CN109798875A - A method of the range line of mark mining in real time in the video system of mining area - Google Patents
A method of the range line of mark mining in real time in the video system of mining area Download PDFInfo
- Publication number
- CN109798875A CN109798875A CN201910190638.9A CN201910190638A CN109798875A CN 109798875 A CN109798875 A CN 109798875A CN 201910190638 A CN201910190638 A CN 201910190638A CN 109798875 A CN109798875 A CN 109798875A
- Authority
- CN
- China
- Prior art keywords
- coordinate
- mining area
- mining
- camera
- coordinate system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Studio Devices (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The method that the invention discloses a kind of to mark mining range line in real time in the video system of mining area, include the following steps: (1) to establish mining area photogrammetric coordinate system: range inflection point coordinate in mining area in Exploitation license is transformed into the photogrammetric coordinate system of mining area by step 2, measures on the spot the corresponding elevation of inflection point by GPS according to mining area range inflection point coordinate in Exploitation license；Step 3, the elements of interior orientation and distortion factor for determining video camera；Step 4, the coordinate that video camera elements of exterior orientation is obtained by GPS, and convert it in the photogrammetric coordinate system of mining area；Step 5 calculates coordinate on the corresponding photo coordinate system of mining area range inflection point coordinate and line, forms mining range line, and real-time display is dug up mine range line in the video system of mining area.The present invention overcomes physical token stakes to be easy the disadvantages of being damaged and shifting, while substantially reducing staff and identifying that mine is crossed the border the difficulty of exploitation.
Description
Technical field
The present invention relates to technical field of mapping, more particularly to one kind range line of mark mining in real time in the video system of mining area
Method.
Background technique
Mine safety accidents are the generally existing serious problems in China mine, which seriously threatens people's life and life,
Cause the common concern of state and society.The exploitation of crossing the border of mine owner is the one of the major reasons of initiation mine accident, but
It is the real time monitoring for never having mature exploitation of crossing the border now.Yellow Pan et al., which proposes, determines focus using earthquake
Location method, by calculating explosion focus Time And Space Parameters, to determine whether having carried out exploitation of crossing the border.The patent of the first-class people of Wang Yun
Method: " multi-source data, which monitors the space-time characterisation of mining area deformation and crosses the border, exploits recognition methods " is judged using synthetic aperture radar
Mining area subsidence and deformation identify the production zone that crosses the border.Existing method or patented technology are required to high-cost data monitoring, together
When need monitoring personnel to have relevant professional knowledge really up to the mark, can not really accomplish real-time monitoring cross the border exploitation occur whether
Requirement.
In the existing monitoring device and data basis in mine, if it is possible to accomplish to indicate exploitation model in monitored picture
Enclose, can assist monitoring personnel in real time, accurately judgement cross the border exploitation whether happen.It is therefore proposed that a kind of economical real
The method that video system marks mining range line in real time in mining area, is the extremely valuable problem in this field.
Summary of the invention
The technical problem to be solved in the present invention is that for the defects in the prior art: only being provided in Exploitation license at present
Mining area range line inflection point coordinate, exploits phenomenon to find and identify to cross the border existing for mining area in real time, provides one kind in mine
The method of the range line of mark mining in real time in area's video system.
The technical solution adopted by the present invention to solve the technical problems is:
The present invention provides a kind of method of range line of mark mining in real time in the video system of mining area, is arranged in mining area real
When monitor the mining area video system of mining area picture, including multiple cameras；Method includes the following steps:
Step 1 establishes mining area photogrammetric coordinate system: being chosen according to the actual geographic position in mining area and topography and landform character
Coordinate origin, using zenith direction as coordinate system z-axis, with geographical Dong Fangxiangwei x-axis, geographic north establishes right hand sky to for y-axis
Between rectangular coordinate system；
Range inflection point coordinate in mining area in Exploitation license is transformed into the photogrammetric coordinate system of mining area by step 2, according to adopting
Mining area range inflection point coordinate measures on the spot the corresponding elevation of inflection point by GPS in mine licensing；
Step 3, that video camera picpointed coordinate and corresponding object point are established by direct linear transformation's solution is photogrammetric in mining area
Direct linear relationship under coordinate system, and thereby determine that the elements of interior orientation and distortion factor of video camera；
Step 4, the coordinate that video camera elements of exterior orientation is obtained by GPS, and convert it to mining area photogrammetric coordinate system
In system；
Step 5, the coordinate according to video camera elements of exterior orientation in the photogrammetric coordinate system of mining area, calculate mining area range
Coordinate and line on the corresponding photo coordinate system of inflection point coordinate form mining range line, and real in the video system of mining area
When show mining range line.
Further, the method for the elements of interior orientation and distortion factor of video camera is determined in step 3 of the invention specifically:
Step 3.1 establishes controlling filed and measures control point coordinates: direct linear transformation's calibration method is by field experiment
The known index point of coordinate carries out calibration, and establishing controlling filed is basis；A certain number of basic control points are laid in controlling filed,
Promise is controlled to stablize；By establishing the coordinate of the method micrometric measurement basic control point of high precise control net, application engineering is surveyed
Measure forward intersection method, the accurate object space coordinate for measuring control point；
Step 3.2, shooting index point photo simultaneously obtain control point as plane coordinates: the different location in controlling filed, camera
With different rotary angle shot control point photo, every photograph taking 6 or more control points；Photo is transferred to computer
In, software is measured by picture point and obtains index point as plane coordinates；
Step 3.3, DLT solve calibration parameter value: using the object space coordinate of the index point obtained and as plane coordinates,
11 l coefficient values that model is calculated according to DLT model, calculate phase by the relationship of l coefficient value and camera internal position element
The elements of interior orientation and distortion factor of machine.
Further, the coordinate of video camera elements of exterior orientation is obtained in step 4 of the invention by GPS, and is converted
Into mining area photogrammetric coordinate system method particularly includes:
Video camera elements of exterior orientation is obtained by GPS and converts it to mining area photogrammetric coordinate system (XO, YO, ZO) in:
Camera is fixed on working region；GPS receiver antenna phase center and video camera imaging plane is horizontally aligned, note
The position coordinates that lower GPS receiver returns are recorded, the relative altitude for subtracting GPS receiver relative camera obtains the position of video camera
Set coordinate (XC, YC, ZC)；Coordinate of the camera position coordinate under the photogrammetric coordinate system of mining area is (YC-YO, XC-XO, ZG-
ZO), it is denoted as (XcYc, Zc)；The initial exterior orientation angle element of camera is resolved by two GPS receiver, is not considering that camera is photosensitive
In the case that element rotates, obtaining camera exterior orientation angle element is
Further, in step 4 of the invention camera exterior orientation angle element with the variation of camera posture real-time update.
Further, the coordinate on photo coordinate system is calculated in step 5 of the invention method particularly includes:
Step 5.1 determines camera rotation matrix: the angle element of the video camera elements of exterior orientation obtained by step 4 obtains
Corresponding camera rotation matrix, is denoted as R；
Step 5.2, the camera rotation matrix according to determined by step 5.1 determine conllinear item corresponding to each control point
Part equation；
Step 5.3 finds the mining area range inflection point coordinate being located in front of photographic plane: due to being located at photographic plane rear
Range point coordinate is not imaged centainly, so to distinguish the point in front of photographic plane；Note is g to diacritical point position vector first
=(Xg, Yg, Zg), note camera position vector is c=(Xc, Yc, Zc), if normal vector of the video camera imaging face under image space coordinate system is
I=(0,0,1), then normal vector of the video camera imaging face under photogrammetric coordinate system is Ri；If Ri (g-c) > 0,
The corresponding mining area range inflection point of position vector g is in front of photographic plane；
Step 5.4, the coordinate on the corresponding photo coordinate system of calculating mining area range inflection point coordinate and line: by step
The 5.3 obtained mining area range inflection point coordinates in front of the photographic plane substitute into steps 5.2 in collinearity equation calculated,
Range inflection point coordinate corresponding picpointed coordinate (x, y) in mining area to be asked is obtained, it is connected and shown in sequence.
Further, the form of the collinear equation in step 5.2 of the invention are as follows:
Wherein, dx, dy are camera distortion correction term, and the elements of interior orientation of camera is x0, y0, fx, fy。
The beneficial effect comprise that: the side of the mark mining in real time range line of the invention in the video system of mining area
Method, existing mining area range line mark need to be arranged at range line inflection point marker peg, the present invention no setting is required any physical token
Stake, the alternate physical marker peg by way of generating virtual graticule in real time in video can overcome physical token stake to be easy to be damaged
The disadvantages of bad and displacement；In addition, method of the invention also has the advantage that 1. is real-time in video using photogrammetric technology
It generates virtual boundary line line and comes boundary line inside substitute, any physical token that no setting is required can overcome physical token stake to be easy quilt
The disadvantages of damage and displacement.2. virtual boundary line reduces the cost for purchasing embedded physics marker.3. marking in real time in video
Boundary line is infused, staff is substantially reduced and identifies that mine is crossed the border the difficulty of exploitation.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the general flow chart of the embodiment of the present invention；
Fig. 2 is the flow chart of the step 5 of the embodiment of the present invention；
Fig. 3 is the practical application scene figure of the embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
It is specifically explained as shown in Figure 1, the embodiment of the present invention carries out one to process of the invention by taking quarry mine as an example
It states, method includes the following steps:
Step 1, it establishes mining area photogrammetric coordinate system: being chosen according to the actual geographic position in mining area and topography and landform character
Coordinate origin, using zenith direction as coordinate system z-axis, with geographical Dong Fangxiangwei x-axis, geographic north establishes right hand sky to for y-axis
Between rectangular coordinate system.Position of its coordinate origin in earth coordinates is denoted as (XO, YO, ZO)。
Establish photogrammetric coordinate system should with facilitate it is subsequent be calculated as principle, preferably by coordinate origin be arranged existing
In ground control point.If without preferable ground control point, it may be considered that one depletion region of selection measures coordinate using GPS and buries
If ground control point.
Step 2, range inflection point coordinate in mining area in Exploitation license is transformed into mining area photogrammetric coordinate system (XO, YO, ZO)
In: notice that range inflection point coordinate in mining area is 1980 Xi'an earth coordinates in Exploitation license in embodiment.Mining area range turns
Point coordinate is earth coordinates, and earth coordinates are left-handed system.Mining area range inflection point plane coordinates is denoted as (XG, YG), then it converts
Plane coordinates of the mining area range inflection point under the photogrammetric coordinate system of mining area afterwards is (YG-YO, XG-XO)。
The corresponding elevation of inflection point is measured on the spot by GPS according to mining area range inflection point coordinate in Exploitation license, is denoted as
ZG.Then coordinate of the range inflection point in mining area under the photogrammetric coordinate system of mining area is (YG-YO, XG-XO, ZG-ZO), we are denoted as (Xg,
Yg, Zg)。
In embodiment, the coordinate origin coordinate in step 1 is obtained using GPS field survey, then is needed mine first
Area's photogrammetric coordinate system origin is converted into 1980 Xi'an earth coordinates by WGS-84 coordinate system.
Embodiment process is related to mining area range inflection point coordinate data and is as follows:
Step 3, to establish video camera picpointed coordinate and corresponding object point by direct linear transformation's solution photogrammetric in mining area
Direct linear relationship under coordinate system, and thereby determine that the elements of interior orientation and distortion factor of video camera.
In the present embodiment, the elements of interior orientation of video camera includes principal point coordinate (x0, y0) and video camera the direction x master
Away from fxAnd the direction y master is away from fy, distortion factor includes reference axis out of plumb error d β and scale bar disparity error ds.
In the step 3, the specific operation method is as follows for camera calibration.
Step 3.1, establish controlling filed and measure control point coordinates: direct linear transformation's calibration method is by field experiment
The known index point of coordinate carries out calibration, and establishing controlling filed is basis.It requires to lay a certain number of basic controls in controlling filed
Point.Control point must guarantee comparable stabilization.Pass through some method micrometric measurement basic control points for establishing high precise control net
Coordinate, application engineering measure forward intersection method, the accurate object space coordinate for measuring control point.
Step 3.2, it shoots index point photo and obtains control point as plane coordinates: the different location in controlling filed, camera
With different rotary angle shot control point photo, every sheet photo need at least shoot 6 or more control points.Since video monitoring is led
The camera in domain is fixed focal length camera, so the case where changing there is no focal length.By Digital Image Transmission into computer, pass through
Picture point measures software and obtains index point as plane coordinates.
Step 3.3, DLT solves calibration parameter value.Using the object space coordinate of the index point of acquisition and as plane coordinates,
11 l coefficient values of model are calculated according to DLT model.Phase is calculated by the relationship of l coefficient value and camera internal position element
The elements of interior orientation and distortion factor of machine.
Step 4, video camera elements of exterior orientation is obtained by GPS and converts it to mining area photogrammetric coordinate system (XO, YO,
ZO) in: camera is fixed on working region.In the horizontal direction by GPS receiver antenna phase center and video camera imaging plane
Alignment, records the position coordinates of GPS receiver return, and the relative altitude for subtracting GPS receiver relative camera is taken the photograph
Position coordinates (the X of cameraC, YC, ZC).Coordinate of the camera position coordinate under the photogrammetric coordinate system of mining area is (YC-YO, XC-
XO, ZG-ZO), it is denoted as (XcYc, Zc).The initial exterior orientation angle element of camera can be resolved by two GPS receiver.Do not considering
In the case that camera photosensitive element rotates, available camera exterior orientation angle element isCamera exterior orientation angle element
It needs with the variation of camera posture and real-time update.
In the present embodiment, video camera is rotary hemispherical face camera, can update posture by rotation.Rotary hemispherical face phase
Machine can be with the exterior orientation angle element of real-time update camera in rotary course.
Step 5, it according to camera internal and external orientation, calculates on the corresponding photo coordinate system of mining area range inflection point coordinate
Coordinate and line:
As shown in Fig. 2, the specific operation method is as follows in the step 5:
Step 5.1, determine camera rotation matrix: the angle element of the video camera elements of exterior orientation obtained by step 4 can be with
Corresponding camera rotation matrix is obtained, R is denoted as.Wherein each element in R matrix are as follows:
Step 5.2, the camera rotation matrix according to determined by step 5.1 determines conllinear item corresponding to each control point
Part equation.Collinearity condition equation is to solve for basis of the boundary point as plane coordinates.
For this example, the conllinear item of camera coordinates axis out of plumb sex distortion and the distortion of scale bar inconsistency joined
The form of part equation are as follows:
Wherein x0, y0, fx, a1, a2, a3, b1, b2, b3, c1, c2, c3, ds, d β, (XC, YC, ZC) it is known that picture point to be asked is sat
Mark (x, y) and the corresponding photogrammetric coordinate system (X of the picture pointg, Yg, Zg) it is unknown number.
Step 5.3, the mining area range inflection point coordinate being located in front of photographic plane is found: due to being located at photographic plane rear
Range point coordinate is not imaged centainly, so to distinguish the point in front of photographic plane.Note is g to diacritical point position vector first
=(Xg, Yg, Zg).Note camera position vector is c=(Xc, Yc, Zc) normal vector of the video camera imaging face under image space coordinate system is set as i
=(0,0,1), then normal vector of the video camera imaging face under photogrammetric coordinate system is Ri.
Known by vector calculus rule, if the corresponding mining area range inflection point of Ri (g-c) > 0, position vector g is in photographic plane
Front.
For the present embodiment, when hemisphere camera changes its exterior orientation angle element, a step will be carried out
5.2 and 5.3.And for the video camera of certain fixed poses, then a step 5.2 and 5.3 is carried out in initial phase.
Step 5.4, the coordinate and line on the corresponding photo coordinate system of mining area range inflection point coordinate are calculated: by step
The 5.3 obtained mining area range inflection point coordinates in front of the photographic plane substitute into steps 5.2 in collinearity equation calculated.
Range inflection point coordinate corresponding picpointed coordinate (x, y) in mining area to be asked is obtained, it is connected and shown in sequence.Specifically
Display effect is shown in attached drawing 3.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (6)
1. a kind of method of the range line of mark mining in real time in the video system of mining area, which is characterized in that be arranged in mining area real
When monitor the mining area video system of mining area picture, including multiple cameras；Method includes the following steps:
Step 1 establishes mining area photogrammetric coordinate system: choosing coordinate according to the actual geographic position in mining area and topography and landform character
It is origin, using zenith direction as coordinate system z-axis, with geographical Dong Fangxiangwei x-axis, geographic north is straight to right hand space is established for y-axis
Angular coordinate system；
Range inflection point coordinate in mining area in Exploitation license is transformed into the photogrammetric coordinate system of mining area by step 2, is permitted according to mining
Mining area range inflection point coordinate measures on the spot the corresponding elevation of inflection point by GPS in can demonstrate,proving；
Step 3 establishes video camera picpointed coordinate and corresponding object point by direct linear transformation's solution in mining area photogrammetric coordinate system
Direct linear relationship under system, and thereby determine that the elements of interior orientation and distortion factor of video camera；
Step 4, the coordinate that video camera elements of exterior orientation is obtained by GPS, and convert it in the photogrammetric coordinate system of mining area；
Step 5, the coordinate according to video camera elements of exterior orientation in the photogrammetric coordinate system of mining area calculate mining area range inflection point
Coordinate and line on the corresponding photo coordinate system of coordinate form mining range line, and show in real time in the video system of mining area
Show mining range line.
2. the method for the mark mining in real time range line according to claim 1 in the video system of mining area, which is characterized in that
The method of the elements of interior orientation and distortion factor of video camera is determined in step 3 specifically:
Step 3.1 establishes controlling filed and measures control point coordinates: direct linear transformation's calibration method is by coordinate in field experiment
Known index point carries out calibration, and establishing controlling filed is basis；A certain number of basic control points are laid in controlling filed, are controlled
Promise is stablized；By establishing the coordinate of the method micrometric measurement basic control point of high precise control net, before application engineering measurement
Square intersection method, the accurate object space coordinate for measuring control point；
Step 3.2, shooting index point photo simultaneously obtain control point as plane coordinates: the different location in controlling filed, camera is not with
With rotation angle shot control point photo, every photograph taking 6 or more control points；Photo is transferred in computer, is led to
It crosses picture point and measures software acquisition index point as plane coordinates；
Step 3.3, DLT solve calibration parameter value: using the object space coordinate of the index point obtained and as plane coordinates, foundation
DLT model calculates 11 l coefficient values of model, calculates camera by the relationship of l coefficient value and camera internal position element
Elements of interior orientation and distortion factor.
3. the method for the mark mining in real time range line according to claim 1 in the video system of mining area, which is characterized in that
The coordinate of video camera elements of exterior orientation is obtained in step 4 by GPS, and converts it to the tool in the photogrammetric coordinate system of mining area
Body method are as follows:
Video camera elements of exterior orientation is obtained by GPS and converts it to mining area photogrammetric coordinate system (XO, YO, ZO) in: by phase
Machine is fixed on working region；GPS receiver antenna phase center and video camera imaging plane is horizontally aligned, it records
The position coordinates that GPS receiver returns, the relative altitude for subtracting GPS receiver relative camera obtain the position seat of video camera
Mark (XC, YC, ZC)；Coordinate of the camera position coordinate under the photogrammetric coordinate system of mining area is (YC-YO, XC-XO, ZG-ZO), note
Make (Xc, Yc, Zc)；The initial exterior orientation angle element of camera is resolved by two GPS receiver, is not considering camera photosensitive element
In the case where rotation, obtaining camera exterior orientation angle element is
4. the method for the mark mining in real time range line according to claim 1 in the video system of mining area, which is characterized in that
In step 4 camera exterior orientation angle element with the variation of camera posture real-time update.
5. the method for the mark mining in real time range line according to claim 1 in the video system of mining area, which is characterized in that
The coordinate on photo coordinate system is calculated in step 5 method particularly includes:
Step 5.1 determines camera rotation matrix: the angle element of the video camera elements of exterior orientation obtained by step 4 is corresponded to
Camera rotation matrix, be denoted as R；
Step 5.2, the camera rotation matrix according to determined by step 5.1 determine collinear condition side corresponding to each control point
Formula；
Step 5.3 finds the mining area range inflection point coordinate being located in front of photographic plane: the range due to being located at photographic plane rear
Point coordinate is not imaged centainly, so to distinguish the point in front of photographic plane；Note is g=to diacritical point position vector first
(Xg, Yg, Zg), note camera position vector is c=(Xc, Yc, Zc), if normal vector of the video camera imaging face under image space coordinate system is i
=(0,0,1), then normal vector of the video camera imaging face under photogrammetric coordinate system is Ri；If Ri (g-c) > 0,
The corresponding mining area range inflection point of position vector g is in front of photographic plane；
Step 5.4, the coordinate on the corresponding photo coordinate system of calculating mining area range inflection point coordinate and line: by step 5.3 institute
The obtained mining area range inflection point coordinate being located in front of photographic plane substitutes into step 5.2 in collinearity equation calculated, obtains
Range inflection point coordinate corresponding picpointed coordinate (x, y) in mining area to be asked, it is connected and is shown in sequence.
6. the method for the mark mining in real time range line according to claim 5 in the video system of mining area, which is characterized in that
The form of collinear equation in step 5.2 are as follows:
Wherein, dx, dy are camera distortion correction term, and the elements of interior orientation of camera is x0, y0, fx, fy。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910190638.9A CN109798875B (en) | 2019-03-13 | 2019-03-13 | Method for marking mining range line in mining area video system in real time |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910190638.9A CN109798875B (en) | 2019-03-13 | 2019-03-13 | Method for marking mining range line in mining area video system in real time |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109798875A true CN109798875A (en) | 2019-05-24 |
| CN109798875B CN109798875B (en) | 2021-08-31 |
Family
ID=66563483
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910190638.9A Active CN109798875B (en) | 2019-03-13 | 2019-03-13 | Method for marking mining range line in mining area video system in real time |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109798875B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116337012A (en) * | 2023-03-20 | 2023-06-27 | 重庆地质矿产研究院 | Surface mine boundary pile position layout optimization method based on oblique photogrammetry technology |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104618688A (en) * | 2015-01-19 | 2015-05-13 | 荣科科技股份有限公司 | Visual monitor protection method |
| CN205899722U (en) * | 2016-08-19 | 2017-01-18 | 中国有色金属长沙勘察设计研究院有限公司 | A electronic fence system for open mine exploitation |
-
2019
- 2019-03-13 CN CN201910190638.9A patent/CN109798875B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104618688A (en) * | 2015-01-19 | 2015-05-13 | 荣科科技股份有限公司 | Visual monitor protection method |
| CN205899722U (en) * | 2016-08-19 | 2017-01-18 | 中国有色金属长沙勘察设计研究院有限公司 | A electronic fence system for open mine exploitation |
Non-Patent Citations (1)
| Title |
|---|
| 田浩等: ""基于DLT模型的一种数码相机检校方法"", 《四川测绘》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116337012A (en) * | 2023-03-20 | 2023-06-27 | 重庆地质矿产研究院 | Surface mine boundary pile position layout optimization method based on oblique photogrammetry technology |
| CN116337012B (en) * | 2023-03-20 | 2023-10-20 | 重庆地质矿产研究院 | Surface mine boundary pile position layout optimization method based on oblique photogrammetry technology |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109798875B (en) | 2021-08-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6755377B2 (en) | Methods and devices for accurate positioning of objects on a surface | |
| CN106327573B (en) | A kind of outdoor scene three-dimensional modeling method for urban architecture | |
| JP5100360B2 (en) | Image processing device | |
| CN104964673B (en) | It is a kind of can positioning and orientation close range photogrammetric system and measuring method | |
| US20050057745A1 (en) | Measurement methods and apparatus | |
| CN104240262B (en) | Calibration device and calibration method for outer parameters of camera for photogrammetry | |
| CN106323176B (en) | A kind of three-dimensional displacement monitoring method of open-pit slope | |
| CN106872993A (en) | Portable distance-measuring device and the method for catching relative position | |
| CN103411587B (en) | Positioning and orientation method and system | |
| KR20200064542A (en) | Apparatus for measuring ground control point using unmanned aerial vehicle and method thereof | |
| KR20090064679A (en) | Method and apparatus of digital photogrammetry by integrated modeling for different types of sensors | |
| KR101891087B1 (en) | Evaluation method for stability of rock slope using drone | |
| JP6058483B2 (en) | Aerial surveying method and apparatus | |
| Schuhmacher et al. | Georeferencing of terrestrial laserscanner data for applications in architectural modeling | |
| CN106408601A (en) | GPS-based binocular fusion positioning method and device | |
| CN108694730A (en) | It is manipulated using the near field of the AR devices of image trace | |
| CN103017666A (en) | Method and assembly for determining the position of a measurement point in geometric space | |
| CN109785381A (en) | A kind of optical inertial fusion space-location method, positioning device and positioning system | |
| CN108952742A (en) | A kind of shield machine guidance method and system based on machine vision | |
| CN106767895A (en) | The system and method for solving camera elements of exterior orientation using index point orientation | |
| CN103644895B (en) | A kind of digital camera coordinates the method for mapping of ancient architecture of measuring tool | |
| CN110095659A (en) | Deep space exploration rover communication antenna pointing accuracy dynamic testing method | |
| CN109489547A (en) | A kind of monitoring method of slag body heap quantity of slag dynamic change | |
| CN109035343A (en) | A kind of floor relative displacement measurement method based on monitoring camera | |
| JP2011169658A (en) | Device and method for pinpointing photographed position |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |