CN110006452A - No. six wide visual field cameras of high score are with respect to geometric calibration method and system - Google Patents
No. six wide visual field cameras of high score are with respect to geometric calibration method and system Download PDFInfo
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Abstract
The present invention provides a kind of No. six wide visual field cameras of high score with respect to geometric calibration method, carries out data preparation, including inputting the WFV image data of the original slice subrane by radiant correction, with reference to DOM and corresponding dem data；The calibration of absolute reference benchmark, including being calibration object with 8 CMOS of B2 wave band, the substep absolute geometry calibration that angle model realizes inside and outside parameter is directed toward based on member is visited in the intensive control point of high-precision obtained using auto-measuring DOM and B2 wave band image；Carry out B1, B3, B4, B5 and B6 wave band respectively between B2 wave band relative calibration control point automatic acquisition, carry out each relative calibration model building, the resolving of each relative calibration parameter；It is to carry out the solution of B7 and B8 wave band relative calibration parameter with reference to wave band with the B6 wave band demarcated.This method refers to wave band based on multiple, and design is suitable for existing compared with high-precision geometrical registration method between the wave band of large radiation difference, can effectively guarantee the registration accuracy between wave band, improvement audio and video products almost T-stable.
Description
Technical field
The invention belongs to remotely sensing image geometric process fields, are related to No. six wide visual field cameras of high score with respect to geometric calibration method
And system.
Background technique
High score six (GF6) satellites are a high-resolution wide visual field image optics remote sensing in China's high score ad hoc planning
Satellite.Wide visual field (WFV) camera imaging carried on star can be realized one camera imaging breadth better than 800km, substar ground
Resolution ratio reaches 16m, represents the highest level of international homogeneous satellite observation swath, has to large scale surface observation and environmental monitoring
Unique advantage.Wide visual field camera uses the off-axis four reflective optical systems structure type of novel ultra-large vision field, and field angle reaches
65.64 °, there is very big difference in center imaging and the geometrical property of edge imaging.In addition, camera totally 8 wave bands, each wave band
It is formed by 8 complementary metal oxide semiconductor (CMOS) detector optic splices, 8 wave bands push-scanning image over the ground, different waves
There are time delays for image between section.How to guarantee the registration accuracy between the geometric accuracy and wave band of WFV image, obtains high-quality
The satellite image of amount guarantees the accuracy of subsequent remote sensing application, becomes outstanding problem urgently to be solved.
The in-orbit geometric calibration of satellite is the key link that high-resolution optical remote sensing satellite realizes high-precision geometry location, directly
Connect the almost T-stable for influencing satellite image.Currently, researcher uses based on the first outer fixed of high-precision reference calibration field data mostly
The multiple step format calibrating method of internal calibration after mark is controlled using Auto-matching satellite image and with reference to the ground that calibration field image obtains
Point (GCPs) determines inside and outside scaling parameter by space resection, distorts to absolute geometry and carry out Accurate Calibration.External system
Calibration is usually compensated by correcting camera established angle, and internal distortions are directed toward angle by strict physical imaging model or spy member
Model is described, and the problem of parametrization, equation solution morbid state can be crossed to avoid stringent model by being directed toward angle model, but require to join
It examines image and hangs down in satellite and be completely covered on rail direction, to provide accurate absolute bound to each spy member.This calibrating method according to
The high-precision calibration field data of Lai Yu.Relative calibration is a kind of calibrating method without high accuracy Scaling field, selects one and has determined
Reference image of the target wave band as remaining wave band is positioned consistency based on object space, is believed using the corresponding image points between wave band image
Breath, is demarcated and is compensated between the opposite geometric distortion wave band.Relative calibration is actually a kind of wave based on geometrical relationship
Method for registering between section.Different from traditional method for registering based on Image Matching, this geometrical registration method is not only restricted to shadow
Image quality amount.No. six wide visual field camera wave bands of high score are more, and the radiation difference between wave band is big, and corresponding image points is difficult to match, and select one
Wave band has been not applied for wide visual field camera as traditional relative calibration method with reference to wave band.Therefore, it is necessary to be directed to high score six
The structure and imaging characteristics of number wide visual field camera construct suitably opposite geometric calibration method, to guarantee the almost T-stable of image.
Summary of the invention
Problem to be solved by this invention is cannot to apply traditional relative calibration method for No. six wide visual field cameras of high score
The problem of, a kind of effective camera is provided with respect to geometric calibration technical solution.
Technical solution of the present invention provides a kind of No. six wide visual field cameras of high score with respect to geometric calibration method, and high score six are defended
The image data for the wide visual field camera shooting carried on star has 8 wave bands, is successively denoted as B1, B2, B3, B4, B5, B6, B7 respectively
With B8 wave band, each wave band is spliced by the image optics that 8 CMOS are shot, which is characterized in that opposite geometric calibration process
The following steps are included:
Step 1, data preparation, the WFV image data, high-precision including inputting the original slice subrane by radiant correction
Degree refers to DOM and corresponding dem data；
Step 2, the calibration of absolute reference benchmark, including being calibration object with 8 CMOS of the 2nd wave band B2, using automatic
The intensive control point GCPs of high-precision that DOM and B2 wave band image obtains is measured, realizes inside and outside parameter based on member direction angle model is visited
Substep absolute geometry calibration；
Step 3, carry out B1, B3, B4, B5 and B6 wave band respectively between B2 wave band relative calibration control point automatic acquisition；
Step 4, B1, B3, B4 are carried out, the building of each relative calibration model in B5 and B6 wave band, including referred to based on member is visited
To angle model, the calibration of image to be calibrated is constructed using auxiliary data, shared external parameter and each known internal parameter
Model；
Step 5, B1, B3, B4 are carried out, the resolving of each relative calibration parameter in B5 and B6 wave band is flat based on least square
Difference does not resolve each internal calibration parameter；
Step 6, the relative calibration for carrying out B7 and B8 wave band, including being with reference to wave band, according to step with the B6 wave band demarcated
The mode of rapid 3,4 and 5 carries out the solution of B7 and B8 wave band relative calibration parameter.
Moreover, the calibrating method of absolute reference benchmark described in step 2, implementation include the following steps,
Step 2.1, B2 wave band is realized using SIFT algorithm and with reference to the High Precision Automatic matching between DOM, obtain tie point
Pair plane coordinates and image space coordinate, interpolation obtains the elevation of tie point on reference DEM, to obtain the object space and picture of GCPs
Square coordinate realizes the auto-measuring at control point；
In order to guarantee the calculation accuracy of the calibration results, at the control point wait calibrate in image, measured along rail direction
It is distributed in relatively narrow region as far as possible, the entire CMOS range of uniform fold is then answered in rail direction of hanging down；
Step 2.2, it using auxiliary data and Laboratory Calibration parameter, constructs optics linear array push-broom type satellite and is based on visiting member
It is directed toward the geometric calibration model at angle, wherein internal calibration uses one-dimensional direction angle model, and external calibration is using a spin matrix to phase
The measurement error of setting angle between machine and platform compensates；
Step 2.3, inside and outside scaling parameter is resolved using substep calibrating method,
External calibration parameter XEFor compensating camera error of fixed angles, restores the direction of camera coordinates system in space, be interior
The resolving of scaling parameter determines reference data, and wherein pitch, roll, yaw are respectively pitching, rolling and yaw direction angle；
For WFV camera, 8 × 8 CMOS on focal plane share same group of external calibration parameter；
Internal calibration parameter XIFor compensating the picture point error as caused by camera internal various distortion, determine that CMOS respectively visits member
Direction angle under reference data；Each CMOS is both needed to individually carry out internal calibration in wide visual field camera；External calibration parameter with it is default
The mark common restoring CMOS of parameter respectively visits the absolute direction of member in space；
It is flat based on least square first based on the 4th or the 5th calibration model when inside and outside scaling parameter resolves
Difference resolves external calibration parameter, restores the posture of camera coordinates system in space；Then on this basis, each calibration mould is constructed
Type resolves 8 internal calibration parameters based on least square adjustment respectively, determines that 8 CMOS respectively visit member under camera coordinates system
It is directed toward.
Moreover, step 3 implementation includes the following steps,
Step 3.1, it using B2 wave band as reference data, will be carried out between B1 wave band and B2 wave band counterpiece using SIFT algorithm high
Accuracy Matching, it is assumed that obtain KnA equally distributed image space tie point, picpointed coordinate of the tie point on B1 wave band subject to registration areIt is with reference to the picpointed coordinate on wave band in B2
Step 3.2, step 2.2 gained optics linear array push-broom type satellite is substituted into based on absolutely inside and outside scaling parameter to be based on visiting member
It is directed toward the geometric calibration model at angle, the imaging geometry model of building B2 wave band each is realized, utilizes the elevation information on reference DEM
By the picture point on B2 wave bandOrthographic projection obtains corresponding object coordinates (B to object spacei,Li,Hi)n；
Step 3.3, the tie point coordinate on image B1 to be calibratedWith corresponding object coordinates (Bi,Li,Hi)nGroup
At control point；
Step 3.4, to B3, B4, B5 and B6 wave band executes step 3.1-3.3 respectively.
Moreover, step 4 carries out B1, B3, B4, and in B5 and B6 wave band when the building of each relative calibration model, every CMOS
Relative calibration is carried out with the corresponding CMOS of reference wave band B2；Corresponding calibration model is constructed to every CMOS, by by step 2
Obtained external calibration parameter, each laboratory internal parameter and corresponding auxiliary data substitutes into step 2.2 gained optics linear array
Push-broom type satellite is obtained based on the geometric calibration model for visiting member direction angle.
The present invention also provides a kind of No. six wide visual field cameras of high score with respect to geometric calibration system, as described above for executing
No. six wide visual field cameras of high score are with respect to geometric calibration method.
The present invention imaging characteristics big for radiation difference between the multispectral unification of No. six wide visual field cameras of high score, wave band, in conjunction with
Inside and outside calibration model calibrates scheme using substep, realizes based on two high-precisions with reference to wave band with respect to geometric calibration, overcome
Traditional limitation for individually referring to wave band relative calibration.This method is matched between utilizing the relative geometrical relation between wave band to realize wave band
Standard guarantees multiple high-precision relative calibrations with reference to wave band using the transitivity of geometrical relationship between wave band, has and does not completely depend on
The advantage of the quality of image provides new approaches compared with registration between the wave band of large radiation difference to exist, can effectively, accurately realize
It is registrated between wave band, is convenient for subsequent remote sensing application.
Detailed description of the invention
Fig. 1 is the flow diagram of the embodiment of the present invention；
Fig. 2 is that the camera internal calibration of the embodiment of the present invention is directed toward angle model schematic diagram.
Fig. 3 is the wide visual field camera focal plane design diagram of the embodiment of the present invention.
Specific embodiment
Below in conjunction with drawings and examples the present invention will be described in detail technical solution.
Referring to Fig. 1, embodiment provides a kind of based on the opposite geometric calibration method of in-orbit substep for more referring to wave band, this method
Be broadly divided into the 2nd wave band of absolute reference benchmark calibration, with the 2nd wave band be with reference to wave band the 1st, 3 ... 6 wave band relative calibrations with
And with the 6th wave band be with reference to wave band the 7th, 8 wave band relative calibrations.Embodiment implementation process the following steps are included:
Step 1, data preparation, the WFV image data, high-precision including exporting the original slice subrane by radiant correction
Degree refers to DOM (digital orthoimage) and corresponding DEM (digital elevation model) data.
Since WFV image cover width is wide, the calibration field of big breadth demand, therefore its reference data not can satisfy
Not high-precision calibration field data can satisfy the Landsat8 (the 8th satellite of Landsat series) of required precision
Image, ZY3 (No. three satellites of resource) production DSM (digital surface model) and ASTER GDEM (advanced spaceborne heat emission and instead
Penetrate radiation gauge global digital elevation model) etc. reference datas.In embodiment, have chosen two scape WFV images (number be Cal-1 and
Cal-2), Cal-1 image covers CHINESE REGION, and the 2nd wave band (B2) wave band is used for the calibration of absolute reference benchmark, with reference to DOM
For the Landsat8 image of 15m resolution ratio, the corresponding DSM image with reference to the 5m resolution ratio that DEM is the production of No. three satellites of resource；
Cal-2 image covers gobi and desert area, can be matched to enough points between wave band, for carrying out relative calibration, uses
Reference DEM be 30m resolution ratio ASTER GDEM.
Step 2, the calibration of absolute reference benchmark utilizes auto-measuring DOM including being calibration object with 8 CMOS of B2
The Ground Nuclear Magnetic Resonance control point GCPs obtained with B2 wave band image realizes that the substep of inside and outside parameter is exhausted based on member direction angle model is visited
To geometric calibration.
Present invention further propose that:
GCPs is the intensive control point matched by high-precision SIFT, B2 wave band image and DOM image in step 2
With tie point pair is obtained, the plane coordinates and image space coordinate of tie point pair are obtained, interpolation obtains the height of tie point on reference DEM
Journey, to obtain the object space and image space coordinate of GCPs.Matched GCPs should hang down in satellite to be completely covered on rail direction, to CMOS
On each spy member carry out accurate absolute bound；It should be distributed in along rail direction in one section of relatively narrow region, avoid foreign side
The randomized jitter of bit prime model error of fitting brings unnecessary distortion error to the calibration results, while guaranteeing the equal of match point
Even distribution.
B2 wave band is constructed using the auxiliary datas such as appearance rail, imaging time and each Laboratory Calibration parameter in step 2
Each geometric calibration model, wherein internal calibration uses one-dimensional direction angle model, and external calibration is using a spin matrix to camera
The measurement error of setting angle between platform compensates, the camera determined due to the strong correlation of inside and outside error, external calibration
Installation matrix actually also contain partial interior distortion error, be not truly reflected the installation relation of camera, be only for
Internal calibration provides the reference frame of broad sense.For the camera of multi-thread battle array, the external calibration parameter of each linear array is shared.
When demarcating external parameter in step 2, the smallest intermediate of distortion should be selected as main leaf, to avoid shared outside
Parameter introduces additional internal distortions amount, that is, resolves external parameter with the 4th or the 5th CMOS image of B2 wave band, later
On the basis of the external parameter of resolving, the inner parameter of the CMOS of 8 different distortion performances is resolved respectively.It is changed using least square
In generation, calculates inside and outside parameter, using Laboratory Calibration parameter as initial value, when resolving external parameter, by the laboratory evaluation of inner parameter
As " true value ", iterative calculation obtains external parameter, and the true value for the external parameter being calculated is substituted into calibration model later
In, iterate to calculate the true value of inner parameter.
It is calibration object with the B2 wave band of Cal-1 image in embodiment, building visits member and is directed toward angle model as geometric calibration
Model, the high-precision GCPs obtained using auto-measuring DOM and B2 wave band resolve external calibration parameter and each internal calibration ginseng
Number.
Step 2 comprises the steps of: in embodiment
2.1 realize High Precision Automatic between B2 wave band and reference DOM using SIFT (Scale invariant features transform) algorithm
Match, obtains the plane coordinates and image space coordinate of tie point pair, interpolation obtains the elevation of tie point on reference DEM, to obtain
The object space and image space coordinate of GCPs, realizes the auto-measuring at control point.In order to guarantee the calculation accuracy of the calibration results, wait calibrate
In image, the control point measured is being distributed in relatively narrow region as far as possible along rail direction, and uniform fold is then answered in rail direction of hanging down
Entire CMOS range, is presented strip distribution.SIFT algorithm is the prior art, and it will not go into details by the present invention.
2.2 utilize the auxiliary datas such as appearance rail, imaging time and Laboratory Calibration parameter, construct and are directed toward angle based on spy member
Geometric calibration model such as formula (1):
Wherein,
In formula, B=B1, B2 ..., B8: indicates band number, n=1,2 ..., 8: indicate the piece number of CMOS, (Xg,Yg,
Zg) and (Xgps,Ygps,Zgps) respectively indicate the corresponding object space point of picture point and GPS (global positioning system) antenna phase center exists
Coordinate under WGS84 coordinate system, wherein the latter is obtained by the GPS carried on satellite.It respectively represents
Spin matrix, J2000 coordinate system spin matrix, satellite to satellite body coordinate system of the WGS84 coordinate system to J2000 coordinate system
Spin matrix of the body coordinate system to camera coordinates system；(BX,BY,BZ)bodyIt represents from sensor projection centre to GPS antenna phase
Coordinate of the centrical bias vector under satellite body coordinate system；Wherein,, gyro quick by star is obtained by integrated attitude determination
It arrives, (BX,BY,BZ)bodyThen by laboratory calibration before satellite launch；(t) indicate that parameter current is one and changes over time
Amount, such as (Xgps(t),Ygps(t),Zgps(t))；λ is proportionality coefficient；(ψx(s),ψy(s)) it represents and visits member s under camera coordinates system
It is directed toward angle, behalf visits member number, axi, ayi(i=0,1,2,3) is multinomial coefficient (internal calibration parameter), as shown in Figure 2: camera
Coordinate system X1Y1Z1Origin be denoted as O1, visit member VImageDirection angle be (ψx,ψy)。
2.3 resolve inside and outside scaling parameter using substep calibrating method.External calibration parameter Respectively pitching, rolling and yaw direction angle) for compensating camera
Error of fixed angles, restores the direction of camera coordinates system in space, determines reference data for the resolving of internal calibration parameter.For
WFV camera, totally 8 wave bands, each wave band are formed by 8 CMOS optic splices, 8 × 8 CMOS such as Fig. 3, on focal plane
Share same group of external calibration parameter, 8 CMOS be denoted as respectively CMOS1, CMOS2, CMOS3, CMOS4, CMOS5, CMOS6,
CMOS7,CMOS8.Internal calibration parameter XI=(ax0,ax1,ax2,ax3,ay0,ay1,ay2,ay3) then for compensating due in camera
Picture point error caused by the various distortion in portion determines that CMOS respectively visits direction angle of the member under camera coordinates system (reference data).Due to
The wide visual field imaging characteristic of WFV camera, lens distortion influence degree caused by each CMOS is different, therefore each CMOS is both needed to
Individually carry out internal calibration.External calibration parameter and the common restoring CMOS of internal calibration parameter respectively visit the absolute direction of member in space.
The B2 wave band each internal distortions influenced by camera lens are different, along with inside and outside scaling parameter has strong correlation, answer
Being used as much as possible is influenced lesser intermediate by lens distortion (the 4th in embodiment, actually the 4th or the 5th all may be used
With) carry out external parameter resolving, additional internal distortions error is introduced to avoid external parameter.
The principle that inside and outside scaling parameter resolves are as follows: first based on the 4th calibration model, be based on least square adjustment
External calibration parameter is resolved, the posture of camera coordinates system in space is restored；Then on this basis, each calibration mould is constructed
Type resolves 8 internal calibration parameters based on least square adjustment respectively, determines that 8 CMOS respectively visit member under camera coordinates system
It is directed toward angle.
The solution formula of embodiment and steps are as follows:
1) assume on the 4th CMOS image of target B2 wave band undetermined auto-measuring K it is equally distributed accurately
Face control point is (X as orientation point, the WGS84 geocentric rectangular coordinate at control pointi,Yi,Zi), picpointed coordinate is (si,li), this
In, orient piont mark i=1,2,3 ..., K.
2) it enables in formula (1):
Formula (1) is converted into formula (2):
In above formula, vectorFor object space vector U, the vector of the point from camera projection centre to object space is represented in ontology coordinate
Coordinate under system；a1,b1,c1a2,b2,c2a3,b3,c3Respectively represent 9 elements of camera installation matrix；F(XE,XI)、G(XE,
XI) it is respectively to be directed toward angle residual error and vertical rail direction angle residual error along rail.
3) external scaling parameter XEWith internal calibration parameter XIAssign initial valueIt here is Laboratory Calibration value.
4) by current internal calibration parameter XIIt is considered as " true value ", by external calibration parameter XEIt is considered as unknown parameter to be asked.By they
Current valueIt substitutes into formula (2), to each orientation point, linearization process is carried out to formula (2), establishes error equation
(3) (wherein, i=1,2,3 ..., K):
Vi=AiX-Li, Quan Wei Pi (3)
Wherein
In formula, LiIt is to utilize inside and outside scaling parameter current valueSubstitute into the error vector that formula (2) are calculated；
AiIt is the coefficient matrix of error equation；X represents external calibration parameter correction dXE=(dpitch, droll, dyaw), d representative change
Positive numerical symbol；PiIt is the power of observation；FiAnd GiRespectively angle residual error is directed toward along railThe rail that hangs down is directed toward angle residual errorFunction model, obtain corresponding error equation V after differentiali。
Calculating method equation coefficient matrix:
In above formula, matrixMatrixMatrix
X is calculated using least square adjustment, such as following formula:
X=(ATPA)-1(ATPL) (5)
Update external calibration parameter XECurrent value, then return to step 4) iterate to calculate.When external calibration parameter corrects
Number is respectively less than threshold value 10-12When, iteration stopping.
5) current value of external calibration parameter is considered as " true value ", internal calibration parameter is considered as unknown parameter to be asked, will be inside and outside
The current value of scaling parameterIt substitutes into formula (2), at this time XEFor the current value of external calibration parameter obtained by step 4).To each
Orientation point constructs error equation:
Vi=BiY-LiPower is Pi (7)
Wherein
In formula, LiIt is to utilize inside and outside scaling parameter current valueSubstitute into the error vector that formula (2) are calculated；
BiIt is the coefficient matrix of error equation；Y represents external calibration parameter correction dXI；D represents correction numerical symbol；PiIt is observation
Power；FiAnd GiRespectively angle residual error F (X is directed toward along railE,XI), hang down rail be directed toward angle residual error G (XE,XI) function model, after differential
To corresponding error equation.
Calculating method equation coefficient matrix:
In above formula,
Y is calculated using least square adjustment, such as following formula:
Y=(BTPB)-1(BT PL) (9)
Update internal calibration parameter XICurrent value, then return to step 5) iterate to calculate.When internal calibration parameter corrects
Number is respectively less than threshold value 10-12When, iteration stopping.
6) remaining each calibration model is constructed respectively according to formula (1), and resolve corresponding internal calibration according to step 5)
Parameter.
7) according to external calibration parameter obtained by step 4), step 5) and step 6) and each internal calibration parameter, camera is updated
Parameter File.
Step 3, the the 1st, 3 ..., the acquisition at relative calibration control point between 6 wave bands (B1, B3 ..., B6) and B2 wave band.
Present invention further propose that
Tie point between step 3 medium wave band also uses SIFT algorithm to realize high-precision Auto-matching, obtains image space
Tie point, the distribution of tie point is completely covered on vertical rail direction, is distributed along rail direction with the distribution of GCPs in step 2
In one section of shorter region.
It needs to be imaged by the geometry by the calibrated inside and outside scaling parameter of reference wave band, auxiliary data building in step 3
Model obtains corresponding object space and sits using the elevation information on reference DEM by the picture point orthographic projection on reference wave band to object space
Mark, with the control point wait calibrate the composition relative calibration of the image space coordinate on image.
In embodiment, step 3 the following steps are included:
3.1 using the B2 wave band of relative calibration scape Cal-2 image as reference data, using SIFT algorithm by B1 wave band and B2 wave
High-precision matching is carried out between section counterpiece, it is assumed that obtains Kn(wherein n=1,2 ..., 8 indicates piece number) a equally distributed picture
Square tie point is completely covered on vertical rail direction, is distributed in shorter region along rail direction, and tie point is in B1 wave subject to registration
Picpointed coordinate in section isIt is with reference to the picpointed coordinate on wave band in B2Here i=1,2,3 ..., Kn。
3.2 substitute into B2 wave band each constructed by formula (1) imaging geometry model based on absolutely inside and outside scaling parameter, utilize
With reference to the elevation information on DEM by the picture point on B2 wave bandOrthographic projection obtains corresponding object coordinates (B to object spacei,
Li,Hi)n。
Tie point coordinate on 3.3 image B1 to be calibratedWith corresponding object coordinates (Bi,Li,Hi)nComposition control
Point.
3.4 couples of B3, B4, B5 and B6 wave band, the similar above processing executed to B1 wave band execute step 3.1-3.3 respectively.
Step 4, B1, B3 ..., the building of each relative calibration model of B6 wave band, including angle model, benefit are directed toward based on member is visited
(laboratory internal can be used with the auxiliary datas such as appearance rail, imaging time, shared external parameter and each known internal parameter
Parameter) construct the calibration model of image to be calibrated.
Due to each geometrical property difference, every CMOS carries out relative calibration with the corresponding CMOS with reference to wave band, to every
CMOS should all construct corresponding calibration model.The external calibration parameter of the same camera be it is shared, in relative calibration need to only resolve
Portion's parameter.Therefore external parameter is obtained in step 2 in the calibration model of building, and inner parameter is laboratory evaluation.
In embodiment, corresponding calibration model is constructed to every CMOS, external calibration parameter that step 2 is obtained, each
Laboratory internal parameter and corresponding auxiliary data substitute into formula (1).
Step 5, B1, B3 ..., the resolving of each relative calibration parameter of B6 wave band, including distinguished based on least square adjustment
Resolve each internal calibration parameter.Least square adjustment is the prior art, and it will not go into details by the present invention.
The resolving of image scaling parameter to be calibrated is identical as the solution process of internal calibration parameter in step 2 in step 5.
In embodiment, the connection control point obtained using step 3, according to the solution process solution of internal calibration parameter in step 2
Calculate relative calibration parameter.
Step 6, the relative calibration of B7 and B8 wave band.It is with reference to wave band, according to step 3,4 and 5 with the B6 wave band demarcated
Described in process carry out B7, the solution of B8 wave band relative calibration parameter.
Since radiation differs greatly between wave band, cause the matched point of B7, B8 and B2 wave band less, influence the precision resolved,
Therefore B7, B8 wave band are to realize to calibrate with reference to wave band with B6 wave band.
In embodiment, step 6 calibrates process and the relative calibration process of B1, B3 ..., B6 are identical, completes above-mentioned steps
Afterwards, B7, the relative calibration of B8 wave band and B6 wave band are carried out according still further to the process of step 3, step 4 and step 5.
I.e.
Carry out B7, B8 wave band respectively between B6 wave band relative calibration control point automatic acquisition；
B7 is carried out, the building of each relative calibration model in B8 wave band, including it is directed toward angle model based on member is visited, utilize auxiliary
Data, shared external parameter and each known internal parameter construct the calibration model of image to be calibrated；
B7 is carried out, the resolving of each relative calibration parameter, each is resolved based on least square adjustment respectively in B8 wave band
Internal calibration parameter.
Specific implementation is referring to abovementioned steps, and it will not go into details by the present invention.
When it is implemented, computer software mode, which can be used, in the above process realizes automatic running, the hardware of this method is run
System should also be as in protection scope.
Related device can also be provided using modular mode.Such as a kind of No. six wide visual field cameras of high score are fixed with respect to geometry
Device for mark comprises the following modules:
First module is used for data preparation, the WFV image number including inputting the original slice subrane by radiant correction
According to, high-precision reference DOM and corresponding dem data；
Second module, for the calibration of absolute reference benchmark, including being calibration object, benefit with 8 CMOS of the 2nd wave band B2
The intensive control point GCPs of high-precision obtained with auto-measuring DOM and B2 wave band image is directed toward in angle model realization based on member is visited
The substep absolute geometry of outer parameter is calibrated；
Third module, for carrying out B1, B3, B4, B5 and B6 wave band respectively between B2 wave band relative calibration control point from
It is dynamic to obtain；
4th module, for carrying out B1, B3, B4, the building of each relative calibration model in B5 and B6 wave band, including be based on
It visits member and is directed toward angle model, construct image to be calibrated using auxiliary data, shared external parameter and each known internal parameter
Calibration model；
5th module, for carrying out B1, B3, B4, the resolving of each relative calibration parameter in B5 and B6 wave band, based on minimum
Two multiply the internal calibration parameter that adjustment resolves each respectively；
6th module, for carrying out the relative calibration of B7 and B8 wave band, including with the B6 wave band demarcated be with reference to wave band,
The solution of B7 and B8 wave band relative calibration parameter is carried out according to third module, the 4th module and the 5th modular manner.
Each module realization illustrates that it will not go into details by the present invention referring to corresponding steps.
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (5)
1. the wide visual field camera that a kind of No. six wide visual field cameras of high score with respect to geometric calibration method, are carried on No. six satellites of high score is clapped
The image data taken the photograph has 8 wave bands, is successively denoted as B1, B2, B3, B4, B5, B6, B7 and B8 wave band respectively, each wave band is by 8
The image optics of CMOS shooting are spliced, which is characterized in that opposite geometric calibration process the following steps are included:
Step 1, data preparation, including inputting the WFV image data of the original slice subrane by radiant correction, high-precision is joined
Examine DOM and corresponding dem data；
Step 2, the calibration of absolute reference benchmark utilizes auto-measuring including being calibration object with 8 CMOS of the 2nd wave band B2
The intensive control point GCPs of the high-precision that DOM and B2 wave band image obtains is directed toward point that angle model realizes inside and outside parameter based on member is visited
Walk absolute geometry calibration；
Step 3, carry out B1, B3, B4, B5 and B6 wave band respectively between B2 wave band relative calibration control point automatic acquisition；
Step 4, B1, B3, B4 are carried out, the building of each relative calibration model in B5 and B6 wave band, including angle is directed toward based on member is visited
Model constructs the calibration model of image to be calibrated using auxiliary data, shared external parameter and each known internal parameter；
Step 5, B1, B3, B4 are carried out, the resolving of each relative calibration parameter in B5 and B6 wave band, based on least square adjustment point
Each internal calibration parameter is not resolved；
Step 6, the relative calibration for carrying out B7 and B8 wave band, including being with reference to wave band, according to step 3,4 with the B6 wave band demarcated
And 5 mode carries out the solution of B7 and B8 wave band relative calibration parameter.
2. No. six wide visual field cameras of high score as described in claim 1 are with respect to geometric calibration method, it is characterised in that: described in step 2
The calibrating method of absolute reference benchmark, implementation include the following steps,
Step 2.1, B2 wave band is realized using SIFT algorithm and with reference to the High Precision Automatic matching between DOM, obtain tie point pair
Plane coordinates and image space coordinate, interpolation obtains the elevation of tie point on reference DEM, to obtain the object space and image space seat of GCPs
Mark, realizes the auto-measuring at control point；
In order to guarantee the calculation accuracy of the calibration results, the control point wait calibrate in image, measured along rail direction as far as possible
It is distributed in relatively narrow region, the entire CMOS range of uniform fold is then answered in rail direction of hanging down；
Step 2.2, it using auxiliary data and Laboratory Calibration parameter, constructs optics linear array push-broom type satellite and is based on visiting member direction
The geometric calibration model at angle, wherein internal calibration uses one-dimensional direction angle model, external calibration using spin matrix to camera with
The measurement error of setting angle between platform compensates；
Step 2.3, inside and outside scaling parameter is resolved using substep calibrating method,
External calibration parameter XEFor compensating camera error of fixed angles, restores the direction of camera coordinates system in space, join for internal calibration
Several resolvings determines reference data, and wherein pitch, roll, yaw are respectively pitching, rolling and yaw direction angle；For
WFV camera, 8 × 8 CMOS on focal plane share same group of external calibration parameter；
Internal calibration parameter XIFor compensating the picture point error as caused by camera internal various distortion, determine that CMOS respectively visits member and joining
Examine the direction angle under benchmark；Each CMOS is both needed to individually carry out internal calibration in wide visual field camera；External calibration parameter and internal calibration are joined
The common restoring CMOS of number respectively visits the absolute direction of member in space；
When inside and outside scaling parameter resolves, first based on the 4th or the 5th calibration model, it is based on least square adjustment solution
External calibration parameter is calculated, the posture of camera coordinates system in space is restored；Then on this basis, each calibration model is constructed,
The internal calibration parameter for resolving 8 respectively based on least square adjustment determines that 8 CMOS respectively visit finger of the member under camera coordinates system
To.
3. No. six wide visual field cameras of high score as claimed in claim 2 are with respect to geometric calibration method, it is characterised in that: step 3 is realized
Mode includes the following steps,
Step 3.1, using B2 wave band as reference data, high-precision will be carried out using SIFT algorithm between B1 wave band and B2 wave band counterpiece
Matching, it is assumed that obtain KnA equally distributed image space tie point, picpointed coordinate of the tie point on B1 wave band subject to registration areIt is with reference to the picpointed coordinate on wave band in B2
Step 3.2, step 2.2 gained optics linear array push-broom type satellite is substituted into based on absolutely inside and outside scaling parameter to be directed toward based on member is visited
The geometric calibration model at angle realizes and constructs B2 wave band each imaging geometry model, using the elevation information on reference DEM by B2
Picture point on wave bandOrthographic projection obtains corresponding object coordinates (B to object spacei,Li,Hi)n；
Step 3.3, the tie point coordinate on image B1 to be calibratedWith corresponding object coordinates (Bi,Li,Hi)nComposition control
Point；
Step 3.4, to B3, B4, B5 and B6 wave band executes step 3.1-3.3 respectively.
4. No. six wide visual field cameras of high score as claimed in claim 3 are with respect to geometric calibration method, it is characterised in that: step 4 carries out
In B1, B3, B4, B5 and B6 wave band when the building of each relative calibration model, the corresponding CMOS of every CMOS and reference wave band B2
Carry out relative calibration；Corresponding calibration model is constructed to every CMOS, passes through the external calibration parameter that obtains step 2, each
Laboratory internal parameter and corresponding auxiliary data substitute into step 2.2 gained optics linear array push-broom type satellite and be based on visiting member and refer to
It is obtained to the geometric calibration model at angle.
5. a kind of No. six wide visual field cameras of high score are with respect to geometric calibration system, it is characterised in that: for executing such as claim 1-4
Described No. six wide visual field cameras of high score are with respect to geometric calibration method.
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