxiliary sign point on camera case is stated, using described
One transformation parameter and the camera try to achieve the camera in the elements of exterior orientation of the first position
In the elements of exterior orientation of the second place；Calculating is at the first position on the camera case
The seat of auxiliary sign point and the auxiliary sign point at three position on the camera case
The second transformation parameter between mark, using second transformation parameter and the camera described
The elements of exterior orientation of one position, tries to achieve elements of exterior orientation of the camera in the 3rd position.
In one embodiment, in the step 4, using the camera after recovery second
The camera parameter of position and the 3rd position carries out forward intersection, and the position for obtaining the control point is sat
Mark, specifically includes：Existed in the elements of exterior orientation of the second place, the camera according to the camera
The coordinate of the corresponding image points obtained in the elements of exterior orientation and the step 3 of the 3rd position and
Camera parameter at one position, intersection obtains the rendezvous position at the control point, by the control
The rendezvous position coordinate of point compares with the known control point coordinates, judges trueness error；Its
Described in first position camera parameter be elements of interior orientation and distortion factor.Need explanation
Be, the method embodiment and aforementioned system embodiment in correspondence with each other, can referring to flow shown in Fig. 7,
With specific reference to the correspondence description in aforementioned system embodiment, no longer describe in detail herein.
The present invention carries out demarcating the camera for obtaining camera ginseng by three-dimensional scaling controlling filed indoors
Number, the camera measured respectively using the total powerstation is at three different positions
The position coordinates and the camera of the auxiliary sign point recover in the camera parameter of first position
The camera the second place and the 3rd position camera parameter, using the camera after recovery
Camera parameter in the second place and the 3rd position carries out forward intersection, obtains the control point
Position coordinates.The present invention program can effectively verify that camera parameter (such as elements of exterior orientation) is marked in advance
Fixed precision, can be applied to the demarcation measurement of outdoor afterwards, be carried out with estimating outdoor mounted camera
The precision and quality of crossing location, instruct the implementation of engineering so that by photogrammetric survey method
When carrying out outdoor surveillance flying object, it is ensured that carry out the flying objects such as unmanned plane by camera shooting measurement
Monitoring when precision and quality.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements made etc.,
Should be included within protection scope of the present invention.
Claims (10)
1. a kind of method that utilization index point orientation solves camera elements of exterior orientation, it is characterised in that bag
Include following steps：
Step one, three different positions using same camera in predetermined indoor three-dimensional scaling controlling filed
Put the three-dimensional scaling controlling filed is taken pictures respectively, obtain at least three images；Wherein, it is described extremely
Few three images include corresponding image points corresponding with control point, and the control point is pre-set in the three-dimensional
Demarcate in controlling filed；
Step 2, measured respectively with total powerstation and obtain the camera positioned at described three different position when institutes
State the position coordinates of the auxiliary sign point on camera case；
Step 3, corresponding image points and the corresponding control obtained on simultaneously at least three images according to
The coordinate of point carries out the demarcation of the camera, respectively obtains the camera at three different positions
Camera parameter；Wherein described camera parameter includes elements of exterior orientation；
Step 4, using the first position in three different positions as the phase seat in the plane of calibration field calibration
Put, second, third position in three different positions is regarded as in non-three-dimensional scaling controlling filed
Camera position, the camera measured respectively using the total powerstation is at three different positions
The position coordinates and the camera of the auxiliary sign point recover the phase in the camera parameter of first position
Machine the second place and the 3rd position camera parameter, using the camera after recovery in the second place and
The camera parameter of the 3rd position carries out forward intersection, obtains the position coordinates at the control point.
2. the method that utilization index point orientation according to claim 1 solves camera elements of exterior orientation,
Characterized in that, in the step one, same camera is in three different positions to three-dimensional scaling control
When field processed is taken pictures, the photo shot at each position is no less than 1.
3. utilization index point orientation according to claim 1 and 2 solves the side of camera elements of exterior orientation
Method, it is characterised in that obtained in the step 3 and the corresponding image points at least three images according to
With the demarcation that the coordinate at the corresponding control point carries out the camera, specially：
According to corresponding image points and the coordinate at corresponding control point at least three images, using three-dimensional
DLT- bundle adjustments carry out the demarcation of the camera.
4. the method that utilization index point orientation according to claim 3 solves camera elements of exterior orientation,
Characterized in that, in the step 4, the camera measured respectively using the total powerstation is described
Phase of the position coordinates and the camera of the auxiliary sign point in first position during three different positions
Machine parameter, recovers camera parameter of the camera in the second place and the 3rd position, specially:
Calculate auxiliary sign point at the first position on the camera case with the second place
The first transformation parameter between the coordinate of the auxiliary sign point on Shi Suoshu camera cases, using described first
Transformation parameter and the camera try to achieve the camera in second in the elements of exterior orientation of the first position
The elements of exterior orientation put；
Calculate auxiliary sign point at the first position on the camera case with the 3rd position
The second transformation parameter between the coordinate of the auxiliary sign point on Shi Suoshu camera cases, using described second
Transformation parameter and the camera try to achieve the camera at the 3rd in the elements of exterior orientation of the first position
The elements of exterior orientation put.
5. the method that utilization index point orientation according to claim 4 solves camera elements of exterior orientation,
Characterized in that, in the step 4, using the camera after recovery in the second place and the 3rd position
Camera parameter carry out forward intersection, obtain the position coordinates at the control point, specifically include：
According to the camera the elements of exterior orientation of the second place, the camera the 3rd position exterior orientation
The coordinate and the camera parameter of first position of the corresponding image points obtained in element and the step 3, intersection
The rendezvous position at the control point is obtained, by the rendezvous position coordinate at the control point and the known control
Point coordinates processed compares, and judges trueness error；The camera parameter of wherein described first position is inner orientation unit
Element and distortion factor.
6. the system that a kind of utilization index point orientation solves camera elements of exterior orientation, it is characterised in that including：
Camera, for three different positions in predetermined indoor three-dimensional scaling controlling filed respectively to institute
State three-dimensional scaling controlling filed to be taken pictures, obtain at least three images；Wherein, at least three images
Including corresponding image points corresponding with control point, the control point is pre-set in the three-dimensional scaling controlling filed
It is interior；
Total powerstation, phase when obtaining the camera positioned at three different positions for measuring respectively
The position coordinates of the auxiliary sign point on machine shell；And
Calculation processing apparatus, are connected with the camera, total powerstation, for obtaining at least three described in simultaneously basis
The coordinate of corresponding image points and the corresponding control point on image carries out the demarcation of the camera, respectively
Obtain camera parameter of the camera at three different positions；Wherein described camera parameter is included
Elements of exterior orientation；Afterwards using the first position in three different positions as calibration field calibration phase
Seat in the plane is put, and regards second, third position in three different positions as non-three-dimensional scaling controlling filed
Interior camera position, the camera measured respectively using the total powerstation is in three different positions
The position coordinates and the camera of the auxiliary sign point recover institute in the camera parameter of first position when putting
Camera parameter of the camera in the second place and the 3rd position is stated, using the camera after recovery in second
Put carries out forward intersection with the camera parameter of the 3rd position, obtains the rendezvous position coordinate at the control point.
7. the system that utilization index point orientation according to claim 6 solves camera elements of exterior orientation,
Characterized in that, the camera is taken pictures in three different positions to three-dimensional scaling controlling filed
When, the photo shot at each position is no less than 1.
8. the utilization index point orientation solution camera elements of exterior orientation according to claim 6 or 7 is
System, it is characterised in that the calculation processing apparatus are specifically for same at least three images according to
Name picture point and the coordinate at corresponding control point, the mark of the camera is carried out using three-dimensional DLT- bundle adjustments
It is fixed.
9. the system that utilization index point orientation according to claim 8 solves camera elements of exterior orientation,
Characterized in that, the calculation processing apparatus are specifically included：
First calculates treatment subelement, auxiliary on the camera case at the first position for calculating
Help between the coordinate of index point and the auxiliary sign point in the second place on the camera case
First transformation parameter, using first transformation parameter and the camera the first position exterior orientation
Element, tries to achieve elements of exterior orientation of the camera in the second place；
Second calculates treatment subelement, auxiliary on the camera case at the first position for calculating
Help between the coordinate of index point and the auxiliary sign point at three position on the camera case
Second transformation parameter, using second transformation parameter and the camera the first position exterior orientation
Element, tries to achieve elements of exterior orientation of the camera in the 3rd position.
10. the system that utilization index point orientation according to claim 8 solves camera elements of exterior orientation,
Characterized in that, the calculation processing apparatus also include：
3rd calculates treatment subelement, for the elements of exterior orientation according to the camera in the second place, institute
State the seat of the corresponding image points that elements of exterior orientation and the calculation processing apparatus of the camera in the 3rd position are obtained
Mark and the camera parameter of first position, intersection obtains the rendezvous position at the control point, by the control
The rendezvous position coordinate of point compares with the known control point coordinates, judges trueness error；It is wherein described
The camera parameter of first position is elements of interior orientation and distortion factor.
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