一种多目相机的外参数两步联合在线标定方法

相机外参数的标定是计算机视觉和摄影测量领域的研究热点。但是由于实际标定成本和相机安装环境的限制,难以频繁对其进行外参数标定。针对静态多目相机对外参数连续、在线、稳定的标定需求,提出一种多目相机外参数两步联合在线标定方法。该算法通过对共线交会的外参数初值进行稀疏光束法平差,使外参数存在系统噪声的情况下仍获取稳定估计值。外参数标定的实测试验和仿真分析结果表明,该方法对外参数初值系统误差具有鲁棒性强和收敛速度快的优点,解决了多目相机外参数的在线快速标定问题;满足对静态、连续、在线外参数标定有较高需求的实际工程应用,对视觉导航有参考和借鉴意义。     

A bundle adjustment approach with inner constraints for the scaled orthographic projection

Bundle adjustment is a method for simultaneously calculating both the interior and exterior orientation parameters of a set of images, and the object-space coordinates of the observed points. In the case of long focal length lenses and narrow field-of-view (FOV) imaging situations, collinearity based (perspective projection) algorithms may result in linear dependencies between parameters that cause solution instability. The use of a scaled orthographic projection model based on linear algebraic formulations was therefore adopted to reduce this risk. Using quaternions, a new mathematical model is derived that includes the partial derivatives as well as the inner constraint equations for a scaled orthographic bundle adjustment. The model was then tested using two image sets of a single, small vessel (about 6 m length) with a cube target of known dimensions at two distinct ranges; perspective solutions were also calculated for comparison. RMS residual errors of 0.74-0.78 pixels associated with the new method compare favorably to a residual error range of 0.59-0.74 pixels using a perspective bundle adjustment of the same target points. Relative precisions (as a ratio of target size) of between 1:1650 and 1:750 have been achieved at ranges of 375 m and 850 m, respectively, given comparisons with the known cube dimensions. A third image dataset consisting of a network of 16 images was solved with a 1:2200 relative precision showing the new method can successfully handle high redundancy. For the experiments that were conducted, the new method was found to produce less precise results than the perspective bundle solution for a FOV of 0.50-0.65° where the object fills 5-8% of the image. However, it was found to match the precision of the perspective model (with an uncalibrated camera) for a FOV of 0.20-0.30° where the object of interest fills only 1-2% of the full image.     

平差系统的模型误差及其识别方法研究

论述了模型误差影响参数估值的一些理论问题,指出了随机模型误差和函数模型误差之间的相互作用和转化。为讨论平差系统最优模型的选取,给出了与现有文献将模型误差纳入平差系统的思路不同的一个估计和识别模型误差的理论基础公式,由此导出了相应的实用公式,给出了平差系统模型的优选方法。     

构架航线区域网平差在西部测图中的应用

在西部测图过程中,依据不同的地区、不同的影像资料情况,采用不同的加密方法进行区域网平差工作.本文通过青西地区构架航线区域网平差的应用,总结和分析了长跨度、大范围构架航线区域网平差的关键技术及精度等问题.     

分组平差网格计算研究

分组平差是大地测量中一种常用的计算模型,是对大规模平差问题的一种分解,本身具有分布性的特征,适合于网格计算。本文首先通过对分组平差公式的分析,在几个步骤和层面上将其分解为若干子计算,然后提出子计算服务和子计算代理的概念,详细阐述了基本子计算、聚合子计算和工作流的概念,最后给出了并行工作流和串行工作流的实现途径。     

资源三号和天绘一号卫星影像无控联合平差精度分析

近年来国产卫星传感器类型日益丰富,使用自主可控的国产卫星影像进行生产和研究的需求越来越大,多源国产卫星影像联合平差的精度分析显得尤为重要。本文针对在立体测图生产中,资源三号卫星影像在时相较旧、噪声较大、云覆盖和摄影漏洞等特殊困难的条件下,利用天绘一号卫星影像进行补漏生产的情况,最终分析并验证了两者无控联合平差的可行性和成果精度。     

无地面控制点卫星摄影测量探讨

为解决无地面控制点的卫星摄影测量(简称无控定位)这一国际难题,对国外具有代表性的几个"全球连续覆盖模式"光学摄影测量卫星的主要技术参数特征以及无控摄影测量模式、技术措施等方面进行了系统归纳,尽管各系统在无控定位上作了种种努力,但与美国1∶50 000比例尺制图标准(水平位置误差12m,垂直高程误差6m)相比,都存在一定距离,该文认为其不足的关键在于对星敏感器测姿误差的处理上。该文还特别介绍了天绘一号卫星工程达到这一标准的主要学术与技术措施,并列举了国内外检查点检测精度一致性的实例。     

城市CORS参考站稳定性监测与区域地表变形分析

以常州市CZCORS监测网的数据处理为例,探讨城市CORS参考站稳定性监测的方法,对比分析不同参考框架和变形监测基准对计算参考站三维位移结果的影响.利用CZCORS监测成果,建立精确的城市水平位移速度场,并对区域地表垂直位移变化规律进行分析,给出一些有益的结论和建议.     

Rank-defect adjustment model for survey-line systematic errors in marine survey net

In this paper, the structure of systematic and random errors in marine survey net are discussed in detail and the adjustment method for observations of marine survey net is studied, in which the rank-defect characteristic is discovered first up to now. On the basis of the survey-line systematic error model, the formulae of the rank-defect adjustment model are deduced according to modern adjustment theory. An example of calculations with really observed data is carried out to demonstrate the efficiency of this adjustment model. Moreover, it is proved that the semi-systematic error correction method used at present in marine gravimetry in China is a special case of the adjustment model presented in this paper.     

System structure and calibration models of intelligent photogrammetron

This paper describes the structure, geometric model and geometric calibration of Photogrammetron I—the first type of photogrammetron which is designed to be a coherent stereo photogrammetric system in which two cameras are mounted on a physical base but driven by an intelligent agent architecture. The system calibration is divided into two parts: the in-lab calibration determines the fixed parameters in advance of system operation, and the in-situ calibration keeps tracking the free parameters in real-time during the system operation. In a video surveillance set-up, prepared control points are tracked in stereo image sequences, so that the free parameters of the system can be continuously updated through iterative bundle adjustment and Kalman filtering.