基于双目系统的电力线与地物间距离的测量

发布时间：2018-10-30 07:01

【摘要】：双目立体量测技术是摄影测量与计算机视觉中的重要板块，通过它可以快速获得目标点位的三维空间信息。本文对双目系统在电力线之间及其与周围地物之间的距离探测进行了研究与实验，探讨了双目系统软、硬件的基本设计方法与实现过程，并针对双目系统应用于电力线测距提出了以下几点针对性设计方案：（1）垂直基线设计形式，它把传统的X方向基线转变为Y轴方向，由此克服了电力线影像上灰度信息不足，纹理构造单调的不利因素，通过影像上电力线与核线大角度相交来缩小匹配区间，从而提高了匹配的精度。（2）针对黑白角标靶中心定位，本文提出了对应的算子，其基本思想是将标靶中心影像进行二值化处理，然后搜索一个稳定的的阈值，使得阈值图像中被Hough变换提取出的两条直线能满足正交性，将这两条直线的交点作为标靶中心点，从而得到亚像素的定位精度，该算子具有设计简单，实现容易、运算快速、亚像素定位精度等优势。（3）基于Y轴的四元数相对定向，该方法主要有两个特点，首先是垂直基线设计决定了相对定向的主方向为Y轴，其次针对算法计算的效率应用了四元素的旋转矩阵，并进行了公式的推导，随后的实验证明了该相对定向设计方案的效率（收敛性）和精度（准确性）相对于X轴相对定向较高，并得出结论：垂直基线应该使用基于Y轴的相对定向方法。本文的检校使用了DLT求初值，空间后方交会求精确值的过程，得到了可靠的内、外方位元素和畸变参数；在进行前方交会时，为了保证距离精度，采用了左像外方位元素归零，右像外方位元素为相对定向元素的方案，取得了相对于外方位元素前方交会更好的距离解算效果。最后通过实验讨论了摄距与测距精度之间的关系，并验证了本文双目系统软、硬件设计的可靠性。
[Abstract]:Binocular stereo measurement technology is an important plate in photogrammetry and computer vision, through which the three-dimensional spatial information of target points can be obtained quickly. In this paper, the distance detection of binocular system between power line and surrounding ground objects is studied and experimented, and the basic design method and realization process of software and hardware of binocular system are discussed. Aiming at the application of binocular system in power line ranging, this paper puts forward the following specific design schemes: (1) Vertical baseline design form, which transforms the traditional X direction baseline into Y axis direction, Therefore, it overcomes the disadvantages of insufficient gray information and monotonous texture structure in power line image, and reduces the matching interval by intersecting the power line and the core line at large angles on the image, thus improving the accuracy of the matching. (2) for black-and-white angle target center location, the corresponding operator is proposed in this paper. The basic idea is to binary the target center image, and then search for a stable threshold. Two lines extracted from threshold image by Hough transform can satisfy the orthogonality. The intersection point of these two lines is taken as the center point of the target, and the positioning accuracy of sub-pixel is obtained. The operator has the advantages of simple design, easy implementation and fast operation. Sub-pixel positioning accuracy and other advantages. (3) based on the relative orientation of Y axis, this method has two main characteristics: first, the vertical baseline design determines that the main direction of relative orientation is Y axis; secondly, the rotation matrix of four elements is applied to the computational efficiency of the algorithm. The formula is deduced and the experimental results show that the efficiency (convergence) and accuracy (accuracy) of the relative directional design are higher than that of the X-axis. It is concluded that the relative orientation method based on Y axis should be used for vertical baselines. In this paper, the process of calculating the initial value by DLT and the accurate value by the intersection of the space rear are used to obtain reliable internal and external azimuth elements and distortion parameters. In order to ensure the distance accuracy, the method of returning the left image to zero and the right image to the relative orientation is adopted, and the distance calculation result is better than that of the front intersection of the external orientation. Finally, the relationship between range and ranging accuracy is discussed through experiments, and the reliability of the hardware and software design of the binocular system is verified.
【学位授予单位】：重庆交通大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：P232

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