A dual quaternion-based,closed-form pairwise registration algorithm for point clouds

The representation of similarity transformation in three-dimensional (3D) space, especially of orientation, is a crucial issue in navigation, geodesy, photogrammetry, robot arm manipulation, etc. Considering the large amount of computer resources required by iterative algorithms designed for spatial similarity transformation, the high dependence on initial values of unknown parameters, and the instability of solving transformation parameters for large-angle registration, a closed-form solution for pairwise light detection and ranging (LiDAR) point cloud registration is proposed. In this solution, dual-number quaternions are used to represent the 3D rotation. The relationship between the rotation matrix-based representation of similarity transformation and the dual quaternion-based representation is described first. Considering that the same features from two neighboring stations coincide after pairwise registration, a dual quaternion-based error norm, which is associated with the sum of the position errors, is constructed. Based on theory of least squares and by extreme value analysis of the error norm, detailed derivations of the model and the main formulas are obtained. Once the similarities between the same features from the two neighboring LiDAR stations are constructed, the rotation matrix, the scale parameter, and the translation vector are simultaneously derived. Two experiments are conducted to verify the feasibility and effectiveness of the proposed algorithm. The proposed algorithm has the advantages of simplicity and ease of implementation, making it better than the traditional methods that use matrices to describe spatial rotation. Moreover, it solves the transformation parameters without the initial estimates of unknown parameters, making it better than iterative algorithms. Most importantly, in contrast to unit quaternion-based algorithms, the proposed algorithm solves seven unknown parameters simultaneously. Therefore, it effectively avoids the accumulation of introduced error in calculation and the negative impact from the inappropriate choice of initial values.     

Systematic biases in DORIS-derived geocenter time series related to solar radiation pressure mis-modeling

As any satellite geodesy technique, DORIS can monitor geocenter variations associated to mass changes within the Earth–Atmosphere–Continental hydrosphere–Oceans system. However, especially for the Z-component, corresponding to a translation of the Earth along its rotation axis, the estimated geocenter is usually affected by large systematic errors of unknown cause. By reprocessing old DORIS data, and by analyzing single satellite solutions in the frequency domain, we show that some of these errors are satellite-dependent and related to the current DORIS orbit determination strategy. In particular, a better handling of solar pressure radiation effects on SPOT-2 and TOPEX satellites is proposed which removes a large part of such artifacts. By empirically multiplying the current solar pressure model with a single coefficient (1.03 for TOPEX/Poseidon after 1993.57, and 0.96 before; and 1.08 for SPOT-2) estimated over a long time period, we can improve the measurement noise of the Z-geocenter component from 47.5 to 30.4 mm for the RMS and from 35 to 6 mm for the amplitude of the annual signal. However, the estimated SRP coefficient for SPOT-2 presents greater temporal variability, indicating that a new, dedicated solar radiation pressure model is still needed for precise geodetic applications. In addition, for the TOPEX satellite, a clear discontinuity of unknown cause is also detected on July 27, 1993.     

大角度三维基准转换的解析封闭解

传统大地测量应用中的基准转换往往涉及小角度旋转,可只考虑旋转角的一阶量采用线性化方法求解。现代空间测量技术成果应用的基准转换涉及大角度旋转,通过将旋转矩阵所有元素作为未知数并利用旋转矩阵正交条件采用附约束条件平差法迭代求解。本文以空间三维基准转换为例,采用多元模型的矩阵形式将多点坐标组成矩阵处理,并利用旋转矩阵的正交条件导出了大角度三维基准转换的解析分步解。同时引入两套公共点坐标误差对传统三维基准转换模型扩展,导出了同时顾及两套公共点坐标误差的大角度三维基准转换模型的解析解。试验表明:给出的大角度三维基准转换解析解能在实现与传统迭代解等效转换结果的同时,有效避免复杂耗时的迭代计算,提高计算效果。     

Multi-Data Approach for remote sensing-based regional crop rotation mapping: A case study for the Rur catchment,Germany

Spatial land use information is one of the key input parameters for regional agro-ecosystem modeling. Furthermore, to assess the crop-specific management in a spatio-temporal context accurately, parcel-related crop rotation information is additionally needed. Such data is scarcely available for a regional scale, so that only modeled crop rotations can be incorporated instead. However, the spectrum of the occurring multiannual land use patterns on arable land remains unknown. Thus, this contribution focuses on the mapping of the actually practiced crop rotations in the Rur catchment, located in the western part of Germany. We addressed this by combining multitemporal multispectral remote sensing data, ancillary information and expert-knowledge on crop phenology in a GIS-based Multi-Data Approach (MDA). At first, a methodology for the enhanced differentiation of the major crop types on an annual basis was developed. Key aspects are (i) the usage of physical block data to separate arable land from other land use types, (ii) the classification of remote sensing scenes of specific time periods, which are most favorable for the differentiation of certain crop types, and (iii) the combination of the multitemporal classification results in a sequential analysis strategy. Annual crop maps of eight consecutive years (2008–2015) were combined to a crop sequence dataset to have a profound data basis for the mapping of crop rotations. In most years, the remote sensing data basis was highly fragmented. Nevertheless, our method enabled satisfying crop mapping results. As an example for the annual crop mapping workflow, the procedure and the result of 2015 are illustrated. For the generation of the crop sequence dataset, the eight annual crop maps were geometrically smoothened and integrated into a single vector data layer. The resulting dataset informs about the occurring crop sequence for individual areas on arable land, so that crop rotation schemes can be derived. The resulting dataset reveals that the spectrum of the practiced crop rotations is extremely heterogeneous and contains a large amount of crop sequences, which strongly diverge from model crop rotations. Consequently, the integration of remote sensing-based crop rotation data can considerably reduce uncertainties regarding the management in regional agro-ecosystem modeling. Finally, the developed methods and the results are discussed in detail.     

SIFT特征匹配旋转补偿的影像匹配方法

本文针对较大旋转角度影像的匹配问题,提出一种基于SIFT特征匹配旋转补偿的影像匹配方法.即采用SIFT特征匹配方法估计影像问的旋转角度,对匹配窗口影像进行旋转补偿,最后采用带核线几何约束条件的相关系数法寻找同名点.在每层金字塔,采用带模型连接条件的相对定向来删除错误匹配点.通过对一组实际航摄影像进行试验,验证了所提出方...     

SURVEYING ON LAKE RUDOLF

Abstract

The “Cambridge Expedition to the East African Lakes” reached the shores of Lake Rudolf in March 1931, and spent two months making a survey in several branches of science. The main object was biological—that is, the collection of land and water fauna and flora; but to create a background for this study the personnel of the expedition was made up of a chemist, zoologist, geologist, and geographer. In setting about work of this sort in a region practically unknown and scientifically unexplored the first necessity is a map of the part to be worked. Collections cannot be made at random from any part of the shore-line; one region must be chosen as exemplifying one type, and that region must be worked in detail. Positions of the collecting grounds have to be marked on a largescale map, so that the correlation of types can be worked systematically from end to end of the chosen area. Water-soundings are a necessary preliminary to the study of aquatic contents, and these can only be inserted correctly on a new and detailed map; in this part of the world the shore-line changes are very rapid, being due partly to the effect of a persistently large swell (raised by the southeast trades) on a sandy shore and partly to the lowering of the water-level by intense evaporation.     

仿射不变特征转换的运动目标跟踪方法

运动目标跟踪技术在交通管制、智能监控、GPS导航等多个领域有广阔的应用前景。本文提出一种基于经纬度和尺度的ASIFT(Affine-SIFT)跟踪算法,模拟序列图像成像时的倾斜角度,进行实时更新来去除由形变带来的过时特征信息,保证了特征的稳定,提高了配准精度。实验证明,此方法不受传感平台倾斜造成的图像仿射变形影响,能够有效处理目标由于旋转、形变而导致跟踪性能下降甚至跟踪目标丢失的问题,同时对跟踪过程中多目标的关联,也具有较好的鲁棒性,取得了良好效果。     

基于非线性最小二乘的坐标转换及精度分析

在GPS应用中经常涉及到坐标系转换的问题。利用七参数线性模型进行坐标转换是目前常用的坐标转换方法,但是当旋转角较大时,利用七参数线性模型转换会存在较大的模型误差。本文提出七参数模型的非线性最小二乘求解方法,结合模拟坐标数据比较了非线性最小二乘与传统迭代法的求解精度。结果表明：在旋转角较大的情况下,利用非线性最小二乘方法求解坐标转换参数精度比迭代法有明显提高。     

摄影测量在机械量测中的应用实例

介绍了利用CCD摄像机与实时数字近景摄影测量技术相结合建立的钣金件检测系统。本系统采用CCD摄像机对置于旋转平台上的钣金件摄取序列图像,利用钣金件的CAD设计数据作为初值,由理论严密的自检校光束法平差完成高精度的平差计算,并经后续处理,完成工业目标的自动检测。本系统以CAD设计数据作为先验知识,结合最小二乘影像匹配,实现目标特征的子像素的精确配准,从而实现钣金零件的自动量测。     

Determination of Phobos’ rotational parameters by an inertial frame bundle block adjustment

A functional model for a bundle block adjustment in the inertial reference frame was developed, implemented and tested. This approach enables the determination of rotation parameters of planetary bodies on the basis of photogrammetric observations. Tests with a self-consistent synthetic data set showed that the implementation converges reliably toward the expected values of the introduced unknown parameters of the adjustment, e.g., spin pole orientation, and that it can cope with typical observational errors in the data. We applied the model to a data set of Phobos using images from the Mars Express and the Viking mission. With Phobos being in a locked rotation, we computed a forced libration amplitude of \(1.14^\circ \pm 0.03^\circ \) together with a control point network of 685 points.     

大旋角影像的绝对定向方法研究

针对近景摄影测量中影像与地面坐标系间存在大旋转角的问题,在分析现有绝对定向算法的基础上,提出了一种适合大旋转角影像的绝对定向方法,采用奇异矩阵分解获取较准确的角元素初值,并结合最小二乘平差进行粗差剔除和绝对定向精确参数解算。试验表明,本算法计算简单、收敛速度快,具有很好的实用价值。     

A Geospatial Approach to Understand the Dynamics of Shifting Cultivation in Champhai District of Mizoram,North-East India

The dynamics of crop-fallow rotation cycles of shifting cultivation has been poorly understood in northeastern part of the country although it is one of the major land use systems in the hilly states of this region. The present study was conducted to understand the dynamics of shifting cultivation through the use of Landsat time-series data from 1999 to 2016 in Champhai district of Mizoram. We mapped the current jhum fields and abandoned areas of each imagery of the study period and performed a post classification comparison to assess the crop-fallow rotation cycle/jhum cycle. The chrono-sequential change of slash and burn area over the past 17 years showed a decreasing trend with the greater part of the shifting cultivation area being occupied by 2nd year crop fields, covering 48.81% of total jhum land. On average, 114.46 km² area were annually slashed for current jhum, out of which 33.41% continued with current jhum 2nd year cropping and only 3.27% of jhumias continued with 3rd year cropping. The shifting cultivation patches were mostly confined to moderately steep slopes (15°–30°). East facing aspect was mostly preferred and North facing aspect was least preferred. During the study period, 10 years jhum cycle covered the maximum area followed by 9 years and 11 years jhum cycle. The end result of this study proved that the prevalent jhum cycle in Champhai district is 8–11 years with a fallow period of 6–9 years.     

基于罗德里格矩阵的抗差迭代坐标转换算法研究

针对大旋转角坐标转换模型线性化复杂、计算量大等问题,并顾及数据粗差对计算结果的影响,根据反对称矩阵和罗德里格矩阵的性质,探讨一种基于罗德里格矩阵和稳健抗差估计理论进行迭代解算的高精度空间直角坐标转换方法,推导基于罗德里格矩阵进行空间直角坐标转换的七参数模型、线性化误差方程及抗差迭代计算的严密公式。通过计算与分析,表明该方法适用于任意旋转角的坐标转换,能有效抵抗数据粗差对转换结果的影响,计算精度高,收敛速度快,是一种有效、实用的坐标转换方法。     

Quantifying deformation in North Borneo with GPS

The existence of intra-plate deformation of the Sundaland platelet along its eastern edge in North Borneo, South-East Asia, makes it an interesting area that still is relatively understudied. In addition, the motion of the coastal area of North-West Borneo is directed toward a frontal fold-and-thrust belt and has been fueling a long debate on the possible geophysical sources behind it. At present this fold-and-thrust belt is not generating significant seismic activity and may also not be entirely active due to a decreasing shelfal extension from south to north. Two sets of Global Positioning System (GPS) data have been used in this study; the first covering a time period from 1999 until 2004 (ending just before the Giant Sumatra–Andaman earthquake) to determine the continuous Sundaland tectonic plate motion, and the second from 2009 until 2011 to investigate the current deformations of North Borneo. Both absolute and relative positioning methods were carried out to investigate horizontal and vertical displacements. Analysis of the GPS results indicates a clear trend of extension along coastal regions of Sarawak and Brunei in North Borneo. On the contrary strain rate tensors in Sabah reveal that only insignificant and inconsistent extension and compression occurs throughout North-West Borneo. Moreover, station velocities and rotation rate tensors on the northern part of North Borneo suggest a clockwise (micro-block) rotation. The first analysis of vertical displacements recorded by GPS in North-West Borneo points to low subsidence rates along the western coastal regions of Sabah and inconsistent trends between the Crocker and Trusmadi mountain ranges. These results have not been able to either confirm or reject the hypothesis that gravity sliding is the main driving force behind the local motions in North Borneo. The ongoing Sundaland–Philippine Sea plate convergence may also still play an active role in the present-day deformation (crustal shortening) in North Borneo and the possible clockwise rotation of the northern part of North Borneo as a micro-block. However, more observations need to be collected to determine if the northern part of North Borneo indeed is (slowly) moving independently.     

大旋转角坐标变换非迭代公式

针对求解7参数的过程中,经典的线性化最小二乘法因需线性化、迭代及初值以及存在算法耗时出现不收敛现象的问题,该文对无须迭代的7参数坐标变换公式进行了研究。为避免各类参数间的相关性,采用消去法并按照依次求解旋转参数、比例系数和平移参数的顺序解得坐标变换参数。先利用最小二乘法求解旋转参数,然后通过构建目标函数的方式求解比例系数与平移参数,最终得到无须线性化、无须迭代、无须初值的,可用于大旋转角的7参数坐标变换公式。与线性化最小二乘方法进行相比,该方法具有相当的精度及更高的运算效率,可在一定程度上丰富坐标变换理论。     

区域性跟踪站地心坐标精化方法及定轨试验分析─中国GIG′91和IGS′92会战数据处理分析

本文介绍了中国GIG’91和Epoch’92二次GPS会战的情况,着重分析了GIG’91和Epoch’92会战数据处理的结果。结果证明,利用1－2星期质量良好的数据（含分布均匀的部分全球跟踪站数据）,解算的未知区域性跟踪站地心坐标的重复性可以达到几个厘米,站间基线分量的重复性可以达到10－8或更好。利用中国国内4个跟踪站的数据,由5天轨道弧解算的卫星星历与全球精密星历之差在1－3米水平,平均差一般小于1米。我们的研究证明,参加GPS国际会战,是迅速提高区域性跟踪站地心坐标精度和建立区域性高精度地心坐标框架的有效途径,利用区域性跟踪站可有效地改进GPS卫星轨道的精度,形成全国范围的大尺度的控制,进一步改进GPS测量的精度。     

沙枣泉北山旋扭构造浅析

笔者通过遥感图像解译,在甘肃北山东部沙枣泉北山地区发现一个旋扭构造,根据山脊、水系的弧形转折和块状均一的影纹分别判泽出旋扭构造的旋回带和砥柱,经地面检查,已得到证实。据旋回面特征,确定了徒扭面性质和旋扭方向,进而据砥柱由火山岩组成和断裂分布特征分析了旋扭构造成因。     

BDS接收机天线相位中心标定

在高精度GNSS定位中,接收机天线相位中心偏差(PCO)和天线相位中心变化(PCV)的影响不可忽略。目前,IGS发布的绝对天线相位模型文件中包含了GPS/GLONASS系统的标定值,但是没有发布北斗系统(BDS)的标定值。本文借助机械臂可以控制天线自由旋转,在数小时内实现全方位GNSS观测的特性,采用历元间差分的方法对接收机天线包括GPS L1/L2和BDSB1I/B2I/B3I等多个频点的PCO和PCV分别进行标定和拟合。标定结果表明,比较最小二乘估计的GPS PCO与IGS发布值,其STD和RMS在L1/L2上均小于1 mm;BDS PCO估计值的STD在B1I/B2I/B3I上分别为0.5、0.3、0.3 mm。利用球谐函数拟合的GPS PCV格网值与IGS发布值相比,其偏差在天顶距小于75°时均小于1.5 mm。BDS PCV拟合值范围均在-5~8 mm,且随天顶距变化曲线呈现波谷状。BDS PCV在低高度角处拟合值波动较大,随方位角变化曲线峰值-峰值最大达到了5.6 mm。     

基于MapObjects的特殊点符号制作和旋转

结合研究项目“河南省内河航道基础地理信息系统”,利用Visual Basic和MapObjects开发了航道系统专门的符号库,使用FontCreator字体软件制作所需符号,然后根据点符号旋转算法,利用渲染方法实现了有向点符号不同角度的旋转。