CN103438868B - Based on the object height measuring method of spherical panorama camera - Google Patents
Based on the object height measuring method of spherical panorama camera Download PDFInfo
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- CN103438868B CN103438868B CN201310411641.1A CN201310411641A CN103438868B CN 103438868 B CN103438868 B CN 103438868B CN 201310411641 A CN201310411641 A CN 201310411641A CN 103438868 B CN103438868 B CN 103438868B
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Abstract
A kind of photography measurement method for spherical panoramic camera, comprising: in object space plane, set up 2 dimension coordinate systems; The panoramic picture at the not reference mark of conllinear, n>=4 in object space plane can be covered with spherical panorama camera shooting, obtain the picture coordinate (u of the panoramic picture corresponding with these reference mark
1, v
1) ... (u
n, v
n); Utilize formula
obtain the image angle coordinate (φ corresponding with reference mark
1, θ
1) ... (φ
n, θ
n); And then obtain mapping relations matrix H
3x3=
Description
The application is the divisional application of the patented claim of application number 201210004525.3 denomination of invention photography measurement method for spherical panoramic camera (applying date 2012.01.09).
Technical field
The invention belongs to photogrammetry and remote-sensing technique field, be chiefly directed on spherical panorama device basic, adopt spherical panorama measure theory, planar imaging measure theory in photogrammetric is generalized to sphere, utilize sphere acquisition range large, Duplication high feature, directly in acquisition spherical diagram picture impact point earth coordinates under coordinate, directly in spherical diagram picture, realize surveying and mapping data collection, realize a set of based on the photogrammetric technology of spherical panorama.
Background technology
Along with the develop rapidly of modern information technologies and the increase to massive spatial data demand, the demand of people to high-level efficiency, Large visual angle, miniaturization telemetering device is day by day urgent.Spherical panorama imaging device has the feature of static comprehensive, miniaturization, outputting standard, eliminates photography dead angle to a greater extent; Static comprehensively refer to need not just can at the omnidirectional images of a moment point acquisition wider visual field coverage under the condition of mobile imaging device; Miniaturization refers to camera compact, can combine integrated further; Outputting standard refers to that the outside spherical Map image energy exported directly reflects that measured target is relative to the position angle of centre of sphere observation point and the angle of pitch, and this will facilitate target localization to calculate.
The maximum easily extensible of areas imaging of sensoring becomes sphere, forms a kind of spherical panorama.More existing spherical panorama devices at present, as ladybug spherical panorama camera, browse for streetscape is comprehensive for general, interior decoration preview.The image of this panorama is different from general camera, has done spherical Map, has very large distortion.But owing to lacking correlation theory support, the rarely seen method measuring (as range observation, elevation carrection, panorama camera calibration, extraterrestrial target point location etc.) for space photography of current spherical panorama camera.
Spherical panorama camera radiographic measurement object space planar point is utilized to be the photogrammetric key in implementation space.Current this respect does not have publishes the theoretical foundation that document provides correlation technique data and system.The present invention proposes a set of photogrammetric survey method based on spherical panorama camera for this reason.
Summary of the invention
Problem to be solved by this invention is to provide a kind of photography measurement method for spherical panoramic camera, and the method can utilize spherical panorama camera image to realize comprehensive space photography and measure.
Technical scheme provided by the invention is: photography measurement method for spherical panoramic camera, comprising:
1. in object space plane, set up 2 dimension coordinate system x-z, object space plane is selected the reference mark (x of n>=4 not conllinear
1, z
1) ... (x
n, z
n);
2. can cover the panoramic picture at these reference mark in object space plane with spherical panorama camera shooting, obtain the picture coordinate (u of the panoramic picture corresponding with these reference mark
1, v
1) ... (u
n, v
n);
3. formula is utilized
obtain the image angle coordinate corresponding with reference mark
; Wherein w, h are the wide and high of panoramic picture;
4. solution equation below
Obtain mapping relations matrix H
3x3=
;
5. mapping relations matrix H is obtained
3x3after, can by any object space planar imaging point on panoramic picture
u,vcalculate
and then obtain corresponding object space planimetric coordinates x, z:
Utilize
first calculate
obtain vector
Then substitute into
=
can solve x/d, z/d and 1/d, d are constant; And then obtain x and z.
The present invention can utilize step 5. to obtain two point (u on panoramic picture
a, v
a), (u
b, v
b) corresponding outerplanar coordinate (x
a, z
a) and (x
b, z
b);
Pass through formula
measure two point (x
a, z
a) and (x
b, z
b) between distance.
The H that 4. step also can obtain by the present invention
3x3matrix first two columns [h
11h
21h
31]
t[h
12h
22h
32]
tunitizationly to obtain
s
1=
s
2=
s=(s
1+s
2)/2
R can be obtained
1=[h
11/ s h
21/ s h
31/ s]
t
r
3 = [h
12/s h
22/s h
32/s ]
T
R can be obtained by orthogonal matrix characteristic
2=r
1× r
3
So the rotation attitude R=[r of camera can be measured
1r
2r
3].
Utilize formula T=
measure the photocentre position T of sphere camera.
The present invention also can utilize the image of two spherical panorama camera or the shooting of same camera different location to obtain 3 dimension coordinates (x, y, z) of impact point:
1. take two different locations the spherical panoramic image that two all comprise impact point;
2. preceding method is utilized to obtain the rotation attitude R of two cameras
1, R
2with photocentre position T
1, T
2;
When two camera principal directions are parallel, R
1=R
2=I; Wherein I is unit battle array, and principal direction is panoramic picture angular coordinate (0,0) direction.
3. impact point the sphere image coordinate that the 1st spherical panorama camera is corresponding be (
u'
1,
v'
1),
The object ball face image coordinate corresponding the 2nd spherical panorama camera be (
u'
2,
v'
2),
Utilize formula
obtain angular coordinate (
) and (
)
4. the vector of two cameras is constructed
v 1,
v 2
Least square method solves, [d
1d
2]
t=(U
tu)
-1u
tt is U=wherein
t=T
2-T
1
Wherein d
1d
2the distance of impact point to two cameras respectively;
5. 3 dimension coordinates (x, y, z) of impact point are solved
X=
。
Present invention also offers one spherical panorama camera and carry out photogrammetric method, comprising:
1. spherical panorama camera is parallel to object space plane to place, spherical panorama camera center is H to the distance of object space plane;
2. comprise the panoramic picture of tested point above object space plane and object space plane with spherical panorama camera shooting, panoramic picture is chosen the picture coordinate that tested point is corresponding
u ⊥ 1,
v ⊥ 1with the intersection point of tested point in object space plane as coordinate
u ⊥ 0,
v ⊥ 0
Utilize formula
calculate
θ ⊥ 0with
θ ⊥ 1
3. the height h of the relative object space plane of tested point is calculated
⊥
h
⊥= H[tan(θ
⊥0) - tan(θ
⊥1)]/ tan(θ
⊥0) = H[1 - tan(θ
⊥1) / tan(θ
⊥0)]。
Advantage of the present invention and effect:
1. directly can obtain the earth coordinates coordinate of target, directly can carry out mapping information collection on image;
Panoramic camera itself can only measurement target relative to the orientation of panoramic camera, utilize the inventive method then can measure the orientation of panoramic camera relative to the earth plane coordinate system, so just can to derive on Spherical Panorama Image every bit relative to the grid bearing of earth coordinates.
After the terrestrial coordinate orientation of each point on image is known, the collection of mapping information can be carried out on image.As measured distance between two impact points, measure the height in house in image, measure geometry site in image between different atural object etc.The manpower and materials that the application of this technology will greatly reduce required for traditional mapping information acquisition mode.
2. realize accurate 3 dimension space calibration and automatic calibrations;
Spherical panorama device is general only to be browsed for streetscape is comprehensive, interior decoration preview.And the precise calibration method that the invention provides based on spherical panorama camera.Establish and comprise relative orientation, plane surveying, survey high method.The spherical panorama device that ladybug or immersive can be utilized such carries out the measurement of panorama Taking Photographic.Obtain camera self attitude fast, the coordinate of point is tieed up in ground or comprehensive space 3, and distance, highly, etc. information.
3. photogrammetric step is simple, and precision is high.
Do not need as general camera is photogrammetric, do complicated internal reference calibration, directly according to the step described in invention, can panorama measurement be carried out.Simply easy to operate.
Embodiment
(1) spherical panorama camera outerplanar maps H computing method;
It is several to image same place that the present invention utilizes spherical panorama camera to take on image, accurately calculates the mapping relations between picture coordinate in spherical panorama camera and certain outerplanar (as ground, desktop) coordinate.
1. on a certain outerplanar (as ground, desktop), set up 2 dimension coordinate system x-z, select the reference mark (x of n>=4 not conllinear in the plane
1, z
1) ... (x
n, z
n);
2. take by spherical panorama camera the image that can cover these reference mark on outerplanar, obtain the panorama corresponding with these reference mark as coordinate (u
1, v
1) ... (u
n, v
n);
3. formula is utilized
obtain the image angle coordinate corresponding with reference mark
4. solution equation below
Obtain mapping relations matrix H
3x3=
5. mapping relations matrix H is obtained
3x3after, can by arbitrary image coordinate u, v calculates
and then obtain corresponding outerplanar coordinate x, z
Utilize
first calculate
obtain vector
Then d is substituted into
=
x can be solved, z
Be equivalent to and solve an equation
=
6. mapping relations matrix H is obtained
3x3after, conversely can by any outerplanar coordinate x, z calculates
and then calculate corresponding picture coordinate u, v
If V=
=
, so
can obtain
And then obtain
Calculate corresponding ground level coordinate x, z.
(2) spherical panorama camera self calibration computing method, the attitude of accurate Calculation camera and position
It is several to image same place that this algorithm utilizes spherical panorama camera to take on image, the attitude of accurate Calculation camera and position.
1. according to the mapping relations H between the sphere camera obtained above and outerplanar
By H
3x3first two columns [the h of matrix
11h
21h
31]
t[h
12h
22h
32]
tunitizationly to obtain
s
1=
s
2=
s=(s
1+s
2)/2
R can be obtained
1=[h
11/ s h
21/ s h
31/ s]
t
r
3 = [h
12/s h
22/s h
32/s ]
T
R can be obtained by orthogonal matrix characteristic
2=r
1× r
3
So the rotation attitude matrix R=[r of camera can be constructed
1r
2r
3]
2. for the 3rd row of H
The photocentre position T=of sphere camera can be solved
(3) spherical panorama camera measures the distance of point-to-point transmission on certain outerplanar
1. the mapping relations H that aforesaid algorithm 1 obtains between spherical panorama camera and outerplanar is first utilized
2. on image, two point (u of measuring distance are wanted in choosing
1, v
1), (u
2, v
2), utilize aforesaid algorithm 1 step 5. to obtain corresponding outerplanar coordinate (x
1, z
1) and (x
2, z
2)
3. two point (x are calculated
1, z
1) and (x
2, z
2) between distance
(4) spherical panorama forward intersection computing method
The image that this algorithm utilizes two spherical panorama camera (or same camera different location) to take obtains 3 dimension coordinates of impact point.
1. take two different locations the spherical panoramic image that two all comprise impact point;
2. aforementioned algorism 2 is utilized to obtain the attitude R of two cameras
1, R
2with position T
1, T
2
Or ensure that two cameras keep level completely, principal direction is unanimously parallel, then can determine R
1=R
2=I
3. for a certain unknown object central point (x, y, z)
Object ball face image coordinate corresponding to the 1st group of spherical panorama camera is (u
1, v
1)
Object ball face image coordinate corresponding to the 2nd group of spherical panorama camera is (u
2, v
2)
Utilize formula
obtain angular coordinate (
) and (
)
4. the vector of two cameras is constructed
v 1,
v 2
Least square method solves, d=[d
1d
2]
t=(U
tu)
-1u
tt wherein
t=T
2-T
1
5. coordinates of targets is solved
(5) spherical panorama camera of horizontal positioned measures vertical height method
1. first by spherical panorama camera horizontal positioned
2. the picture coordinate u of ground intersection point is chosen
⊥ 0, v
⊥ 0with the picture coordinate u in high site to be measured
⊥ 1, v
⊥ 1
Utilize formula
calculating image angle coordinate (
) and (
)
3. determinand height is calculated
h
⊥= H[tan(θ
⊥0) - tan(θ
⊥1)]/ tan(θ
⊥0) = H[1 - tan(θ
⊥1) / tan(θ
⊥0)]
So just calculate the height h of object
⊥
2. technical conditions
Need a spherical panorama camera, as existing product ladybug and immersive.
3, implementation procedure
The present invention can realize based on OpenCV2.X exploitation based on OpenCV1.X or VC200X platform on VC6.0 platform, IplImage and CvMat can be utilized to realize image and matrix operation respectively, utilize cvSolve (A, b, x, CV_SVD) realize solving equations.
The inventive method is not limited to and adopts such development platform, is also for other platforms.
Claims (1)
1., based on the object height measuring method of spherical panorama camera, comprising:
1. spherical panorama camera is parallel to object space plane to place, spherical panorama camera center is H to the distance of object space plane;
2. comprise the panoramic picture of tested point above object space plane and object space plane with spherical panorama camera shooting, panoramic picture is chosen the picture coordinate that tested point is corresponding
u ⊥ 1,
v ⊥ 1with the picture coordinate of tested point intersection point in object space plane
u ⊥ 0,
v ⊥ 0
Utilize formula
calculate
θ ⊥ 0with
θ ⊥ 1; Wherein h is the height of panoramic picture;
3. the height h of the relative object space plane of tested point is calculated
⊥
h
⊥= H[tan(θ
⊥0) - tan(θ
⊥1)]/ tan(θ
⊥0) = H[1 - tan(θ
⊥1) / tan(θ
⊥0)]。
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|---|---|---|---|
| CN201210004525.3A CN102538761B (en) | 2012-01-09 | 2012-01-09 | Photography measurement method for spherical panoramic camera |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210004525.3A Division CN102538761B (en) | 2012-01-09 | 2012-01-09 | Photography measurement method for spherical panoramic camera |
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| CN103438868B true CN103438868B (en) | 2015-09-09 |
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| CN201310411641.1A Expired - Fee Related CN103438868B (en) | 2012-01-09 | 2012-01-09 | Based on the object height measuring method of spherical panorama camera |
| CN201210004525.3A Expired - Fee Related CN102538761B (en) | 2012-01-09 | 2012-01-09 | Photography measurement method for spherical panoramic camera |
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| KR101208621B1 (en) * | 2012-09-28 | 2012-12-06 | 한국지질자원연구원 | System and method for airborne multi-spectral scanner image data processing |
| JP2015125002A (en) * | 2013-12-25 | 2015-07-06 | 株式会社ズームスケープ | Photographing method for images for measuring use, and image measuring program |
| CN103837083B (en) * | 2013-12-26 | 2017-03-22 | 苏州盛景空间信息技术有限公司 | Ground object height calculation method based panoramic picture |
| CN105632315B (en) * | 2014-01-13 | 2018-10-02 | 天津职业技术师范大学 | A kind of experimental method of scene of a traffic accident photorecce principle |
| CN103900539B (en) * | 2014-03-27 | 2016-03-30 | 北京空间机电研究所 | A kind of aerial cube panoramic imagery object localization method |
| WO2015169338A1 (en) * | 2014-05-05 | 2015-11-12 | Hexagon Technology Center Gmbh | Surveying system |
| CN107274340A (en) * | 2016-04-08 | 2017-10-20 | 北京岚锋创视网络科技有限公司 | A kind of panorama image generation method and device |
| CN105959529B (en) * | 2016-04-22 | 2018-12-21 | 首都师范大学 | It is a kind of single as method for self-locating and system based on panorama camera |
| CN106382891B (en) * | 2016-10-14 | 2019-02-15 | 安徽协创物联网技术有限公司 | A kind of object height measurement method based on spherical panorama camera |
| CN106546224B (en) * | 2016-10-14 | 2019-05-10 | 安徽协创物联网技术有限公司 | A kind of photography measurement method for spherical panoramic camera |
| CN107421509B (en) * | 2017-07-10 | 2019-08-02 | 同济大学 | A kind of high-speed video measurement method of reticulated shell type Approaches for Progressive Collapse of Structures |
| CN107609162B (en) * | 2017-09-26 | 2020-10-30 | 安徽大学 | Method for batch importing of two-dimensional map symbols into panorama |
| CN108924590B (en) * | 2018-06-27 | 2021-09-03 | 青岛一舍科技有限公司 | Video playing and photographing system |
| CN110426017B (en) * | 2019-08-01 | 2022-08-09 | 曾义星 | Surrounding image mapping method and system, storage medium and terminal |
| CN110966988B (en) * | 2019-11-18 | 2022-11-04 | 郑晓平 | Three-dimensional distance measurement method, device and equipment based on double-panoramic image automatic matching |
| CN111649716A (en) * | 2020-07-14 | 2020-09-11 | 深圳移动互联研究院有限公司 | Space point-to-point distance measuring and calculating method based on panoramic image |
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| Publication number | Publication date |
|---|---|
| CN103438868A (en) | 2013-12-11 |
| CN102538761B (en) | 2014-09-03 |
| CN102538761A (en) | 2012-07-04 |
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